Vehicle steering wheel alignment method and device, vehicle, storage medium and program product

Abstract

The invention relates to a vehicle steering wheel alignment method and device, a vehicle, a storage medium and a program product, and relates to the technical field of vehicles. The method comprises the steps that when a vehicle is in a to-be-aligned state, the alignment intention of a driver of the vehicle is determined based on a target scene where the vehicle is located; the to-be-aligned state is used for indicating that a steering wheel and a steering mechanism of the vehicle are to be aligned; the steering wheel is controlled to align with the steering mechanism based on the alignment intention. Therefore, the steering wheel can be controlled to be aligned with the steering mechanism, and the driving safety of a driver caused by deviation between the steering wheel and the wheel steering angle is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, in particular to the field of vehicle steering wheel control technology, and specifically to a vehicle steering wheel alignment method, device, vehicle, storage medium and program product. Background Art

[0002] The steering wheel and steering mechanism are the core components of vehicle control. Their performance and accuracy directly affect driving safety and comfort. In traditional mechanical steering systems, the steering mechanism is usually mechanically connected to the steering wheel, and the driver's operation of the steering wheel is converted into steering by the steering mechanism through mechanical structures such as gears and tie rods. With the continuous advancement of automotive electronics and intelligent technology, more and more vehicles are beginning to adopt wire-controlled steering systems. The wire-controlled steering system replaces the traditional mechanical and hydraulic structures with electronic signals, thereby reducing the complexity of the physical connection between the steering wheel and the steering mechanism.

[0003] However, since the steer-by-wire system no longer relies on mechanical connections, the control between the steering wheel and the steering mechanism can be decoupled. This decoupling may cause a deviation between the steering angle of the steering wheel and the steering mechanism, which in turn causes a deviation between the steering angle of the steering wheel and the wheel, which in turn affects the driver's control perception and judgment. If driving in this situation, it may affect the driver's driving experience and even affect the driver's driving safety.

[0004] Therefore, in order for the steer-by-wire system to respond accurately to the driver's operations, the alignment and adjustment between the steering wheel and the steering mechanism are crucial. Summary of the invention

[0005] The present application provides a vehicle steering wheel alignment method, device, vehicle, storage medium and program product to at least solve the technical problem of how to control the alignment of the steering wheel and the steering mechanism in the related art. The technical solution of the present application is as follows:

[0006] According to a first aspect of the present application, a vehicle steering wheel alignment method is provided, the method comprising: when the vehicle is in a state to be aligned, determining the alignment intention of the vehicle driver based on a target scene in which the vehicle is located; the state to be aligned is used to indicate that the vehicle's steering wheel and steering mechanism are to be aligned; and controlling the alignment of the steering wheel and the steering mechanism based on the alignment intention.

[0007] According to the above technical means, since the state to be aligned of the vehicle usually includes the state to be aligned in multiple scenarios, and the alignment intention of the driver of the vehicle may be different in different scenarios, and thus the alignment requirements of the driver are also different. If the steering wheel and the steering mechanism are aligned based on a fixed alignment method, the driver's expectations may not be met, thereby affecting the driver's driving experience. Therefore, the present application classifies different scenarios, and based on the alignment intention of the target scenario in which the vehicle is located and the alignment requirements of the driver, the alignment of the steering wheel and the steering mechanism is accurately controlled, thereby improving the driver's driving experience.

[0008] In one possible implementation, the alignment intention is used to represent the alignment speed desired by the driver; the alignment of the steering wheel and the steering mechanism is controlled based on the alignment intention, including: obtaining the actual steering angle difference between the steering mechanism and the steering wheel; determining the target alignment speed of the steering wheel based on the actual steering angle difference, the alignment intention and the target steering angle difference; the target steering angle difference is used to represent the steering angle difference between the steering wheel and the steering mechanism when the vehicle is in an aligned state; and the alignment of the steering wheel and the steering mechanism is controlled based on the target alignment speed.

[0009] According to the above technical means, the target alignment speed of the steering wheel can be determined by the actual steering angle difference, the alignment intention and the target steering angle difference, which can not only control the alignment of the steering wheel and the steering mechanism at the target alignment speed that meets the driver's alignment needs, but also ensure that the actual steering angle difference gradually reaches the target steering angle difference in the process of controlling the alignment of the steering wheel and the steering mechanism at the target alignment speed that meets the driver's alignment needs, thereby achieving stable alignment of the steering wheel and the steering mechanism.

[0010] In another possible implementation, controlling the steering wheel to align with the steering mechanism based on the target alignment speed includes: determining a target torque of the steering wheel based on the target alignment speed of the steering wheel and a current alignment speed of the steering wheel; and controlling the steering wheel to align with the steering mechanism at the target torque.

[0011] According to the above-mentioned technical means, in the process of controlling the alignment of the steering wheel and the steering mechanism at the target alignment speed that meets the alignment requirements of the driver, while ensuring that the actual steering angle difference gradually reaches the target steering angle difference, the target torque of the steering wheel can be determined by the target alignment speed of the steering wheel and the current alignment speed of the steering wheel. Therefore, in the process of controlling the alignment of the steering wheel and the steering mechanism at the target torque, it can be ensured that the current alignment speed of the steering wheel gradually reaches the target alignment speed of the steering wheel, thereby achieving stable alignment of the steering wheel and the steering mechanism.

[0012] In another possible implementation, the alignment intention of the driver of the vehicle is determined based on the target scene in which the vehicle is located, including: obtaining steering wheel rotation information in the target scene and driving habit information of the driver in the target scene; and determining the alignment intention of the driver based on the steering wheel rotation information and the driving habit information.

[0013] According to the above technical means, since the driver's driving habit information can reflect the driver's driving needs, the steering wheel rotation information can reflect the current rotation state of the steering wheel. Through the current rotation state of the steering wheel and the driver's driving needs, the driver's alignment intention can be determined more accurately.

[0014] In another possible implementation, the steering wheel rotation information includes the hand torque applied by the driver on the steering wheel, and the actual steering angle difference between the steering mechanism and the steering wheel; based on the steering wheel rotation information and driving habit information, the driver's alignment intention is determined, including: based on the steering wheel rotation information, determining the driver's expected degree of alignment speed; obtaining a preset correspondence corresponding to the driving habit information; the preset correspondence includes the relationship between the rotation information, the expected degree and the alignment intention; based on the rotation information, the expected degree and the preset correspondence, the alignment intention is determined.

[0015] According to the above technical means, the driver's expected degree of alignment speed can be determined based on the steering wheel rotation information, and then the driver's alignment requirements can be more accurately determined based on the rotation information, the expected degree and the preset correspondence, and then the alignment intention can be more accurately determined.

[0016] In another possible implementation, the method further includes: acquiring status information of the vehicle; the status information of the vehicle includes at least one of the following: status information of the steering wheel, status information of the steering mechanism, operation information of the vehicle, and driving mode information of the vehicle; based on the status information of the vehicle, determining whether the vehicle is in a state to be aligned.

[0017] According to the above technical means, it is possible to comprehensively determine whether the vehicle is in a state to be aligned from multiple perspectives, such as the state information of the steering wheel, the state information of the steering mechanism, the operation information of the vehicle, the driving mode information of the vehicle, etc. This comprehensive determination method is more accurate than determining whether the vehicle is in a state to be aligned based on a single piece of information.

[0018] In another possible implementation, determining whether the vehicle is in a state to be aligned is based on the vehicle's status information, including: determining that the vehicle is in a state to be aligned when the vehicle's status information satisfies a preset condition; the preset condition includes any one of the following: the vehicle's operating information is used to indicate that the vehicle switches from an unpowered state to a powered state; the vehicle's driving mode information is used to indicate that the vehicle switches from a gaming mode to a non-gaming mode; the steering wheel's status information is used to indicate that the steering wheel exits a silent state; in the silent state, the steering wheel remains stationary; the steering mechanism's status information is used to indicate that the steering mechanism is in a blocked state; the steering wheel's status information is used to indicate that the difference between the actual steering angles of the steering wheel and the steering mechanism exceeds a threshold.

