Control method and device of electrically-controlled tubular column, electronic equipment and vehicle

Abstract

The invention relates to the technical field of vehicles, and provides a control method and device for an electronic speed control tubular column, electronic equipment and a vehicle, and the method comprises the steps: receiving an adjustment instruction of the electronic speed control tubular column, and detecting a pressing operation for a target key; according to the pressing operation, controlling an electrically-controlled tubular column to move, determining that the electrically-controlled tubular column moves to a preset limit position, starting timing, and recording the pressing duration of a target key; and in response to the fact that the pressing duration is larger than the first preset duration, it is determined that the calibration condition of the electrically-controlled pipe column is met, the target zero position of the electrically-controlled pipe column is determined according to the preset limiting position, and the target zero position is the position corresponding to the soft limiting limit in the direction, deviating from the preset limiting position, of the electrically-controlled pipe column. According to the method, the user operation is judged, the position of the electronic speed control pipe column is recalibrated after the electronic speed control pipe column calibration condition is met, and the requirement of a user for adjusting the electronic speed control pipe column is met.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a control method and device for an electrically adjustable column, an electronic device, and a vehicle. Background Art

[0002] The column is used to connect the steering wheel and the steering gear, and is one of the important components of the automobile steering system. In the field of vehicle engineering, the column can adjust the position of the steering wheel up and down within a certain range to adapt to the driver's operating habits. The electronically adjustable column adjusts the steering wheel in angular and axial directions through the controller, which can improve the driver's driving comfort and operating convenience.

[0003] When the user uses the vehicle, the electric control column may drift due to mechanical clearance. If the user thinks there is a problem with the position of the electric control column, the position of the electric control column cannot be readjusted, which cannot meet the user's needs. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to propose a control method, device, electronic equipment and vehicle for an electrically adjustable column, so as to solve the problem that the electrically adjustable column has a zero drift phenomenon due to mechanical clearance, which in turn leads to inaccurate column adjustment and affects the user's driving experience.

[0005] Based on the above purpose, the first aspect of the present disclosure provides a control method for an electrically adjustable pipe string, the method comprising:

[0006] Receiving the electric control column adjustment command, detecting the pressing operation of the target button;

[0007] Control the movement of the electric control column according to the pressing operation, determine that the electric control column moves to a preset limit position to start timing, and record the pressing time of the target button;

[0008] In response to the pressing duration being greater than the first preset duration, it is determined that the calibration condition of the electric adjustment column is met, and the target zero position of the electric adjustment column is determined according to the preset limit position, wherein the target zero position is the position corresponding to the soft limit limit in the direction of the electric adjustment column deviating from the preset limit position.

[0009] Based on the same inventive concept, the second aspect of the present disclosure proposes a control device for an electrically adjustable pipe string, comprising:

[0010] The command receiving module is configured to receive the electric control column adjustment command and detect the pressing operation on the target button;

[0011] A timing module is configured to control the movement of the electric control column according to the pressing operation, determine that the electric control column moves to a preset limit position to start timing, and record the pressing time of the target button;

[0012] The pipe column adjustment module is configured to determine that the calibration conditions of the electric adjustment pipe column are met in response to a pressing time length being greater than a first preset time length, and determine the target zero position of the electric adjustment pipe column according to the preset limit position, wherein the target zero position is the position corresponding to the soft limit limit in the direction of the electric adjustment pipe column deviating from the preset limit position.

[0013] Based on the same inventive concept, the third aspect of the present disclosure proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the control method of the electrically adjustable pipe string as described above when executing the computer program.

[0014] Based on the same inventive concept, a fourth aspect of the present disclosure proposes a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the control method of the electrically adjustable pipe string as described above.

[0015] Based on the same inventive concept, the fifth aspect of the present disclosure provides a vehicle, comprising the control device of the electric adjustment column described in the second aspect or the electronic device described in the third aspect or the storage medium described in the fourth aspect.

[0016] As can be seen from the above, the present disclosure proposes a control method, device, electronic device and vehicle for an electric control column, which receives an adjustment instruction for the electric control column, indicating that the user wants to adjust the electric control column. Detect the pressing operation on the target button, and control the movement of the electric control column according to the pressing operation. When the electric control column moves to the preset limit position, the timing starts, and the pressing time of the target button is recorded. If the pressing time is greater than the first preset time, it is determined that the calibration condition of the electric control column is met, and the zero position of the electric control column can be adjusted at this time, that is, by judging the user operation, after the calibration condition of the electric control column is met, the position of the electric control column is recalibrated to meet the user's need to adjust the electric control column. The target zero position of the electric control column is determined according to the preset limit position, so as to achieve accurate positioning of the zero position and avoid the zero drift phenomenon, thereby improving the accuracy of the adjustment of the electric control column and improving the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a flow chart of the control method of the electric adjustment pipe string according to the embodiment of the present disclosure;

[0019] Figure 2 It is a schematic diagram of various points of a pipe string according to an embodiment of the present disclosure;

[0020] Figure 3 A schematic diagram of one of the movement routes of the electrically adjustable pipe column according to an embodiment of the present disclosure;

[0021] Figure 4 A schematic diagram of one of the movement routes of the electrically adjustable pipe column according to an embodiment of the present disclosure;

[0022] Figure 5 A schematic diagram of one of the movement routes of the electrically adjustable pipe column according to an embodiment of the present disclosure;

[0023] Figure 6 This is a flow chart of a control method of an electrically adjustable pipe string according to another embodiment of the present disclosure;

[0024] Figure 7 It is a structural block diagram of the control device of the electric adjustment pipe string according to the embodiment of the present disclosure;

[0025] Figure 8 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0027] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0028] The column is used to connect the steering wheel and the steering gear, and is one of the important components of the automobile steering system. In the field of vehicle engineering, the column can adjust the position of the steering wheel up and down within a certain range to adapt to the driver's operating habits. The electronically adjustable column adjusts the steering wheel in angular and axial directions through the controller, which can improve the driver's driving comfort and operating convenience.

[0029] The zero position is the position of the nut on the lead screw when the pipe string is at the soft limit near the starting point. Zero drift refers to the deviation of the zero position from the factory zero position due to various factors during use, such as mechanical clearance.

[0030] Currently, the electric control column is adjusted passively, that is, when the adjustment conditions are met, such as when the impact end is triggered, the electric control column is automatically adjusted. However, when users drive the vehicle daily, they may think that there is a problem with the position of the electric control column and think that the position of the electric control column should be recalibrated. However, since the impact end is not triggered, recalibration and adjustment cannot be performed, and thus user needs cannot be met.

[0031] Based on the above description, this embodiment proposes a control method for an electric control column, such as Figure 1 As shown, the method includes:

[0032] Step 101, receiving an electric control column adjustment instruction, and detecting a pressing operation on a target button;

[0033] Step 102, controlling the electric control column to move according to the pressing operation, determining that the electric control column moves to a preset limit position and starting timing, and recording the pressing time of the target button;

[0034] Step 103, in response to the pressing duration being greater than the first preset duration, it is determined that the calibration condition of the electric control column is met, and the target zero position of the electric control column is determined according to the preset limit position, wherein the target zero position is the position corresponding to the soft limit limit in the direction of the electric control column deviating from the preset limit position.

[0035] In specific implementation, receiving the electric adjustment string adjustment instruction indicates that the user wants to adjust the electric adjustment string. The triggering generation method of the electric adjustment string adjustment instruction includes at least one of the following: physical button triggering, virtual button triggering, voice triggering, etc.

[0036] Exemplarily, the user generates an electric control column adjustment instruction by clicking an adjustment virtual button on the central control screen in the vehicle.

[0037] As another example, the user can say a voice message "I want to adjust the electric control column" in the car. After the car computer receives the voice message, it can be considered that the electric control column adjustment instruction has been received.

[0038] Detecting a pressing operation on a target button, the target button is a button in the car, illustratively, the target button may be an air conditioning button, a steering wheel button, a seat adjustment button, etc. In this embodiment, the target button is preferably a steering wheel button.

[0039] Detecting the pressing operation includes detecting the pressing duration and detecting the specific category of the pressed target button. For example, the target button is preferably a steering wheel button, because the steering wheel buttons specifically include four direction buttons: up, down, left, and right. Then, detecting the specific category of the pressed target button refers to the specific direction button of the pressed steering wheel button.

[0040] The electric control column is controlled to move according to the pressing operation, and the timing starts when the electric control column moves to the preset limit position, and the pressing time of the target button is recorded. The preset limit position includes a soft limit position and a physical limit position.

[0041] like Figure 2 As shown, Figure 2 A schematic diagram showing various points of a pipe string is shown. Figure 2 A is the starting point, which is the position of the nut at the lead screw when the pipe column is at the physical limit of the DOWN or IN direction. B is the zero point, that is, the zero position, which is the position of the nut at the lead screw when the pipe column is at the soft limit of the DOWN or IN direction. C is the design position, which is also the default position. The design position is the position of the nut at the lead screw when the pipe column is in the human-machine hard point design position state, that is, the position of the electric adjustment pipe column when diagnosing the electric adjustment pipe column, which is generally in the middle position of the soft limit. D is the end point, which is the position of the nut at the lead screw when the pipe column is at the soft limit of the UP or OUT direction. E is the end point, which is the position of the nut at the lead screw when the pipe column is at the physical limit of the UP or OUT direction.

[0042] The electric adjustment column can be adjusted forward and backward and at an angle. The forward and backward adjustment corresponds to inward adjustment and outward adjustment. Specifically, the motor drives the lead screw, which drives the electric adjustment column to move along the column axis in the IN (contraction) and OUT (extension) directions. The angle adjustment corresponds to upward adjustment and downward adjustment. Specifically, the motor drives the lead screw, which drives the electric adjustment column to move along the lower moving point of the column in the DOWN (down) and UP (up) directions.

[0043] When the pressing time is longer than the first preset time, that is, after the electric control column moves to the preset limit position, the user continues to press the target button for more than the first preset time, the calibration condition of the electric control column is met, and the target zero position of the electric control column is determined according to the preset limit position, so that the real-time adjustment of the zero position of the column can be achieved to avoid zero drift. The target zero position is the position corresponding to the soft limit limit in the direction of the electric control column away from the preset limit position.

[0044] Through the above scheme, an electric control column adjustment instruction is received, which means that the user wants to adjust the electric control column. The pressing operation on the target button is detected, and the movement of the electric control column is controlled according to the pressing operation. When the electric control column moves to the preset limit position, the timing starts, and the pressing time of the target button is recorded. If the pressing time is greater than the first preset time, it is determined that the calibration condition of the electric control column is met, and the zero position of the electric control column can be adjusted at this time, that is, by judging the user operation, after the calibration condition of the electric control column is met, the position of the electric control column is recalibrated to meet the user's need to adjust the electric control column. The target zero position of the electric control column is determined according to the preset limit position, which realizes the accurate positioning of the zero position and avoids the zero drift phenomenon, thereby improving the accuracy of the adjustment of the electric control column and improving the user's driving experience.

[0045] In some embodiments, step 102 specifically includes:

[0046] Step 1021, determining a first adjustment direction corresponding to the pressing operation, and determining a first Hall quantity corresponding to the first adjustment direction according to the first adjustment direction;

[0047] Step 1022, control the electric adjustment column to move from the current position to the first adjustment direction, and the position reached after moving the first Hall quantity is the target end point position corresponding to the first adjustment direction, and the target end point position is used as the preset limit position, and start timing;

[0048] The target end point position is the position of the electrically adjustable pipe column corresponding to the soft limit limit in the first adjustment direction.

[0049] During specific implementation, the first adjustment direction corresponding to the pressing operation is determined. Since the adjustment directions of the electric adjustment column are four directions, namely, up, down, left, and right, the pressing operation on the target button is also in four directions, namely, up, down, left, and right.

[0050] For example, by pressing the up button on the steering wheel, the adjustment direction of the corresponding electric control column is upward adjustment, and the corresponding electric control column is in the UP direction. By pressing the down button on the steering wheel, the adjustment direction of the corresponding electric control column is downward adjustment, and the corresponding electric control column is in the DOWN direction. By pressing the left button on the steering wheel, the adjustment direction of the corresponding electric control column is inward adjustment, and the corresponding electric control column is in the IN direction. By pressing the right button on the steering wheel, the adjustment direction of the corresponding electric control column is outward adjustment, and the corresponding electric control column is in the OUT direction.

[0051] In this embodiment, outward adjustment and inward adjustment are a group of adjustment methods in opposite directions, and upward adjustment and downward adjustment are a group of adjustment methods in opposite directions.

[0052] The first Hall quantity corresponding to the first adjustment direction is determined according to the first adjustment direction, and the database pre-stores the corresponding relationship between the first adjustment direction and the first Hall quantity. The form of the corresponding relationship may include at least one of the following: a relationship table, a function relationship, a curve relationship, a key-value pair relationship, and a bar graph relationship.

[0053] For example, if the first adjustment direction is inward adjustment or outward adjustment, the corresponding first Hall quantity is 492. If the first adjustment direction is upward adjustment or downward adjustment, the corresponding first Hall quantity is 220.

[0054] In this embodiment, the Hall number is the number of rotations of the adjustment motor recorded by the Hall signal, that is, the number of rotations is equal to the Hall number in value, because the electric adjustment column is driven to move by the rotation of the adjustment motor, so the number of movement of the electric adjustment column is equal to the number of rotations of the adjustment motor in value. Therefore, after determining the first Hall number, the first Hall number is the number of rotations that the electric adjustment column needs to move.

[0055] The electric adjustment column is controlled to move from the current position to the first adjustment direction. The position reached after moving the first Hall quantity is the target end point position corresponding to the first adjustment direction. The target end point position is used as the preset limit position, and timing is started. The target end point position is the position of the electric adjustment column corresponding to the soft limit limit in the first adjustment direction.

[0056] Through the above scheme, for the adjustment direction corresponding to the pressed button, the preset limit position is the soft limit position which is the same as the adjustment direction. There is no need to move to the physical limit position, which reduces the length of the moving path, thereby shortening the moving time, improving the response speed to the user's pressing operation, and improving the subsequent adjustment rate after the calibration conditions of the electric adjustment column are met.