[0019] According to the above technical means, when the vehicle status information meets the preset conditions, it can be explained that there may be a difference in steering angle between the steering wheel and the steering mechanism. Therefore, it can be determined whether the vehicle is in a state to be aligned based on the vehicle status information and the preset conditions.

[0020] According to a second aspect provided by the present application, a vehicle steering wheel alignment device is provided, which includes a determination module and a control module; the determination module is used to determine the alignment intention of the vehicle driver based on the target scene in which the vehicle is located when the vehicle is in a state to be aligned; the state to be aligned is used to indicate that the steering wheel and steering mechanism of the vehicle are to be aligned; the control module is used to control the alignment of the steering wheel and the steering mechanism based on the alignment intention.

[0021] In one possible implementation, the control module is specifically used to: obtain an actual steering angle difference between the steering mechanism and the steering wheel; determine a target alignment speed of the steering wheel based on the actual steering angle difference, the alignment intention and the target angle difference; the target angle difference is used to represent the steering angle difference between the steering wheel and the steering mechanism in the alignment state; and control the alignment of the steering wheel and the steering mechanism based on the target alignment speed.

[0022] According to the third aspect provided by the present application, a vehicle is provided, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0023] According to the fourth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by the processor of the vehicle, the vehicle is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0024] According to the fifth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on a vehicle, the vehicle executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0025] Therefore, the above technical features of the present application have the following beneficial effects:

[0026] (1) Since the state to be aligned of a vehicle usually includes the state to be aligned in a variety of scenarios, and the alignment intention of the driver of the vehicle may be different in different scenarios, and thus the alignment requirements of the driver may also be different. If the steering wheel and the steering mechanism are aligned based on a fixed alignment method, the driver's expectations may not be met, thereby affecting the driver's driving experience. Therefore, the present application classifies different scenarios, and based on the alignment intention of the vehicle in the target scenario and the alignment requirements of the driver, the alignment of the steering wheel and the steering mechanism is accurately controlled, thereby improving the driver's driving experience.

[0027] (2) The target alignment speed of the steering wheel can be determined by the actual steering angle difference, the alignment intention and the target steering angle difference. Not only can the steering wheel and the steering mechanism be controlled to be aligned at the target alignment speed that meets the alignment requirements of the driver, but also the actual steering angle difference can be ensured to gradually reach the target steering angle difference during the process of controlling the steering wheel and the steering mechanism to be aligned at the target alignment speed that meets the alignment requirements of the driver, thereby achieving stable alignment of the steering wheel and the steering mechanism.

[0028] (3) In the process of controlling the alignment of the steering wheel and the steering mechanism at a target alignment speed that meets the alignment requirements of the driver, while ensuring that the actual steering angle difference gradually reaches the target steering angle difference, the target torque of the steering wheel can be determined by the target alignment speed of the steering wheel and the current alignment speed of the steering wheel. Thus, in the process of controlling the alignment of the steering wheel and the steering mechanism at the target torque, it can be ensured that the current alignment speed of the steering wheel gradually reaches the target alignment speed of the steering wheel, thereby achieving stable alignment of the steering wheel and the steering mechanism.

[0029] (4) Since the driver's driving habit information can reflect the driver's driving needs, the steering wheel rotation information can reflect the current rotation state of the steering wheel. Through the current rotation state of the steering wheel and the driver's driving needs, the driver's alignment intention of the vehicle can be determined more accurately.

[0030] (5) Based on the steering wheel rotation information, the driver's expectation of the alignment speed can be determined, and then according to the rotation information, the expectation and the preset correspondence, the driver's alignment requirements can be determined more accurately, and then the alignment intention can be determined more accurately.

[0031] (6) Whether the vehicle is in the state to be aligned can be determined comprehensively from multiple perspectives, such as the state information of the steering wheel, the state information of the steering mechanism, the operation information of the vehicle, and the driving mode information of the vehicle. This comprehensive determination method is more accurate than determining whether the vehicle is in the state to be aligned based on a single piece of information.

[0032] (7) When the vehicle status information meets the preset conditions, it can be indicated that there may be a difference in steering angles between the steering wheel and the steering mechanism. Therefore, it can be determined whether the vehicle is in the state to be aligned based on the vehicle status information and the preset conditions.

[0033] It should be noted that the technical effects brought about by any implementation method in the 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.

[0034] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0036] Figure 1 is a schematic diagram showing the composition of a vehicle steering wheel alignment system according to an exemplary embodiment;

[0037] Figure 2 is a flow chart of a vehicle steering wheel alignment method according to an exemplary embodiment;

[0038] Figure 3 is a flow chart of another vehicle steering wheel alignment method according to an exemplary embodiment;

[0039] Figure 4 is a flow chart of another vehicle steering wheel alignment method according to an exemplary embodiment;

[0040] Figure 5 is a flow chart of another vehicle steering wheel alignment method according to an exemplary embodiment;

[0041] Figure 6 is a flow chart of another vehicle steering wheel alignment method according to an exemplary embodiment;

[0042] Figure 7 is a flow chart of another vehicle steering wheel alignment method according to an exemplary embodiment;

[0043] Figure 8 is a flow chart of another vehicle steering wheel alignment method according to an exemplary embodiment;

[0044] Fig. 9 is a block diagram of a vehicle steering wheel alignment device according to an exemplary embodiment;

[0045] Fig.10 is a block diagram of another vehicle steering wheel alignment device according to an exemplary embodiment;

[0046] Fig.11 is a block diagram of another vehicle steering wheel alignment device according to an exemplary embodiment;

[0047] Fig.12 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0048] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0050] In order to control the alignment of the steering wheel and the steering mechanism, the present application proposes a vehicle steering wheel alignment method. Since the state to be aligned of the vehicle usually includes the state to be aligned in a variety of scenarios, and the alignment intention of the driver of the vehicle may be different in different scenarios, and thus the alignment requirements of the driver are also different. If the steering wheel and the steering mechanism are aligned based on a fixed alignment method, it may not meet the driver's expectations, thereby affecting the driver's driving experience. Therefore, the present application classifies different scenarios, and based on the alignment intention of the target scenario in which the vehicle is located and the alignment requirements of the driver, the alignment of the steering wheel and the steering mechanism is accurately controlled, thereby improving the driver's driving experience.

[0051] For ease of understanding, the vehicle steering wheel alignment method provided by the present application is specifically introduced below with reference to the accompanying drawings.

[0052] Figure 1FIG. 1 is a schematic diagram showing the composition of a vehicle steering wheel alignment system according to an exemplary embodiment. Figure 1 As shown, the vehicle steering wheel alignment system includes a steering wheel 101, a first motor 102, a steering column 103, a rotation angle sensor 104, a second motor 105, a rack 106, a displacement sensor 107, a steering wheel 108 and a controller 109. The steering wheel 101, the first motor 102 and the rotation angle sensor 104 are connected through the steering column 103.

[0053] It should be understood that the steering wheel 101, the first motor 102, the steering column 103, and the angle sensor 104 may constitute a control mechanism for receiving the steering operation of the steering wheel by the driver, thereby controlling the rotation of the vehicle's wheels. The second motor 105, the rack 106, the displacement sensor 107, and the steering wheel 108 may constitute a steering mechanism for driving the vehicle's wheels to rotate based on the steering angle of the steering wheel under the steering operation of the driver.