[0057] In some embodiments, for the adjustment direction corresponding to the pressed button, when the preset limit position is a soft limit position, step 103 specifically includes:

[0058] Step 1031, determining the first target zero position Hall quantity corresponding to the first adjustment direction according to the first adjustment direction;

[0059] Step 1032, controlling the electrically adjustable tube column to move from the target end point position to the first adjustment direction, and detecting the Hall quantity change value, until the Hall quantity change value remains unchanged and lasts for a second preset time, and determining that the electrically adjustable tube column reaches the first hard stop point;

[0060] Step 1033, controlling the electrically adjustable tube column to move away from the first hard stop point in the first adjustment direction, and detecting the Hall quantity change value until the Hall quantity change value remains unchanged and lasts for a third preset time, and determining that the electrically adjustable tube column reaches the second hard stop point;

[0061] Step 1034, obtaining the first interval Hall quantity between the first hard stop point and the second hard stop point, and determining the first target zero position of the electrically adjustable column according to the first interval Hall quantity and the first target zero position Hall quantity, wherein the first target zero position is the position of the electrically adjustable column corresponding to the soft limit limit deviating from the first adjustment direction.

[0062] In a specific implementation, the first target zero-position Hall quantity corresponding to the first adjustment direction is determined according to the first adjustment direction, and the database pre-stores the corresponding relationship between the first adjustment direction and the first target zero-position Hall quantity. The form of the corresponding relationship may include at least one of the following: a relationship table, a function relationship, a curve relationship, a key-value pair relationship, and a bar graph relationship.

[0063] The electric control column is controlled to move from the target end point position to the first adjustment direction, and the Hall quantity change value is detected at all times. If the Hall quantity change value is detected to remain unchanged and lasts for a second preset time, it means that the electric control column has reached the first hard stop point.

[0064] The electric control column is controlled to move away from the first adjustment direction from the first hard stop point, and the Hall quantity change value is detected at all times. If the Hall quantity change value is detected to remain unchanged and last for a third preset time, it means that the electric control column has reached the second hard stop point.

[0065] The number of first interval Halls between the first hard stop point and the second hard stop point is obtained, and the first target zero position of the electrically adjustable pipe string is determined according to the number of the first interval Halls and the number of the first target zero position Halls, so that the real-time adjustment of the zero position of the pipe string can be achieved to avoid zero drift. The first target zero position is the position of the electrically adjustable pipe string corresponding to the soft limit limit of the first adjustment direction.

[0066] For example, when the preset limit position is the target end point position, that is, when the preset limit position is the soft limit limit position, the movement path of the electrically adjustable pipe string is as follows: Figure 3 As shown. The target end point is point F, the first adjustment direction is UP, the second preset time is 10s, and the third preset time is 8s. The electric control column first continues to move from point F to the UP direction until the Hall quantity change value remains unchanged and lasts for 10s. At this time, it is located at point G, and point G is the first hard stop point. Then move from point G to the DOWN direction until the Hall quantity change value remains unchanged and lasts for 8s. At this time, it is located at point H, and point H is the second hard stop point. Calculate the first interval Hall quantity between point G and point H, and determine the first target zero position of the electric control column based on the first interval Hall quantity and the first target zero position Hall quantity.

[0067] Through the above scheme, for the adjustment direction corresponding to the pressed button, first continue to move from the soft limit position to the first hard stop point, and then move from the first hard stop point to the second hard stop point. Because the first hard stop point and the second hard stop point both correspond to the Hall number, the first interval Hall number between the first hard stop point and the second hard stop point can be determined, so that the first target zero position of the electric adjustment column can be determined according to the first interval Hall number. The first target zero position of the electric adjustment column is determined according to the first interval Hall number and the first target zero position Hall number. When determining the first target zero position, the adjustment direction and the position of the two triggered hard stops are comprehensively considered, so as to achieve accurate positioning of the zero position and avoid zero drift, thereby improving the accuracy of the electric adjustment column adjustment and improving the user's driving experience.

[0068] In some embodiments, because the electrically adjustable pipe string may be stuck during movement, resulting in the inability to move to the target end point, the method further includes:

[0069] Step 10A, detecting the Hall quantity change value in the process of controlling the electric adjustment column to move from the current position to the first adjustment direction;

[0070] Step 10B, in response to the Hall quantity change value remaining unchanged and lasting for a fourth preset time before reaching the target starting position, determining that the electric control column reaches the target end point position, taking the target end point position as the preset limit position, and starting timing;

[0071] The target end point position is the position of the electrically adjustable pipe column corresponding to the physical limit of the first adjustment direction.

[0072] In a specific implementation, in the process of controlling the electric adjustment column to move from the current position to the first adjustment direction, the Hall quantity change value is detected at all times.

[0073] If the Hall quantity change value is detected to remain unchanged and last for the fourth preset time before reaching the target starting position, it means that the electric control column is blocked in the process of moving to the soft limit position. The position at this time is taken as the target end point position, the target end point position is taken as the preset limit position, and the timing starts. Among them, the target end point position is the position of the electric control column corresponding to the physical limit of the first adjustment direction.

[0074] Through the above scheme, if the electric control column is blocked during the process of moving to the soft limit limit, the blocked position is used as the physical limit position of the electric control column, that is, the target end point position. Because there is a jam during the adjustment of the electric control column, the farthest position that the electric control column can move in the first adjustment direction is re-determined to avoid the problem that the electric control column moves beyond the movable position and affects the normal driving of the vehicle.

[0075] In some embodiments, for the adjustment direction corresponding to the pressed button, when the preset limit position is a physical limit position, step 103 specifically includes:

[0076] Step 103A, taking the target end point position as the third hard stop point, and determining the number of first target zero position Halls corresponding to the first adjustment direction according to the first adjustment direction;

[0077] Step 103B, controlling the electrically adjustable tube column to move from the third hard stop point away from the first adjustment direction, and detecting the Hall quantity change value, until the Hall quantity change value remains unchanged and lasts for a fifth preset time, and determining that the electrically adjustable tube column reaches the fourth hard stop point;

[0078] Step 103C, obtaining the second interval Hall quantity between the third hard stop point and the fourth hard stop point, and determining the first target zero position of the electrically adjustable column according to the second interval Hall quantity and the first target zero position Hall quantity, wherein the first target zero position is the position of the electrically adjustable column corresponding to the soft limit limit deviating from the first adjustment direction.

[0079] In a specific implementation, the target end point position is used as the third hard stop point, and the first target zero position Hall quantity corresponding to the first adjustment direction is determined according to the first adjustment direction. The database pre-stores the corresponding relationship between the first adjustment direction and the first target zero position Hall quantity. The form of the corresponding relationship may include at least one of the following: a relationship table, a function relationship, a curve relationship, a key-value pair relationship, and a bar graph relationship.

[0080] The electric adjustment column is controlled to move away from the first adjustment direction from the third hard stop point, and the Hall quantity change value is detected in real time until the Hall quantity change value remains unchanged and lasts for a fifth preset time length, and it is determined that the electric adjustment column reaches the fourth hard stop point.

[0081] Obtain the second interval Hall quantity between the third hard stop point and the fourth hard stop point, and determine the first target zero position of the electrically adjustable column according to the second interval Hall quantity and the first target zero position Hall quantity, wherein the first target zero position is the position of the electrically adjustable column corresponding to the soft limit limit deviating from the first adjustment direction.

[0082] For example, when the preset limit position is a physical limit position, the movement path of the electric control column is as follows: Figure 4As shown. The physical limit position is point I, which is the third hard stop point. The first adjustment direction is the UP direction, and the fourth preset time is 10s. The electric control column moves from point I to the opposite direction of the UP direction, that is, the DOWN direction, until the Hall quantity change value remains unchanged and lasts for 10s. At this time, it is located at point J, which is the fourth hard stop point. Calculate the second interval Hall quantity between point I and point J, and determine the first target zero position of the electric control column based on the second interval Hall quantity and the first target zero position Hall quantity.

[0083] Through the above scheme, when the electric control column is blocked, the blocked position is used as the hard stop position, and then another hard stop is determined by moving in the opposite direction, and then the target zero position is determined according to the number of interval halls between the two hard stops. When determining the first target zero position, the adjustment direction and the position of the two triggered hard stops are comprehensively considered, and the accurate positioning of the zero position is achieved to avoid the zero drift phenomenon, thereby improving the accuracy of the electric control column adjustment and improving the user's driving experience.

[0084] In some embodiments, the electrically adjustable column is calibrated in a second adjustment direction perpendicular to the first adjustment direction in addition to being calibrated in a first adjustment direction selected by a user. Step 103 specifically includes:

[0085] Step 103a, obtaining a first adjustment direction corresponding to the pressing operation, and determining a second adjustment direction perpendicular to the first adjustment direction;

[0086] Step 103b, determining the second target zero position Hall quantity corresponding to the second adjustment direction according to the second adjustment direction;

[0087] Step 103c, controlling the electric control column to move from the current position to the second adjustment direction, and detecting the Hall quantity change value, until the Hall quantity change value remains unchanged and lasts for a sixth preset time, and determining that the electric control column reaches the fifth hard stop point;

[0088] Step 103d, controlling the electric control column to move from the fifth hard stop point away from the second adjustment direction, and detecting the Hall quantity change value, until the Hall quantity change value remains unchanged and lasts for a seventh preset time, and determining that the electric control column reaches the sixth hard stop point;

[0089] Step 103e, obtaining the third interval Hall quantity between the fifth hard stop point and the sixth hard stop point, and determining the second target zero position of the electrically adjustable tube column according to the third interval Hall quantity and the second target zero position Hall quantity, wherein the second target zero position is the position corresponding to the soft limit limit of the electrically adjustable tube column in the second adjustment direction.

[0090] During specific implementation, a first adjustment direction corresponding to the pressing operation is acquired, and a second adjustment direction perpendicular to the first adjustment direction is determined.

[0091] For example, if the first adjustment direction is inward adjustment or outward adjustment, the second adjustment direction perpendicular to the first adjustment direction is upward adjustment or downward adjustment. If the first adjustment direction is upward adjustment or downward adjustment, the second adjustment direction perpendicular to the first adjustment direction is inward adjustment or outward adjustment.

[0092] The second target zero-position Hall quantity corresponding to the second adjustment direction is determined according to the second adjustment direction, and the database pre-stores the corresponding relationship between the second adjustment direction and the second target zero-position Hall quantity. The form of the corresponding relationship may include at least one of the following: a relationship table, a function relationship, a curve relationship, a key-value pair relationship, and a bar graph relationship.

[0093] The electric control column is controlled to move from the current position to the second adjustment direction, and the Hall quantity change value is detected in real time until the Hall quantity change value remains unchanged and lasts for a sixth preset time, and it is determined that the electric control column reaches the fifth hard stop point.

[0094] The electric adjustment column is controlled to move from the fifth hard stop point away from the second adjustment direction, and the Hall quantity change value is detected in real time until the Hall quantity change value remains unchanged and lasts for a seventh preset time length, and it is determined that the electric adjustment column reaches the sixth hard stop point.

[0095] Obtain the third interval Hall quantity between the fifth hard stop point and the sixth hard stop point, and determine the second target zero position of the electric adjustment column according to the third interval Hall quantity and the second target zero position Hall quantity, wherein the second target zero position is the position corresponding to the soft limit limit of the electric adjustment column in the second adjustment direction.

[0096] For example, the movement path of the electric adjustment column corresponding to the second adjustment direction is as follows: Figure 5 As shown. The current position is point K, the second adjustment direction is IN direction, the fifth preset time is 10s, and the sixth preset time is 10s. Move from point K to IN direction until the Hall quantity change value remains unchanged and lasts for 10s. At this time, it is located at point L, and point L is the fourth hard stop point. Move from point L to OUT direction until the Hall quantity change value remains unchanged and lasts for 10s. At this time, it is located at point M, and point M is the fifth hard stop point. Calculate the second interval Hall quantity between point L and point M, and determine the second target zero position of the electric adjustment column according to the second interval Hall quantity and the second target zero position Hall quantity.

[0097] In some embodiments, step 101 specifically includes:

[0098] Step 1011, obtaining vehicle speed, vehicle steering wheel speed, vehicle steering wheel torque and vehicle gear position;

[0099] Step 1012, in response to the vehicle speed being less than a preset vehicle speed threshold, the vehicle steering wheel speed being less than a preset speed threshold, the vehicle steering wheel torque being less than a preset torque threshold, and the vehicle gear being in a preset gear, detecting a pressing operation on a target button.

[0100] In a specific implementation, the vehicle speed, the vehicle steering wheel speed, the vehicle steering wheel torque and the vehicle gear are obtained. In response to the vehicle speed being less than a preset vehicle speed threshold, the vehicle steering wheel speed being less than a preset speed threshold, the vehicle steering wheel torque being less than a preset torque threshold, and the vehicle gear being a preset gear, a pressing operation on a target button is detected.

[0101] Exemplarily, the preset vehicle speed threshold is 3 km / h, the preset speed threshold is 30° / s, the preset torque threshold is 3 N.m, and the preset gear is reverse gear or neutral gear.

[0102] Through the above scheme, by limiting the operation information of the vehicle, the interference of movement when the steering column is calibrated to zero position is avoided, thereby improving driving safety.

[0103] In some embodiments, in step 1034, the first target zero position of the electrically adjustable column is determined according to the first interval Hall quantity and the first target zero position Hall quantity, in step 103B, the first target zero position of the electrically adjustable column is determined according to the second interval Hall quantity and the first target zero position Hall quantity, and in step 103e, the second target zero position of the electrically adjustable column is determined according to the third interval Hall quantity and the second target zero position Hall quantity, and the first target zero position and the second target zero position are determined as follows: Figure 6 As shown, the method includes:

[0104] In this embodiment, the number of interval Halls is the first number of interval Halls, the second number of interval Halls or the third number of interval Halls in the above embodiments, the target zero position Hall number is the first target zero position Hall number or the second target zero position Hall number, and the target zero position is the first target zero position position or the second target zero position position.