[0054] In some embodiments, the steering wheel 101 is a wheel-shaped device for controlling the driving direction of the vehicle, and can receive a steering operation of the driver rotating the steering wheel and rotate under the steering operation.

[0055] In some embodiments, the first motor 102 is a motor for assisting the driver in rotating the steering wheel 101. The first motor 102 can provide auxiliary force for the steering wheel 101, so that the driver can control the steering wheel 101 more easily.

[0056] In some embodiments, the steering column 103 is a mechanical component connecting the steering wheel 101 and the steering angle sensor 104 , and is used to transmit the steering angle of the steering wheel 101 under the steering operation to the steering angle sensor 104 .

[0057] In some embodiments, the steering angle sensor 104 is connected to the steering wheel 101 through the steering column 103 to detect the steering angle of the steering wheel 101 .

[0058] In some embodiments, the second motor 105 is connected to the rack 106 and is configured to rotate based on a steering instruction sent by the controller 109 to drive the rack 106 to move.

[0059] In some embodiments, the rack 106 is connected to the second motor 105 and the steering wheel 108 to convert the rotation of the second motor 105 into a lateral displacement of the rack 106 , and transmit the lateral displacement to the steering wheel 108 through the connection between the rack 106 and the steering wheel 108 .

[0060] In some embodiments, the displacement sensor 107 is used to detect the lateral displacement of the rack 106 .

[0061] In some embodiments, the steering wheel 108 is connected to the rack 106 and can drive the wheels of the vehicle to rotate according to the lateral displacement of the rack 106 .

[0062] In some embodiments, the controller 109 refers to a device that can generate an operation control signal according to the instruction operation code and the timing signal to instruct the first motor 102 and the second motor 105 to execute the control instruction. Exemplarily, the controller can be an electronic control unit (ECU), a central processing unit (CPU), a general-purpose processor network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD) or any combination thereof. The controller 109 can also be other devices with processing functions, such as circuits, devices or software modules, and the embodiments of the present application do not impose any restrictions on this.

[0063] It should be noted that the system architecture and application scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0064] Figure 2 is a flow chart of a vehicle steering wheel alignment method according to an exemplary embodiment. Figure 2 As shown, the vehicle steering wheel alignment method includes the following steps:

[0065] S101 . When a vehicle is in a state to be aligned, determine an alignment intention of a driver of the vehicle based on a target scene in which the vehicle is located.

[0066] Among them, the state to be aligned is used to indicate that the steering wheel and steering mechanism of the vehicle are to be aligned. It can be understood that the state to be aligned of the vehicle usually does not directly indicate that the steering wheel and the steering mechanism are not aligned, but indicates that the vehicle needs to align the steering wheel and the steering mechanism. This is because in some scenarios, such as when the vehicle switches from game mode to non-game mode, the steering wheel and the steering mechanism may be aligned. In order to improve driving safety, when the vehicle switches from game mode to non-game mode, the vehicle should perform an alignment operation on the steering wheel and the steering mechanism regardless of whether the steering wheel and the steering mechanism are aligned at this time. Therefore, the state to be aligned of the vehicle means that the vehicle needs to align the steering wheel and the steering mechanism.

[0067] The pending alignment state of the vehicle includes pending alignment states in multiple scenarios, and the target scenario in which the vehicle is located refers to the scenario corresponding to the pending alignment state in which the vehicle is located.

[0068] The driver's alignment intention can reflect the driver's expected alignment speed. The driver's expected alignment speed can be represented by a quantitative parameter, such as a factor affecting the alignment speed (referred to as the expected influence factor), that is, the alignment intention can be represented by the expected influence factor.

[0069] It is understandable that the alignment intention of the driver is different in different target scenarios. Therefore, it is necessary to determine the alignment intention of the driver of the vehicle based on the target scenario in which the vehicle is located to dynamically reflect the alignment speed expected by the driver.

[0070] Exemplarily, the driver's alignment intention includes any one of the following: the steering wheel is aligned with the steering mechanism quickly, the steering wheel is aligned with the steering mechanism slowly, and the steering wheel is aligned with the steering mechanism at a moderate speed.

[0071] S102: Control the alignment of the steering wheel and the steering mechanism based on the alignment intention.

[0072] It should be understood that the alignment of the steering wheel and the steering mechanism means that the steering angle of the steering wheel matches the steering angle of the steering mechanism. The matching of the steering angle of the steering wheel and the steering angle of the steering mechanism may mean that the steering angle of the steering wheel is equal to or similar to the steering angle of the steering mechanism. In addition, the steering angle of the steering mechanism may refer to the actual steering angle of the steering wheel, or the steering angle of the steering wheel corresponding to the lateral displacement of the rack, which is not specifically limited in the present application.

[0073] As a possible implementation manner, the steering wheel may be feedback controlled based on a deviation value between the alignment speed desired by the driver as indicated by the alignment intention and the current alignment speed of the steering wheel, so that the current alignment speed of the steering wheel gradually reaches and is maintained at the alignment speed desired by the driver.

[0074] As another possible implementation, the steering wheel may be subjected to first feedback control based on a deviation between an actual steering angle difference between the steering mechanism and the steering wheel and a target steering angle difference between the steering mechanism and the steering wheel to determine a target alignment speed of the steering wheel. The target steering angle difference between the steering mechanism and the steering wheel is used to represent a steering angle difference between the steering wheel and the steering mechanism when the vehicle is in an aligned state.

[0075] Furthermore, according to the deviation between the target alignment speed of the steering wheel and the current alignment speed of the steering wheel, a second feedback control is performed on the steering wheel to determine the target torque of the steering wheel. Then, the steering wheel and the steering mechanism can be controlled to align based on the target torque of the steering wheel.

[0076] It can be understood that the first feedback control aims to gradually adjust the target alignment speed of the steering wheel so that the actual steering angle difference between the steering mechanism and the steering wheel reaches the target steering angle difference between the steering mechanism and the steering wheel. The second feedback control aims to gradually adjust the target torque of the steering wheel so that the current alignment speed of the steering wheel reaches the target alignment speed of the steering wheel. In this way, through this dual-loop feedback control, the alignment speed of the steering wheel and the steering angle difference between the steering mechanism and the steering wheel can be controlled, thereby improving the stability of controlling the alignment of the steering wheel and the steering mechanism.

[0077] In addition, for the above-mentioned dual-loop feedback control, please refer to the specific description in S201 below, and this application will not elaborate on it here.

[0078] Based on the above S101 and S102, the present application provides a method for aligning a vehicle steering wheel. Since the state to be aligned of the vehicle generally includes the state to be aligned in a variety of scenarios, and the alignment intention of the driver of the vehicle may be different in different scenarios, and thus the alignment requirements of the driver are also different. If the steering wheel and the steering mechanism are aligned based on a fixed alignment method, the driver's expectations may not be met, thereby affecting the driver's driving experience. Therefore, the present application classifies different scenarios, and based on the alignment intention of the target scenario in which the vehicle is located and the alignment requirements of the driver, the alignment of the steering wheel and the steering mechanism is accurately controlled, thereby improving the driver's driving experience.

[0079] In some embodiments, the alignment intention may be used to indicate the alignment speed desired by the driver, so that the steering wheel and the steering mechanism may be controlled to align based on the alignment speed desired by the driver indicated by the alignment intention. Therefore, the above S102 may be specifically implemented as the following steps:

[0080] S201. Obtain an actual steering angle difference between a steering mechanism and a steering wheel.

[0081] As a possible implementation, the actual steering angle of the steering wheel can be obtained through a steering angle sensor, and the actual steering angle of the steering mechanism can be obtained through the position of the rack in the steering mechanism. Then, the expected steering angle of the steering wheel can be determined based on the actual steering angle of the steering mechanism. Usually, the actual steering angle of the steering mechanism matches the expected steering angle of the steering wheel.