[0105] Step 201, determining a hard stop type corresponding to the first hard stop trigger signal, and determining a first Hall quantity threshold corresponding to the hard stop type according to the hard stop type;

[0106] Step 202, in response to the interval Hall quantity being less than or equal to the first Hall quantity threshold, determining a target start position according to the interval Hall quantity;

[0107] Step 203, the position reached after moving from the target starting position in the direction away from the first hard stop point by the number of target zero position Halls is used as the target zero position.

[0108] In a specific implementation, a first Hall quantity threshold value corresponding to the hard stop type is determined according to the hard stop type, wherein a correspondence between the hard stop type and the Hall quantity threshold value is pre-stored in a database, wherein the form of the correspondence relationship may include at least one of the following: a relationship table, a function relationship, a curve relationship, a key-value pair relationship, and a bar graph relationship.

[0109] The number of interval Halls is compared with the first Hall number threshold. If it is determined that the number of interval Halls is less than or equal to the first Hall number threshold, it means that the target starting position can be determined according to the number of interval Halls. The target starting position is the starting point when the electric adjustment column moves away from the first hard stop point.

[0110] Starting from the target starting position, the electric control column moves in the direction away from the first hard stop point. When it moves the target zero position Hall quantity, the position reached is the target zero position.

[0111] Exemplarily, the number of Halls corresponding to the target starting position is 0, the number of Halls for the target zero position is 10, the direction of the first hard stop is IN (inward), and the direction away from the first hard stop is OUT (outward). At this time, the number of Halls for the target zero position moving from the target starting position to OUT is 10, and this position is used as the target zero position.

[0112] Through the above scheme, when the interval Hall number is less than or equal to the first Hall number threshold, the target zero position is determined according to the interval Hall number, and the target zero position is determined more accurately. At the same time, the position reached after moving the target zero Hall number from the target starting position in the direction away from the first hard stop point is used as the target zero position, and the position corresponding to the moving target zero Hall number is used as the target zero position, ensuring that the interval between the target zero position and the target starting position is still the target zero Hall number, further ensuring the accuracy of the electric control column adjustment.

[0113] In some embodiments, step 202 specifically includes:

[0114] Step 2021: compare the interval Hall quantity with a second Hall quantity threshold, wherein the second Hall quantity threshold is less than the first Hall quantity threshold.

[0115] Step 2022: In response to the interval Hall quantity being greater than or equal to the second Hall quantity threshold, determine the initial start position corresponding to the hard stop type, and use the initial start position as the target start position. Or,

[0116] Step 2023: In response to the interval Hall quantity being less than the second Hall quantity threshold, the position of the first hard stop point is used as the target starting position.

[0117] In a specific implementation, a second Hall quantity threshold value that is smaller than the first Hall quantity threshold value is determined, and the interval Hall quantity is compared with the second Hall quantity threshold value.

[0118] In this embodiment, the Hall quantity range corresponding to the hard stop type can be determined according to the hard stop type, the maximum value in the Hall quantity range is used as the first Hall quantity threshold, and the minimum value in the Hall quantity range is used as the second Hall quantity threshold.

[0119] Exemplarily, if the hard stop type is determined to be upward adjustment or downward adjustment, the corresponding Hall quantity range is 499-535, and the first Hall quantity threshold can be determined to be 535 and the second Hall quantity threshold can be determined to be 499.

[0120] If the number of the interval Hall is greater than or equal to the second Hall number threshold, and the number of the interval Hall is less than or equal to the first Hall number threshold, that is, the number of the interval Hall is within the Hall number range, then there is no need to redetermine a new start position. At this time, the corresponding initial start position is found according to the hard stop type, that is, the initial start position corresponds to the hard stop type, and the database stores the corresponding relationship between the hard stop type and the initial start position.

[0121] When the number of interval Halls is within the Hall number range, the initial starting position is used as the target starting position. At the same time, the position reached after moving the target zero position Hall number away from the first hard stop point is used as the target zero position, that is, the initial zero position corresponding to the hard stop type is the target zero position.

[0122] In this embodiment, when the number of interval Halls is within the range of the number of Halls, all points on the electrically adjustable column do not need to be changed, that is, they do not need to be re-determined. That is, the initial end point position corresponding to the hard stop point type is the target end point position, the initial end point position corresponding to the hard stop point type is the target end point position, and the initial default position corresponding to the hard stop point type is the target default position.

[0123] If the number of interval Halls is less than the second Hall number threshold, it means that there may be a jam during the adjustment of the electric control column, resulting in a shorter movable stroke and inability to move the full stroke, and the zero position needs to be re-determined. The position of the first hard stop point is used as the target starting position.

[0124] For example, the interval Hall number is 80, the second Hall number threshold is 100, and the zero position is re-determined. The Hall number corresponding to the first hard stop position is determined to be 20, and the target zero position Hall number is 10. Then the target zero position is determined to be the position reached after moving 10 away from the first hard stop position, that is, the Hall number corresponding to the target zero position is 30.

[0125] Through the above scheme, when the number of interval Halls is less than the second Hall number threshold, it means that there may be a jam in the adjustment process of the electric control column, resulting in a shortened movable stroke and inability to move the full stroke. The zero position is re-determined, and the position of the first hard stop point is used as the starting position. The zero position determined after the subsequent movement of the target zero Hall number is more accurate.

[0126] In some embodiments, after step 2023, the method further includes:

[0127] In step 20A, the position reached after moving the number of interval Halls from the target starting position in the direction away from the first hard stop point is used as the target end point position, wherein the target end point position is the position corresponding to the physical limit of the electric adjustment column in the direction away from the first hard stop point.

[0128] In specific implementation, since the number of interval Halls is less than the second Hall number threshold, it means that there may be a jam in the adjustment process of the electric control column, resulting in a shortened movable stroke and inability to move the full stroke. The target end point position needs to be re-determined. The target end point position is the position corresponding to the physical limit of the electric control column in the direction away from the first hard stop point.

[0129] The position reached after moving from the target starting position in the direction away from the first hard stop point by the number of interval Halls is used as the target end point position.

[0130] For example, the number of interval Halls is 80, and the second Hall number threshold is 90. At this time, the end point position is re-determined. It is determined that the number of Halls corresponding to the position of the first hard stop point is 20, and the target end point position is determined to be the position reached after moving the number of interval Halls from the target starting position in the direction away from the first hard stop point, that is, the number of Halls corresponding to the target end point position is 100.

[0131] Through the above solution, since there is a jam during the adjustment of the electric control column, it is necessary to re-determine the farthest position to which the electric control column can move away from the first hard stop point to avoid the problem that the electric control column moves beyond the movable position and affects the normal driving of the vehicle.