[0082] Furthermore, the actual steering angle difference between the steering mechanism and the steering wheel may be determined based on a deviation between the actual steering angle of the steering wheel and the expected steering angle of the steering wheel.

[0083] S202: Determine a target alignment speed of the steering wheel based on the actual steering angle difference, the alignment intention, and the target steering angle difference.

[0084] As a possible implementation, the actual steering angle difference, the alignment speed desired by the driver indicated by the alignment intention, the target steering angle difference, and the target alignment speed have a corresponding relationship. Thus, the target alignment speed of the steering wheel can be determined according to the actual steering angle difference, the alignment intention, the target steering angle difference, and the corresponding relationship.

[0085] As another possible implementation, the steering wheel may be feedback-controlled based on the deviation between the actual steering angle difference and the target steering angle difference and the alignment speed desired by the driver indicated by the alignment intention to determine the target alignment speed of the steering wheel.

[0086] Exemplarily, the feedback control may be PID control, and the calculation formulas required for performing PID control are shown in the following formula (1) and the following formula (2).

[0087]

[0088] Δθ= θ tar -θ real Formula (2)

[0089] Among them, ω tar is the target alignment speed of the steering wheel; Kr is the alignment speed expected by the driver as indicated by the alignment intention; Δθ is the deviation between the actual steering angle difference and the target steering angle difference; θ tar is the actual steering angle difference; θ real is the target steering angle difference; K P1 is the proportional coefficient of the first feedback control loop; K I1 is the integral coefficient of the first feedback control loop; K D1 is the differential coefficient of the first feedback control loop.

[0090] S203: Control the alignment of the steering wheel and the steering mechanism based on the target alignment speed.

[0091] As a possible implementation, the steering wheel may be feedback-controlled based on the deviation between the target alignment speed of the steering wheel and the current alignment speed of the steering wheel to determine the target torque of the steering wheel. Then, the steering wheel and the steering mechanism may be controlled to be aligned based on the target torque of the steering wheel.

[0092] As another possible implementation, the target alignment speed can be fuzzified and converted into a fuzzy variable corresponding to the target alignment speed (such as slow, medium, and fast), and the current alignment speed can be fuzzified and converted into a fuzzy variable corresponding to the current alignment speed (such as slow, medium, and fast). Then, according to the fuzzy variable corresponding to the target alignment speed, the fuzzy variable corresponding to the current alignment speed, and the pre-set fuzzy rule base, the steering wheel is feedback controlled to determine the target torque of the steering wheel.

[0093] For example, the fuzzy rule base includes: if the fuzzy variable corresponding to the target alignment speed is fast, and the fuzzy variable corresponding to the current alignment speed is slow, then the target torque of the steering wheel is large; if the fuzzy variable corresponding to the target alignment speed is slow, and the fuzzy variable corresponding to the current alignment speed is fast, then the target torque of the steering wheel is small; if the fuzzy variable corresponding to the target alignment speed is medium, and the fuzzy variable corresponding to the current alignment speed is medium, then the target torque of the steering wheel is moderate.

[0094] In addition, regarding the deviation value between the target alignment speed of the steering wheel and the current alignment speed of the steering wheel, feedback control is performed on the steering wheel. Reference may be made to the specific description in S301 and S302 below, which will not be elaborated in this application.

[0095] Based on the above S201-S203, the target alignment speed of the steering wheel is determined by the actual steering angle difference, the alignment intention and the target steering angle difference. Not only can the steering wheel and the steering mechanism be controlled to be aligned at the target alignment speed that meets the driver's alignment requirements, but also the actual steering angle difference can be ensured to gradually reach the target steering angle difference during the process of controlling the steering wheel and the steering mechanism to be aligned at the target alignment speed that meets the driver's alignment requirements, thereby achieving stable alignment of the steering wheel and the steering mechanism.

[0096] In some embodiments, in order to control the alignment of the steering wheel and the steering mechanism based on the target alignment speed, the above S203 may be implemented as the following steps:

[0097] S301 : Determine a target torque of the steering wheel based on a target alignment speed of the steering wheel and a current alignment speed of the steering wheel.

[0098] As a possible implementation, there is a correspondence between the target alignment speed of the steering wheel, the current alignment speed of the steering wheel, and the target torque of the steering wheel. Thus, the target torque of the steering wheel can be determined according to the target alignment speed of the steering wheel, the current alignment speed of the steering wheel, and the preset correspondence.

[0099] As another possible implementation manner, feedback control may be performed on the steering wheel based on a deviation value between the target alignment speed of the steering wheel and the current alignment speed of the steering wheel to determine the target torque of the steering wheel.

[0100] Exemplarily, the feedback control may be PID control, and the calculation formulas required for performing PID control are shown in the following formula (3) and the following formula (4).

[0101]

[0102] Δω=ω tar -ω real Formula (2)

[0103] Among them, T tar is the target torque of the steering wheel; Δω is the deviation between the target alignment speed of the steering wheel and the current alignment speed of the steering wheel; ω tar is the target alignment speed of the steering wheel; ω real is the current alignment speed of the steering wheel; K P2 is the proportional coefficient of the second feedback control loop; K I2 is the integral coefficient of the second feedback control loop; K D2 is the differential coefficient of the second feedback control loop.

[0104] S302: Control the steering wheel to align with the steering mechanism with the target torque.

[0105] As a possible implementation method, the target torque can be sent to the first motor of the steering wheel, so that after receiving the target torque, the first motor of the steering wheel converts the target torque into a corresponding current value, and then the steering wheel and the steering mechanism can be aligned by outputting the current value.

[0106] In some embodiments, in order to determine the alignment intention of the driver of the vehicle, the above S101 may be implemented as the following steps:

[0107] S401: Obtain steering wheel rotation information in a target scene and driving habit information of a driver of a vehicle in the target scene.

[0108] It can be understood that the driver's driving habit information can reflect the driver's driving needs, the steering wheel rotation information can reflect the current rotation state of the steering wheel, and the current rotation state of the steering wheel can reflect the steering angle deviation between the steering wheel and the steering mechanism.

[0109] Because there is a correlation between the driver's driving demand, the current rotation state of the steering wheel and the driver's driving intention. For example, if the current rotation state of the steering wheel can reflect that the steering angle deviation between the steering wheel and the steering mechanism is large, and the driver's driving demand can reflect that the driver expects to drive the vehicle quickly, then it can be determined that the driver's driving intention indicates that the steering wheel and the steering mechanism are quickly aligned. For another example, if the current rotation state of the steering wheel can reflect that the steering angle deviation between the steering wheel and the steering mechanism is small, and the driver's driving demand can reflect that the driver expects to drive the vehicle smoothly, then it can be determined that the driver's driving intention indicates that the steering wheel and the steering mechanism are slowly aligned. In addition, in different scenarios, the steering wheel rotation information may be different, and the driver's driving habit information may also be different. Therefore, in order to more accurately determine the alignment intention of the driver of the vehicle, it is necessary to obtain the steering wheel rotation information in the target scenario and the driving habit information of the driver of the vehicle in the target scenario.

[0110] As a possible implementation manner, the steering wheel rotation information includes: the hand torque applied by the driver on the steering wheel, and the actual steering angle difference between the steering mechanism and the steering wheel.

[0111] S402: Determine the alignment intention of the driver of the vehicle based on the steering wheel rotation information and the driving habit information.

[0112] As a possible implementation method, the driver's expectation of the alignment speed can be determined through big data analysis based on the steering wheel rotation information and driving habit information. Then, the driver's expectation of the alignment speed is fuzzily calculated to obtain the driver's expected alignment speed, thereby obtaining the alignment intention of the driver of the vehicle.

[0113] In some embodiments, in order to determine the alignment intention of the driver of the vehicle based on the steering wheel rotation information and the driving habit information, the above S402 may be implemented as the following steps:

[0114] S501 : Determine the degree of expectation of the driver of the vehicle for the alignment speed based on the steering wheel rotation information.

[0115] Among them, the driver's expectation of the alignment speed is positively correlated with the driver's expected alignment speed.

[0116] Exemplarily, the steering wheel rotation information may include the hand torque applied by the driver to the steering wheel and the difference between the actual steering angle of the steering mechanism and the steering wheel.

[0117] As a possible implementation method, big data analysis may be performed on the steering wheel rotation information to obtain the vehicle driver's expectation of the alignment speed.

[0118] As another possible implementation, there is a corresponding relationship between the steering wheel rotation information and the driver's expectation of the alignment speed. Therefore, the driver's expectation of the alignment speed can be determined based on the steering wheel rotation information and the corresponding relationship.

[0119] S502: Obtain a preset corresponding relationship corresponding to the driving habit information.

[0120] The preset corresponding relationship includes the relationship between the rotation information, the expected degree and the alignment intention.

[0121] S503: Determine alignment intention based on the rotation information, the expected degree, and the preset corresponding relationship.

[0122] As a possible implementation, the rotation information, expected degree, and alignment intention included in the preset corresponding relationship are all fuzzy quantities after fuzzy processing. Therefore, based on a membership function, such as a Z-type membership function (zmf), a triangle membership function (trimf), an S-type membership function (smf), etc., the rotation information can be converted into a fuzzy quantity corresponding to the rotation information, and the expected degree can be converted into a fuzzy quantity corresponding to the expected degree. Then, according to the fuzzy quantity corresponding to the rotation information, the fuzzy quantity corresponding to the expected degree, and the preset corresponding relationship, the fuzzy quantity corresponding to the alignment intention can be determined.

[0123] Furthermore, by performing a clearing process on the fuzzy amount corresponding to the alignment intention, a quantitative parameter such as an expected rotation speed factor can be obtained. Since the expected rotation speed factor can represent the alignment intention, the alignment intention can be obtained by performing a clearing process on the fuzzy amount corresponding to the alignment intention.

[0124] In some embodiments, the membership function can be dynamically determined based on the target scene of the vehicle and the driving habit information of the driver. In this way, the rotation information and the expected driving degree can be flexibly converted into corresponding fuzzy quantities according to different driving environments and the personalized needs of the driver, thereby achieving more accurate fuzzy processing, and further improving the accuracy of determining the alignment intention.

[0125] Combine the following Figure 3 The above embodiment exemplarily illustrates the complete process of implementing dual-loop feedback control on the steering wheel in the above S102.

[0126] First, the actual steering angle difference between the steering mechanism and the steering wheel, and the target steering angle difference between the steering mechanism and the steering wheel are input into the first input end to obtain the first deviation value between the actual steering angle difference and the target steering angle difference output by the first input end. Then, the first deviation value between the actual steering angle difference and the target steering angle difference, the steering wheel rotation information, and the driver's expectation of the alignment speed can be input into the fuzzy reasoning module to obtain the driver's alignment intention output by the fuzzy reasoning module. Then, the driver's alignment intention, the deviation value between the actual steering angle difference and the target steering angle difference, and the control coefficient of the first PID control module are input into the first PID control module to obtain the target alignment speed of the steering wheel output by the first PID control module. Then, the target alignment speed of the steering wheel and the current alignment speed of the steering wheel are input into the second input end to obtain the second deviation value between the target alignment speed and the current alignment speed output by the second input end. Then, the second deviation value between the target alignment speed and the current alignment speed is input into the second PID control module to obtain the target torque of the steering wheel output by the second PID control module. Finally, the target torque of the steering wheel is sent to the first motor of the steering wheel, so that after receiving the target torque, the first motor of the steering wheel converts the target torque into a corresponding current value, and then the steering wheel can be controlled to align with the steering mechanism by outputting the current value.

[0127] In some embodiments, in order to determine whether the vehicle is in a state to be aligned, the vehicle steering wheel alignment method provided in the embodiment of the present application further includes the following steps:

[0128] S601. Obtain vehicle status information.

[0129] The vehicle status information includes at least one of the following: steering wheel status information, steering mechanism status information, vehicle operation information, and vehicle driving mode information.

[0130] In some embodiments, in order to improve the safety of controlling the alignment of the steering wheel and the steering mechanism, the vehicle status information may further include at least one of the following: vehicle fault information. In this way, it is also possible to determine whether the vehicle is in a state to be aligned from the perspective of whether there is a fault problem in the vehicle, so as to determine whether the vehicle needs to perform an alignment operation on the steering wheel and the steering mechanism.

[0131] In one example, the vehicle's operating information can be obtained by real-time monitoring of the vehicle's power status signal and speed signal. If the vehicle's power status signal at the previous moment is a non-ready state (non-ready state), and the vehicle's power status signal at the current moment is a ready state (ready state), then the vehicle's operating information can be used to indicate that the vehicle has switched from an unpowered state to a powered state. Alternatively, if the vehicle's speed signal at the current moment indicates that the vehicle speed is 0, then the vehicle's operating information can be used to indicate that the vehicle is stationary.

[0132] In another example, the driving mode information of the vehicle can be obtained by real-time monitoring of the driving mode signal of the vehicle. If the driving mode signal of the vehicle at the previous moment is a game mode signal, and the driving mode signal of the vehicle at the current moment is a non-game mode signal, then the driving mode information of the vehicle can be used to indicate that the vehicle switches from game mode to non-game mode. Alternatively, if the driving mode signal of the vehicle at the current moment is an intelligent driving mode signal, then the driving mode information of the vehicle can be used to indicate that the vehicle is in an intelligent driving mode. Alternatively, if the driving mode signal of the vehicle at the current moment is a manual driving mode signal, then the driving mode information of the vehicle can be used to indicate that the vehicle is in a manual driving mode.

[0133] In yet another example, the state information of the steering mechanism may be obtained through a control module of the second motor of the steering mechanism.

[0134] In another example, the state information of the steering wheel can be obtained by real-time monitoring of the state signal of the steering wheel, the actual steering angle of the steering wheel, and the actual steering angle of the steering mechanism. If the state signal of the steering wheel at the previous moment is a silent state signal, and the state signal of the steering wheel at the current moment is a non-silent state signal, then the state information of the steering wheel can be used to indicate that the steering wheel exits the silent state. Alternatively, if the steering angle deviation between the actual steering angle of the steering wheel and the expected steering angle exceeds a preset threshold, then the state information of the steering wheel can be used to indicate that the difference between the actual steering angle of the steering wheel and the steering mechanism exceeds the threshold. Among them, the expected steering angle is the angle of the steering wheel corresponding to the actual steering angle of the steering mechanism.

[0135] In another example, the fault information of the vehicle can be obtained by real-time monitoring of the state machine signal in the vehicle steering wheel alignment system. If the state signal of the vehicle at the current moment indicates that the vehicle has a fault problem, then the fault information of the vehicle can be used to indicate that the vehicle has a fault problem. If the state signal of the vehicle at the current moment indicates that the vehicle does not have a fault problem, then the fault information of the vehicle can be used to indicate that the vehicle does not have a fault problem.

[0136] S602: Determine whether the vehicle is in a state to be aligned based on the state information of the vehicle.

[0137] As a possible implementation method, a prediction model based on machine learning or artificial intelligence can be used to predict whether the vehicle is in a state to be aligned based on the vehicle's state information.