[0132] In some embodiments, after step 2023, the method further includes:

[0133] Step 20a, determining an initial stop point and an initial end point corresponding to the hard stop point type according to the hard stop point type;

[0134] Step 20b, performing a difference process on the number of Halls corresponding to the initial end point and the number of Halls corresponding to the target end point to obtain a first Hall difference;

[0135] Step 20c, performing subtraction processing on the Hall quantity corresponding to the initial end point and the first Hall difference to obtain a second Hall difference;

[0136] In step 20d, the position reached after moving the second Hall difference from the target starting position in the direction away from the first hard stop point is used as the target end point position, wherein the target end point position is the position corresponding to the soft limit limit of the electrically adjustable column in the direction away from the first hard stop point.

[0137] In specific implementation, the correspondence between the hard stop point type and the initial stop point and the initial end point is pre-stored in the database, and the database is searched according to the hard stop point type to obtain the initial stop point and the initial end point corresponding to the hard stop point type.

[0138] Since the number of interval Halls is less than the second Hall number threshold at this time, it means that there may be a jam in the adjustment process of the electric control column, resulting in a shortening of the movable stroke and inability to move the full stroke. It is necessary to redetermine the soft limit limit position to which the electric control column can move in the direction away from the first hard stop point.

[0139] The number of Halls corresponding to the initial termination point is subtracted from the number of Halls corresponding to the target termination point to obtain a first Hall difference. The number of Halls corresponding to the initial termination point is subtracted from the first Hall difference to obtain a second Hall difference.

[0140] The position reached after moving the second Hall difference from the target starting position in the direction away from the first hard stop point is used as the target end point position. The target end point position is expressed by the formula:

[0141] The target end point position is expressed by the formula:

[0142] d ′ =d-(ex ′ )

[0143] Among them, d ′ is the target end point position, d-(ex ′ ) is the second Hall difference, d is the number of Halls corresponding to the initial end point, ex ′ is the first Hall difference, e is the number of Halls corresponding to the initial termination point, x ′ is the number of Halls corresponding to the target end point, x ′ It is the sum of the number of Halls corresponding to the target starting point and the number of interval Halls.

[0144] Exemplarily, it is determined that the number of Halls corresponding to the position of the first hard stop point is 20, and the number of Halls of the interval is 80, then the number of Halls corresponding to the corresponding target end point is 100. The second Hall number threshold is 90, and the end point position is re-determined at this time. The number of Halls corresponding to the initial end point is 120, and the number of Halls corresponding to the initial end point is 80, then the first Hall difference is calculated to be 20, and the second Hall difference is 60. The target end point position is determined to be the position reached after moving the second Hall difference from the target starting position in the direction away from the first hard stop point, that is, the number of Halls corresponding to the target end point position is 80.

[0145] Through the above scheme, since there is a jam in the adjustment process of the electric control column, the target end point position can be determined according to the number of Halls corresponding to the initial end point, the number of Halls corresponding to the initial end point and the number of interval Halls, that is, the position of the electric control column corresponding to the soft limit limit in the direction away from the first hard stop point is determined to avoid the problem that the end point position remains unchanged, causing the end point position to coincide with the end point position, or even exceed the end point position, affecting the normal driving of the vehicle.

[0146] In some embodiments, after step 2023, the method further includes:

[0147] Step A, determining an initial default position corresponding to the hard stop type according to the hard stop type;

[0148] Step B, performing difference processing on the number of Halls corresponding to the initial default position and the number of Halls at the target zero position to obtain a third Hall difference;

[0149] Step C, performing difference processing on the number of Halls corresponding to the initial termination point and the number of Halls at the target zero position to obtain a fourth Hall difference;

[0150] Step D, performing ratio processing on the third Hall difference and the fourth Hall difference to obtain a target Hall ratio;

[0151] Step E, performing difference processing on the second Hall difference and the target zero-position Hall quantity to obtain a fifth Hall difference;

[0152] Step F, multiplying the fifth Hall difference by the target Hall ratio to obtain a target Hall product value;

[0153] Step G, adding the target Hall product value and the target zero-position Hall quantity to obtain a Hall sum value;

[0154] In step H, the position reached after moving the Hall sum value from the target starting position in the direction away from the first hard stop point is used as the target default position, wherein the target default position is the position of the electric control column when the electric control column is diagnosed.

[0155] In specific implementation, the number of Halls corresponding to the initial termination point is subtracted from the number of Halls corresponding to the target termination point to obtain a first Hall difference. The number of Halls corresponding to the initial terminal point is subtracted from the first Hall difference to obtain a second Hall difference.

[0156] The database pre-stores the correspondence between the hard stop point type, the initial stop point and the initial default position. The database is searched according to the hard stop point type to obtain the initial default position corresponding to the hard stop point type.

[0157] The number of Halls corresponding to the initial default position is processed by difference with the number of Halls at the target zero position to obtain a third Hall difference. The number of Halls corresponding to the initial termination point is processed by difference with the number of Halls at the target zero position to obtain a fourth Hall difference.

[0158] Calculate the ratio of the third Hall difference to the fourth Hall difference to obtain the target Hall ratio. Calculate the difference between the second Hall difference and the target zero-position Hall quantity to obtain the fifth Hall difference. Calculate the product between the target Hall ratio and the fifth Hall difference to obtain the target Hall product value. Add the target Hall product value and the target zero-position Hall quantity to obtain the Hall sum value.

[0159] The position reached after moving the Hall sum value from the target starting position in the direction away from the first hard stop point is used as the target default position. When the electric adjustment column is subsequently diagnosed and actively calibrated using a diagnostic instrument, the electric adjustment column returns to the target default position.

[0160] In this embodiment, the number of Halls corresponding to the target default position is expressed by the formula:

[0161]

[0162] Among them, c ′ is the number of Halls corresponding to the target default position, cb is the third Hall difference, c is the number of Halls corresponding to the initial default position, b is the number of Halls at the target zero position, db is the fourth Hall difference, d is the number of Halls corresponding to the initial end point, is the target Hall ratio, d-(ex ′ )-b is the fifth Hall difference, e is the number of Halls corresponding to the initial end point, x ′ is the number of Halls corresponding to the target end point, x ′ It is the sum of the number of Halls corresponding to the target starting point and the number of interval Halls. is the target Hall product value, is the Hall sum value.

[0163] Exemplarily, it is determined that the number of Halls corresponding to the position of the first hard stop point is 20, and the number of Halls of the interval is 80, then the number of Halls corresponding to the corresponding target end point is 100. The second Hall number threshold is 90, and the end point position is re-determined at this time. The target zero position Hall number is 10, the initial end point corresponding to the Hall number is 120, and the initial end point corresponding to the Hall number is 80, then the first Hall difference is calculated to be 20, the second Hall difference is 60, the third Hall difference is 40, the fourth Hall difference is 70, and the fifth Hall difference is 50. The target Hall ratio is calculated to be 0.57, and the product between the target Hall ratio and the fifth Hall difference is calculated to obtain a target Hall product value of 28.5. The target Hall product value is added to the target zero position Hall number to obtain a Hall sum value of 38.5. The target default position is determined to be the position reached after moving the Hall sum value from the target starting position in the direction away from the first hard stop point, that is, the Hall number corresponding to the target default position is 58.5.