[0138] As another possible implementation, whether the vehicle is in the state to be aligned can be determined by determining whether the state information of the vehicle satisfies a preset condition (such as the first preset condition and the second preset condition described below). If the state information of the vehicle satisfies the preset condition, it is determined that the vehicle is in the state to be aligned. If the state information of the vehicle does not satisfy the preset condition, it is determined that the vehicle is not in the state to be aligned.

[0139] In one example, when the status information of the vehicle satisfies a first preset condition, it is determined that the vehicle is in a state to be aligned.

[0140] The first preset condition includes any one of the following:

[0141] (1) The vehicle operation information is used to indicate that the vehicle switches from an unpowered state to a powered state.

[0142] It is understandable that when the vehicle is not powered on, the steering wheel and the steering mechanism may be in an unlocked or free state, which may cause the steering angle of the steering wheel and the steering mechanism to be inconsistent. When the vehicle is switched from the unpowered state to the powered state, it means that the driver may start to drive the vehicle. Therefore, in order to enable the steering wheel to accurately control the driving direction of the vehicle and avoid affecting driving safety due to the steering angle deviation of the steering wheel and the steering mechanism, when the vehicle is switched from the unpowered state to the powered state, it can be determined that the vehicle is in the state to be aligned, so as to perform an alignment operation on the steering wheel and the steering mechanism.

[0143] (2) The driving mode information of the vehicle is used to indicate that the vehicle switches from the gaming mode to the non-gaming mode.

[0144] It is understandable that when the vehicle is in the game mode, the steering mechanism will not rotate synchronously with the steering wheel, which may cause the steering angle of the steering wheel and the steering mechanism to be inconsistent. When the vehicle switches from the game mode to the non-game mode, it means that the driver may start to drive the vehicle. Therefore, in order to enable the steering wheel to accurately control the driving direction of the vehicle and avoid affecting driving safety due to the steering angle deviation between the steering wheel and the steering mechanism, when the vehicle switches from the game mode to the non-game mode, it can be determined that the vehicle is in the state to be aligned, so as to perform an alignment operation on the steering wheel and the steering mechanism.

[0145] (3) The status information of the steering wheel is used to indicate that the steering wheel exits the silent state.

[0146] In silent mode, the steering wheel remains stationary.

[0147] It is understandable that when the steering wheel is in the silent state, the steering wheel will not rotate synchronously with the steering mechanism, which may cause the steering angle of the steering wheel to be inconsistent with that of the steering mechanism. When the steering wheel exits the silent state, it means that the driver may start to drive the vehicle. Therefore, in order to enable the steering wheel to accurately control the driving direction of the vehicle and avoid affecting driving safety due to the steering angle deviation between the steering wheel and the steering mechanism, when the steering wheel exits the silent state, it can be determined that the vehicle is in the state to be aligned, so as to perform an alignment operation on the steering wheel and the steering mechanism.

[0148] (4) The state information of the steering mechanism is used to indicate that the steering mechanism is in a stalled state.

[0149] It is understandable that if the steering mechanism is in a blocked state, it means that the steering mechanism is stuck for some reason and cannot rotate synchronously with the steering wheel or cannot rotate smoothly, which may cause the steering angle of the steering wheel and the steering mechanism to be inconsistent. If you continue to turn the steering wheel at this time to force the steering mechanism to follow the rotation, it will cause the second motor in the steering mechanism to overload or even burn out. Therefore, in order to enable the steering wheel to accurately control the driving direction of the vehicle, extend the service life of the second motor, and avoid affecting driving safety due to the steering angle deviation between the steering wheel and the steering mechanism, when the steering mechanism is in a blocked state, it can be determined that the vehicle is in a state to be aligned, so as to align the steering wheel and the steering mechanism.

[0150] (5) The state information of the steering wheel is used to indicate that the difference between the actual steering angle of the steering wheel and the steering mechanism exceeds a threshold.

[0151] It is understandable that if the actual steering angle difference between the steering wheel and the steering mechanism exceeds the threshold, it means that the steering angle difference between the steering wheel and the steering mechanism is large. The larger the steering angle difference, the easier it is to affect the driver's control perception and judgment, which may affect driving safety. Therefore, in order to enable the steering wheel to accurately control the driving direction of the vehicle and avoid affecting driving safety due to the steering angle deviation between the steering wheel and the steering mechanism, when the actual steering angle difference between the steering wheel and the steering mechanism exceeds the threshold, it can be determined that the vehicle is in a state to be aligned, so as to perform an alignment operation on the steering wheel and the steering mechanism.

[0152] In another example, the vehicle status information may also include vehicle fault information. When the vehicle status information satisfies the first preset condition and the second preset condition, it is determined that the vehicle is in a state to be aligned.

[0153] The second preset condition includes at least one of the following:

[0154] (1) The vehicle fault information is used to indicate that there is no fault problem with the vehicle.

[0155] It is understandable that if there is a fault in the vehicle, the state of the steering wheel and the steering mechanism may be unstable or fail to work properly. In this case, aligning the steering wheel with the steering mechanism may cause inaccurate alignment of the steering wheel and the steering mechanism, thereby affecting the sensitivity and accuracy of the steering and increasing the driving risk. Therefore, when the vehicle status information meets the above-mentioned first preset condition and the vehicle does not have a fault problem, it can be determined that the vehicle is in a state to be aligned, so as to align the steering wheel with the steering mechanism, thereby improving driving safety.

[0156] (2) The vehicle's operating information is used to indicate that the vehicle is stationary.

[0157] It should be noted that when the steering wheel exits the silent state, the vehicle does not need to be stationary to perform the alignment operation.

[0158] The following is based on Figure 4 The flowchart shown exemplarily introduces the complete process of determining that the vehicle is in the state to be aligned based on the vehicle state information, the first preset condition (1) and the second preset condition.

[0159] Step a1: Obtain vehicle operation information, vehicle function information and vehicle fault information.

[0160] Step a2: determine whether the vehicle's function information indicates that the vehicle has finished executing the boarding and exiting assistance function.

[0161] If yes, execute the following step a3.

[0162] If not, the process ends.

[0163] Step a3: determine whether the vehicle operation information indicates that the vehicle is switched from an unpowered state to a powered state.

[0164] If yes, execute the following step a4.

[0165] If not, the process ends.

[0166] Step a4: determine whether the vehicle fault information indicates that the vehicle has no fault problem.

[0167] If yes, execute the following step a5.

[0168] If not, the process ends.

[0169] Step a5: determine whether the vehicle operation information indicates that the vehicle is stationary.

[0170] If yes, execute the following step a6.

[0171] If not, the process ends.

[0172] Step a6: Determine whether the vehicle is in a state to be aligned.

[0173] The following is based on Figure 5 The flowchart shown exemplarily introduces the complete process of determining that the vehicle is in the state to be aligned based on the vehicle state information, the first preset condition (2) and the second preset condition.

[0174] Step b1: Acquire vehicle driving mode information, vehicle fault information, and vehicle operation information.

[0175] Step b2: determine whether the driving mode information of the vehicle indicates that the vehicle is switched from the gaming mode to the non-gaming mode.

[0176] If yes, execute the following step b3.

[0177] If not, the process ends.

[0178] Step b3: Determine whether the vehicle fault information indicates that the vehicle has no fault problem.

[0179] If yes, execute the following step b4.

[0180] If not, the process ends.

[0181] Step b4: determine whether the vehicle's operating information indicates that the vehicle is stationary.

[0182] If yes, execute the following step b5.

[0183] If not, the process ends.

[0184] Step b5: Determine whether the vehicle is in a state to be aligned.

[0185] The following is based on Figure 6 The flowchart shown exemplarily introduces the complete process of determining that the vehicle is in the state to be aligned based on the vehicle state information, the first preset condition (3) and the second preset condition.