[0164] Through the above scheme, by determining the Hall sum value, the position reached after moving the Hall sum value from the target starting position in the direction away from the first hard stop point is used as the target default position. When the electric adjustment column is subsequently diagnosed and actively calibrated using a diagnostic instrument, the electric adjustment column returns to the target default position.

[0165] In some embodiments, the method further comprises:

[0166] Step a, in response to the interval Hall quantity being greater than the first Hall quantity threshold, determining that the electric control column has a fault;

[0167] Step b: outputting fault prompt information, determining the target adjustment direction corresponding to the hard stop point type, and controlling the electric adjustment column adjustment function of the target adjustment direction to fail.

[0168] During specific implementation, the number of interval Hall signals is compared with the first Hall signal threshold. If it is determined that the number of interval Hall signals is greater than the first Hall signal threshold, it means that the actual stroke is greater than the stroke of the electric control column, and there is a hardware fault, that is, there is a fault in the electric control column.

[0169] Output fault prompt information, wherein the fault prompt information is used to prompt hardware failure. At the same time, determine the target adjustment direction corresponding to the hard stop type, and control the electric adjustment column adjustment function of the target adjustment direction to fail. The prompting method of the fault prompt information includes at least one of the following: voice broadcast, HUD display, instrument display, central control screen display, window display, and in-vehicle equipment linkage, etc.

[0170] Exemplarily, the target adjustment direction is inward adjustment or outward adjustment. If the number of interval Halls is greater than the first Hall number threshold, the angle adjustment and position call-out functions of controlling the IN / OUT direction are disabled.

[0171] In another example, the target adjustment direction is upward adjustment or downward adjustment. If the number of interval Halls is greater than the first Hall number threshold, the angle adjustment and position call-out functions of controlling the UP / DOWN direction are disabled.

[0172] Through the above scheme, it is judged whether there is a hardware fault based on the number of interval Halls and the first Hall number threshold, so that when a fault occurs, prompt information is output to the user in time to ensure the normal use of the vehicle.

[0173] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0174] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0175] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure further provides a control device for an electrically adjustable pipe string.

[0176] refer to Figure 7 , Figure 7 The control device of the electric adjustment column of the embodiment includes:

[0177] The command receiving module 701 is configured to receive the electric control column adjustment command and detect the pressing operation on the target button;

[0178] The timing module 702 is configured to control the movement of the electric control column according to the pressing operation, determine that the electric control column moves to a preset limit position to start timing, and record the pressing time of the target button;

[0179] The pipe column adjustment module 703 is configured to determine that the calibration conditions of the electric adjustment pipe column are met in response to the pressing time being greater than the first preset time, and determine the target zero position of the electric adjustment pipe column according to the preset limit position, wherein the target zero position is the position corresponding to the soft limit limit in the direction of the electric adjustment pipe column deviating from the preset limit position.

[0180] In some embodiments, the timing module 702 is specifically configured to:

[0181] Determine a first adjustment direction corresponding to the pressing operation, and determine a first Hall quantity corresponding to the first adjustment direction according to the first adjustment direction;

[0182] Control the electric adjustment column to move from the current position to the first adjustment direction. The position reached after moving the first Hall quantity is the target end point position corresponding to the first adjustment direction. The target end point position is used as the preset limit position, and timing is started.

[0183] The target end point position is the position of the electrically adjustable pipe column corresponding to the soft limit limit in the first adjustment direction.

[0184] In some embodiments, the pipe string adjustment module 703 is specifically configured as follows:

[0185] Determine the first target zero position Hall quantity corresponding to the first adjustment direction according to the first adjustment direction;

[0186] Control the electric adjustment column to move from the target end point position to the first adjustment direction, and detect the Hall quantity change value until the Hall quantity change value remains unchanged and lasts for a second preset time, and determine that the electric adjustment column reaches the first hard stop point;

[0187] Control the electric adjustment column to move from the first hard stop point to the direction away from the first adjustment direction, and detect the Hall quantity change value until the Hall quantity change value remains unchanged and lasts for a third preset time, and determine that the electric adjustment column reaches the second hard stop point;

[0188] Obtain the first interval Hall quantity between the first hard stop point and the second hard stop point, and determine the first target zero position of the electrically adjustable column according to the first interval Hall quantity and the first target zero position Hall quantity, wherein the first target zero position is the position of the electrically adjustable column corresponding to the soft limit limit deviating from the first adjustment direction.

[0189] In some embodiments, the device further includes a target end point location determination module, and the target end point location determination module is specifically configured to:

[0190] In the process of controlling the electric adjustment column to move from the current position to the first adjustment direction, detecting the change value of the Hall quantity;

[0191] In response to the Hall quantity change value remaining unchanged and lasting for a fourth preset time before reaching the target starting position, it is determined that the electric control column has reached the target end point position, the target end point position is used as the preset limit position, and timing is started;

[0192] The target end point position is the position of the electrically adjustable pipe column corresponding to the physical limit of the first adjustment direction.

[0193] In some embodiments, the pipe string adjustment module 703 is specifically configured as follows:

[0194] Taking the target end point position as the third hard stop point, determining the number of first target zero-position Halls corresponding to the first adjustment direction according to the first adjustment direction;

[0195] Control the electric adjustment column to move from the third hard stop point to the direction away from the first adjustment direction, and detect the Hall quantity change value until the Hall quantity change value remains unchanged and lasts for a fifth preset time length, and determine that the electric adjustment column reaches the fourth hard stop point;

[0196] Obtain the second interval Hall quantity between the third hard stop point and the fourth hard stop point, and determine the first target zero position of the electrically adjustable column according to the second interval Hall quantity and the first target zero position Hall quantity, wherein the first target zero position is the position of the electrically adjustable column corresponding to the soft limit limit deviating from the first adjustment direction.

[0197] In some embodiments, the pipe string adjustment module 703 is specifically configured as follows:

[0198] Acquire a first adjustment direction corresponding to the pressing operation, and determine a second adjustment direction perpendicular to the first adjustment direction;

[0199] Determine the number of second target zero-position Halls corresponding to the second adjustment direction according to the second adjustment direction;

[0200] Control the electric control column to move from the current position to the second adjustment direction, and detect the Hall quantity change value until the Hall quantity change value remains unchanged and lasts for a sixth preset time, and determine that the electric control column reaches the fifth hard stop point;

[0201] Control the electric adjustment column to move from the fifth hard stop point away from the second adjustment direction, and detect the Hall quantity change value until the Hall quantity change value remains unchanged and lasts for a seventh preset time length, and determine that the electric adjustment column reaches the sixth hard stop point;

[0202] Obtain the third interval Hall quantity between the fifth hard stop point and the sixth hard stop point, and determine the second target zero position of the electrically adjustable column according to the third interval Hall quantity and the second target zero position Hall quantity, wherein the second target zero position is the position corresponding to the soft limit limit of the electrically adjustable column in the second adjustment direction.

[0203] In some embodiments, the instruction receiving module 701 is specifically configured to:

[0204] Obtain vehicle speed, vehicle steering wheel speed, vehicle steering wheel torque and vehicle gear position;

[0205] In response to the vehicle speed being less than a preset vehicle speed threshold, the vehicle steering wheel speed being less than a preset speed threshold, the vehicle steering wheel torque being less than a preset torque threshold, and the vehicle gear being a preset gear, a pressing operation on a target button is detected.