[0186] Step c1, obtaining the vehicle's driving mode information, steering wheel status information, and vehicle fault information.

[0187] Step c2: determine whether the vehicle's driving mode information indicates that the vehicle is in an intelligent driving mode.

[0188] If yes, execute the following step c3.

[0189] If not, the process ends.

[0190] Step c3: determine whether the status information of the steering wheel indicates that the steering wheel exits the silent state.

[0191] If yes, execute the following step c4.

[0192] If not, the process ends.

[0193] Step c4: determine whether the vehicle fault information indicates that the vehicle has no fault problem.

[0194] If yes, execute the following step c5.

[0195] If not, the process ends.

[0196] Step c5: Determine whether the vehicle is in a state to be aligned.

[0197] The following is based on Figure 7 The flowchart shown exemplarily introduces the complete process of determining that the vehicle is in the state to be aligned based on the vehicle state information, the first preset condition (4) and the second preset condition.

[0198] Step d1, obtaining the vehicle's driving mode information, steering mechanism status information, and vehicle operation information.

[0199] Step d2: Determine whether the driving mode information of the vehicle indicates that the vehicle is in manual driving mode.

[0200] If yes, execute the following step d3.

[0201] If not, the process ends.

[0202] Step d3: determine whether the state information of the steering mechanism indicates that the steering mechanism is in a stalled state.

[0203] If yes, execute the following step d4.

[0204] If not, the process ends.

[0205] Step d4: determine whether the vehicle's operating information indicates that the vehicle is stationary.

[0206] If yes, execute the following step d5.

[0207] If not, the process ends.

[0208] Step d5: Determine whether the vehicle is in a state to be aligned.

[0209] The following is based on Figure 8 The flowchart shown exemplarily introduces the complete process of determining that the vehicle is in a state to be aligned based on the vehicle state information, the first preset condition (5) and the second preset condition.

[0210] Step e1, obtaining the actual steering angle of the steering wheel.

[0211] Step e2: Obtain an expected steering angle of the steering wheel corresponding to the actual steering angle of the steering mechanism.

[0212] Step e3: determining the actual steering angle difference between the steering wheel and the steering mechanism according to the actual steering angle of the steering wheel and the expected steering angle of the steering wheel.

[0213] Step e4: determine whether the actual steering angle difference exceeds a threshold.

[0214] If yes, execute the following step e5.

[0215] If not, the process ends.

[0216] Step e5: Determine whether the vehicle is in a state to be aligned.

[0217] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the vehicle steering wheel alignment device or the vehicle includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the modules and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0218] The embodiment of the present application can divide the functional modules of the vehicle steering wheel alignment device or the vehicle according to the above method. For example, the vehicle steering wheel alignment device or the vehicle can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0219] Fig. 9 is a block diagram of a vehicle steering wheel alignment device according to an exemplary embodiment. Fig. 9 The vehicle steering wheel alignment device 900 includes: a determination module 901 and a control module 902 .

[0220] In some embodiments, the determination module 901 is used to determine the alignment intention of the driver of the vehicle based on the target scene in which the vehicle is located when the vehicle is in a state to be aligned; the state to be aligned is used to indicate that the steering wheel and the steering mechanism of the vehicle are to be aligned. The control module is used to control the alignment of the steering wheel and the steering mechanism based on the alignment intention.

[0221] In some embodiments, the control module 902 is used to obtain the actual steering angle difference between the steering mechanism and the steering wheel; determine the target alignment speed of the steering wheel based on the actual steering angle difference, the alignment intention and the target angle difference; the target angle difference is used to represent the steering angle difference between the steering wheel and the steering mechanism in the aligned state; and control the alignment of the steering wheel and the steering mechanism based on the target alignment speed.

[0222] According to the above technical means, the present application provides a vehicle steering wheel alignment device. Since the state to be aligned of the vehicle usually includes the state to be aligned in a variety of scenarios, and the alignment intention of the driver of the vehicle may be different in different scenarios, and thus the driver's alignment requirements are also different. If the steering wheel and the steering mechanism are aligned based on a fixed alignment method, it may not meet the driver's expectations, thereby affecting the driver's driving experience. Therefore, the present application classifies different scenarios, and based on the alignment intention of the target scenario in which the vehicle is located and the alignment requirements of the driver, the alignment of the steering wheel and the steering mechanism is accurately controlled, thereby improving the driver's driving experience.

[0223] 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 elaborated in detail here. Optionally, the division of modules in the embodiment of the present application is schematic, which is only a logical function division, and there may be other division methods in actual implementation.

[0224] For example, Fig.10 As shown, the vehicle steering wheel alignment device 1000 includes: a scene analysis module 1001, a steering angle difference calculation module 1002, a signal processing module 1003, an alignment function state calculation module 1004, a fuzzy reasoning module 1005, an alignment state module 1006 and an alignment control module 1007.

[0225] In some embodiments, the scene analysis module 1001 is used to determine the target scene in which the vehicle is located. The input parameters of the scene analysis module 1001 include at least one of the following: state information of the steering wheel, state information of the steering mechanism, operation information of the vehicle, and driving mode information of the vehicle. The input parameters of the scene analysis module 1001 include a trigger mark and a signal of the target scene, wherein the trigger mark is used to trigger the state of the calculation alignment function, the signal of the target scene is used to indicate the target scene in which the vehicle is located, and the alignment function refers to the function of controlling the alignment of the steering wheel and the steering mechanism.

[0226] In some embodiments, the steering angle difference calculation module 1002 is used to calculate the actual steering angle difference between the steering wheel and the steering mechanism. The input parameters of the steering angle difference calculation module 1002 include the actual steering angle of the steering wheel and the expected steering angle of the steering wheel corresponding to the actual steering angle of the steering mechanism. The output parameters of the steering angle difference calculation module 1002 include the angle deviation state, which is used to indicate the actual steering angle difference between the steering wheel and the steering mechanism.

[0227] In some embodiments, the signal processing module 1003 is used to determine whether the vehicle status information is valid. The input parameters of the signal processing module 1003 include the vehicle status information, and the output parameters of the signal processing module 1003 include the signal status, which is used to indicate whether the vehicle status information is valid.

[0228] In some embodiments, the alignment function state calculation module 1004 is used to calculate the state of the alignment function, and the state of the alignment function includes an inactive state, an active state, a temporary fault state, and a permanent fault state. The input parameters of the alignment function state calculation module 1004 include a signal state, a trigger mark, etc., and the output parameters of the alignment function state calculation module 1004 include the state of the alignment function.

[0229] In some embodiments, the fuzzy reasoning module 1005 is used to determine the alignment intention of the driver. The input parameters of the fuzzy reasoning module 1005 include the steering wheel rotation information in the target scene and the driving habit information of the driver of the vehicle in the target scene. The output parameters of the fuzzy reasoning module 1005 include the alignment intention of the driver.

[0230] In some embodiments, the alignment state module 1006 is used to determine whether the vehicle is in a state to be aligned. The input parameters of the alignment state module 1006 include the state of the alignment function and the angle deviation state, and the output parameters of the alignment state module 1006 include the alignment state indicating whether the vehicle is in a state to be aligned.

[0231] In some embodiments, the alignment control module 1007 is used to control the alignment of the steering wheel and the steering mechanism. The input parameters of the alignment control module 1007 include the state of the alignment function, the state information of the steering wheel, the state information of the steering mechanism, and the alignment intention of the driver. The output parameters of the alignment control module 1007 include the target torque of the steering wheel.

[0232] The following is based on Fig.11 , which exemplarily illustrates the state jump logic within the above alignment function state calculation module.

[0233] Condition S1 is a trigger condition indicating that the steering wheel and the steering mechanism are to be aligned.

[0234] When the vehicle meets condition S1, the alignment function switches from the inactive state to the active state.

[0235] Condition S2 is a trigger condition indicating that the steering wheel and the steering mechanism are aligned. When the vehicle meets condition S2, the alignment function switches from an activated state to an inactivated state.

[0236] Condition S3 is a trigger condition indicating that the signal state is used to indicate that the state information of the vehicle is invalid. When the vehicle meets condition S3, the alignment function switches from a non-fault state to a temporary fault state.

[0237] Condition S4 is a trigger condition indicating that the signal state is used to indicate that the vehicle status information is valid, and the number of temporary faults occurring within a cycle does not exceed a threshold. When the vehicle meets condition S4, the alignment function switches from a temporary fault state to a non-fault state.

[0238] Condition S5 is a trigger condition indicating that the signal state is used to indicate that the vehicle status information is valid, and the number of temporary faults occurring in a cycle exceeds a threshold. When the vehicle meets condition S5, the alignment function switches from a temporary fault state to a permanent fault state.

[0239] Condition S6 is a trigger condition indicating that the vehicle's steering wheel alignment system is in a fault state. When the vehicle meets condition S6, the alignment function switches from a non-permanent fault state to a permanent fault state.

[0240] It should be noted that when the vehicle switches from a non-powered state to a powered state, the alignment function is inactive by default.

[0241] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0242] Fig.12 FIG. 1 is a block diagram of a vehicle according to an exemplary embodiment. Fig.12As shown, vehicle 1200 includes, but is not limited to, a processor 1201 and a memory 1202 .

[0243] The memory 1202 is used to store executable instructions of the processor 1201. It can be understood that the processor 1201 is configured to execute instructions to implement the vehicle steering wheel alignment method in the above embodiment.

[0244] It should be noted that those skilled in the art can understand that Fig.12 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and the vehicle may include Fig.12 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0245] The processor 1201 is the control center of the vehicle, which uses various interfaces and lines to connect various parts of the entire vehicle, and executes various functions of the vehicle and processes data by running or executing software programs and / or modules stored in the memory 1202, and calling data stored in the memory 1202, so as to monitor the vehicle as a whole. The processor 1201 may include one or more processing modules. Optionally, the processor 1201 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 1201.

[0246] The memory 1202 may be used to store software programs and various data. The memory 1202 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a determination module, a processing module, etc.), etc. In addition, the memory 1202 may include a high-speed random access memory, and may 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.

[0247] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1202 including instructions, and the above instructions can be executed by the processor 1201 of the vehicle 1200 to implement the vehicle steering wheel alignment method in the above embodiment.

[0248] In actual implementation, Fig. 9 The functions of the determination module 901 and the control module 902 in Fig.12 The processor 1201 in the embodiment calls the computer program stored in the memory 1202 to implement. The specific execution process can refer to the description of the method part in the above embodiment, which will not be repeated here.

[0249] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0250] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, which can be executed by the processor 1201 of the vehicle to complete the vehicle steering wheel alignment method in the above embodiment.

[0251] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the vehicle's processor, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0252] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0253] 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. For example, the device embodiments described above are only schematic, for example, the modules or the division of modules are only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0254] The modules described as separate components may or may not be physically separated, and the components shown as modules may be one physical module or multiple physical modules, that is, they may be located in one place or distributed in multiple different places. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0255] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0256] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0257] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle steering wheel alignment method, characterized in that: The method comprises: When the vehicle is in a state to be aligned, determining the alignment intention of the driver of the vehicle based on the target scene in which the vehicle is located; the state to be aligned is used to indicate that the steering wheel and the steering mechanism of the vehicle are to be aligned; The steering wheel is controlled to be aligned with the steering mechanism based on the alignment intention.

2. The method according to claim 1, characterized in that The alignment intention is used to indicate the alignment speed desired by the driver; The controlling the alignment of the steering wheel and the steering mechanism based on the alignment intention comprises: Obtaining an actual steering angle difference between the steering mechanism and the steering wheel; determining a target alignment speed of the steering wheel based on the actual steering angle difference, the alignment intention and a target steering angle difference; the target steering angle difference is used to indicate a steering angle difference between the steering wheel and the steering mechanism when the vehicle is in an aligned state; The steering wheel is controlled to align with the steering mechanism based on the target alignment speed.

3. The method according to claim 2, characterized in that The controlling the alignment of the steering wheel and the steering mechanism based on the target alignment speed comprises: determining a target torque of the steering wheel based on the target alignment speed of the steering wheel and the current alignment speed of the steering wheel; The steering wheel is controlled to be aligned with the steering mechanism at the target torque.

4. The method according to claim 1, characterized in that: The determining the alignment intention of the driver of the vehicle based on the target scene in which the vehicle is located includes: Acquiring the steering wheel rotation information and the driver's driving habit information in the target scene; Based on the steering wheel rotation information and the driving habit information, the driver's alignment intention is determined.

5. The method according to claim 4, characterized in that The rotation information includes the hand torque applied by the driver on the steering wheel and the actual steering angle difference between the steering mechanism and the steering wheel; The determining the alignment intention of the driver based on the steering wheel rotation information and the driving habit information includes: determining the driver's expectation of the alignment speed based on the rotation information; Acquiring a preset corresponding relationship corresponding to the driving habit information; the preset corresponding relationship includes a relationship between the rotation information, the expected degree, and the alignment intention; The alignment intention is determined based on the rotation information, the expected degree, and the preset corresponding relationship.

6. The method according to claim 1, characterized in that The method further comprises: Acquiring status information of the vehicle; the status information of the vehicle includes at least one of the following: status information of the steering wheel, status information of the steering mechanism, operation information of the vehicle, and driving mode information of the vehicle; Based on the state information of the vehicle, it is determined whether the vehicle is in a state to be aligned.

7. The method according to claim 6, characterized in that The determining, based on the state information of the vehicle, whether the vehicle is in a state to be aligned comprises: When the state information of the vehicle meets a preset condition, determining that the vehicle is in a state to be aligned; The preset condition includes any of the following: The operation information of the vehicle is used to indicate that the vehicle is switched from an unpowered state to a powered state; The driving mode information of the vehicle is used to indicate that the vehicle is switched from a gaming mode to a non-gaming mode; The state information of the steering wheel is used to instruct the steering wheel to exit a silent state; in the silent state, the steering wheel remains stationary; The state information of the steering mechanism is used to indicate that the steering mechanism is in a stalled state; The state information of the steering wheel is used to indicate that a difference between an actual steering angle of the steering wheel and an actual steering angle of the steering mechanism exceeds a threshold.

8. A vehicle steering wheel alignment device, characterized in that: include: Determine modules and control modules; The determination module is used to determine the alignment intention of the driver of the vehicle based on the target scene in which the vehicle is located when the vehicle is in a state to be aligned; The to-be-aligned state is used to indicate that the steering wheel and the steering mechanism of the vehicle are to be aligned; The control module is configured to control the alignment of the steering wheel and the steering mechanism based on the alignment intention.

9. The device according to claim 8, characterized in that The control module is specifically used for: Obtaining an actual steering angle difference between the steering mechanism and the steering wheel; determining a target alignment speed of the steering wheel based on the actual steering angle difference, the alignment intention, and a target steering angle difference; The target steering angle difference is used to represent the steering angle difference between the steering wheel and the steering mechanism when the vehicle is in an aligned state; The steering wheel is controlled to align with the steering mechanism based on the target alignment speed.

10. A vehicle, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 7.

11. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of a vehicle, the vehicle is capable of performing the method of any one of claims 1 to 7.

12. A computer program product, characterized in that The computer program product comprises computer instructions which, when executed on a vehicle, cause the vehicle to perform the method according to any one of claims 1 to 7 .

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