[0206] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0207] The device of the above embodiment is used to implement the control method of the corresponding electrically adjustable pipe column in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0208] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the control method of the electrically adjustable pipe string described in any of the above-mentioned embodiments is implemented.

[0209] Figure 8 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0210] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0211] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0212] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0213] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0214] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0215] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0216] The electronic device of the above embodiment is used to implement the control method of the corresponding electrically adjustable pipe column in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0217] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure further provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the control method of the electrically adjustable pipe string as described in any of the above embodiments.

[0218] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0219] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the control method of the electrically adjustable pipe string as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0220] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, including the control device of the electric adjustment column in the above-mentioned embodiment, the electronic device in the above-mentioned embodiment, and the computer-readable storage medium in the above-mentioned embodiment, and the vehicle equipment implements the control method of the electric adjustment column described in any of the above embodiments.

[0221] The vehicle of the above embodiment is used to implement the control method of the electric adjustment column described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0222] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0223] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0224] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0225] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0226] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0227] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present disclosure difficult to understand, the known power / ground connections to the integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present disclosure difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure will be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that the embodiments of the present disclosure can be implemented without these specific details or with changes in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0228] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0229] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A control method for an electrically adjustable pipe string, characterized in that: include: Receiving the electric control column adjustment command, detecting the pressing operation of the target button; Control the movement of the electric control column according to the pressing operation, determine that the electric control column moves to a preset limit position to start timing, and record the pressing time of the target button; In response to the pressing duration being greater than the first preset duration, it is determined that the calibration condition of the electric adjustment column is met, and the target zero position of the electric adjustment column is determined according to the preset limit position, wherein the target zero position is the position corresponding to the soft limit limit in the direction of the electric adjustment column deviating from the preset limit position.

2. The method according to claim 1, characterized in that The step of controlling the electric adjustment column to move according to the pressing operation and determining that the electric adjustment column moves to a preset limit position to start timing includes: Determine a first adjustment direction corresponding to the pressing operation, and determine a first Hall quantity corresponding to the first adjustment direction according to the first adjustment direction; Control the electric adjustment column to move from the current position to the first adjustment direction. The position reached after moving the first Hall quantity is the target end point position corresponding to the first adjustment direction. The target end point position is used as the preset limit position, and timing is started. The target end point position is the position of the electrically adjustable pipe column corresponding to the soft limit limit in the first adjustment direction.

3. The method according to claim 2, characterized in that Determining the target zero position of the electrically adjustable pipe string according to the preset limit position includes: Determine the number of first target zero-position Halls corresponding to the first adjustment direction according to the first adjustment direction; Control the electric adjustment column to move from the target end point position to the first adjustment direction, and detect the Hall quantity change value until the Hall quantity change value remains unchanged and lasts for a second preset time, and determine that the electric adjustment column reaches the first hard stop point; Control the electric adjustment column to move from the first hard stop point to the direction away from the first adjustment direction, and detect the Hall quantity change value until the Hall quantity change value remains unchanged and lasts for a third preset time, and determine that the electric adjustment column reaches the second hard stop point; Obtain the first interval Hall quantity between the first hard stop point and the second hard stop point, and determine the first target zero position of the electrically adjustable column according to the first interval Hall quantity and the first target zero position Hall quantity, wherein the first target zero position is the position of the electrically adjustable column corresponding to the soft limit limit deviating from the first adjustment direction.

4. The method according to claim 2, characterized in that: Also includes: In the process of controlling the electric adjustment column to move from the current position to the first adjustment direction, detecting the change value of the Hall quantity; In response to the Hall quantity change value remaining unchanged and lasting for a fourth preset time before reaching the target starting position, it is determined that the electric control column has reached the target end point position, the target end point position is used as the preset limit position, and timing is started; The target end point position is the position of the electrically adjustable pipe column corresponding to the physical limit of the first adjustment direction.

5. The method according to claim 4, characterized in that Determining the target zero position of the electrically adjustable pipe string according to the preset limit position includes: Taking the target end point position as the third hard stop point, determining the number of first target zero-position Halls corresponding to the first adjustment direction according to the first adjustment direction; Control the electric adjustment column to move from the third hard stop point to the direction away from the first adjustment direction, and detect the Hall quantity change value until the Hall quantity change value remains unchanged and lasts for a fifth preset time length, and determine that the electric adjustment column reaches the fourth hard stop point; Obtain the second interval Hall quantity between the third hard stop point and the fourth hard stop point, and determine the first target zero position of the electrically adjustable column according to the second interval Hall quantity and the first target zero position Hall quantity, wherein the first target zero position is the position of the electrically adjustable column corresponding to the soft limit limit deviating from the first adjustment direction.

6. The method according to claim 1, characterized in that Determining the target zero position of the electrically adjustable pipe string according to the preset limit position includes: Acquire a first adjustment direction corresponding to the pressing operation, and determine a second adjustment direction perpendicular to the first adjustment direction; Determine the number of second target zero-position Halls corresponding to the second adjustment direction according to the second adjustment direction; Control the electric control column to move from the current position to the second adjustment direction, and detect the Hall quantity change value until the Hall quantity change value remains unchanged and lasts for a sixth preset time, and determine that the electric control column reaches the fifth hard stop point; Control the electric adjustment column to move from the fifth hard stop point away from the second adjustment direction, and detect the Hall quantity change value until the Hall quantity change value remains unchanged and lasts for a seventh preset time length, and determine that the electric adjustment column reaches the sixth hard stop point; Obtain the third interval Hall quantity between the fifth hard stop point and the sixth hard stop point, and determine the second target zero position of the electrically adjustable column according to the third interval Hall quantity and the second target zero position Hall quantity, wherein the second target zero position is the position corresponding to the soft limit limit of the electrically adjustable column in the second adjustment direction.

7. The method according to claim 1, characterized in that The detecting a pressing operation on a target key includes: Obtain vehicle speed, vehicle steering wheel speed, vehicle steering wheel torque and vehicle gear position; In response to the vehicle speed being less than a preset vehicle speed threshold, the vehicle steering wheel speed being less than a preset speed threshold, the vehicle steering wheel torque being less than a preset torque threshold, and the vehicle gear being a preset gear, a pressing operation on a target button is detected.

8. A control device for an electrically adjustable pipe string, characterized in that: include: The command receiving module is configured to receive the electric control column adjustment command and detect the pressing operation on the target button; A timing module is configured to control the movement of the electric control column according to the pressing operation, determine that the electric control column moves to a preset limit position to start timing, and record the pressing time of the target button; The pipe column adjustment module is configured to determine that the calibration conditions of the electric adjustment pipe column are met in response to a pressing time length being greater than a first preset time length, and determine the target zero position of the electric adjustment pipe column according to the preset limit position, wherein the target zero position is the position corresponding to the soft limit limit in the direction of the electric adjustment pipe column deviating from the preset limit position.

9. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: The vehicle includes the electronic device according to claim 9.

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