Vehicle steering control method and device and vehicle

Abstract

The invention provides a vehicle steering control method and device and a vehicle, the method is applied to the field of vehicle steering, and the method comprises the steps that under the condition that a steering wheel of the vehicle is folded, in response to an exit signal of an automatic driving function of the vehicle, an unfolding instruction is sent to a steering wheel controller; in the unfolding process of the steering wheel, according to the fault state of the steering wheel or according to the fault state and the first wheel turning angle of the vehicle, whether the vehicle meets the starting condition of the auxiliary steering control mode or not is judged; and under the condition that the vehicle meets the starting condition, the vehicle is controlled to steer through the auxiliary steering control mode. According to the method, in the vehicle configured with the steer-by-wire function and the automatic driving function, if the automatic driving function exits for some reason in the using process and the steering wheel is folded, the vehicle is controlled to complete steering through the auxiliary steering control mode except the steering wheel, and the safety of the vehicle is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicle steering, and more specifically, to a vehicle steering control method, a control device and a vehicle in the field of vehicle steering. Background Art

[0002] With the continuous development of science and technology and Internet technology, the functions on vehicles are also constantly upgraded and improved. With the development and application of the wire control steering function, when the vehicle needs to turn, it can provide the driver with an auxiliary steering method other than the steering wheel, so that the wire control steering can achieve the same function as the steering wheel.

[0003] The steer-by-wire function mainly replaces the mechanical connection between the steering wheel and the wheels with a data bus, and the steering is completely achieved by electrical energy. In vehicles equipped with the steer-by-wire function, the driver can fold the steering wheel as needed to increase the space inside the car, making it easier for the driver to entertain or work in the car.

[0004] In one possible implementation, for a vehicle equipped with an automatic driving function, when the driver turns on the automatic driving function, the vehicle enters an intelligent driving process. In order to provide the driver with ample space, the vehicle can also control the steering wheel to fold after the automatic driving function is turned on. After the steering wheel is folded, when the automatic driving function fails during driving, the driver needs to manually control the vehicle. When implementing manual control, the vehicle first needs to control the steering wheel to unfold to its original initial state so that the driver can control the vehicle through the steering wheel.

[0005] In the process of controlling the steering wheel to unfold, you may face the following emergencies: the first is a sudden failure of the steering wheel, which causes the steering wheel to be unable to unfold normally. The second is that the vehicle is turning. Because the steering wheel angle and the wheel angle need to meet a certain proportional relationship, after the steering wheel is unfolded, the steering wheel angle and the wheel angle need to be aligned. This process takes a certain amount of time, resulting in the driver being unable to immediately control the vehicle through the steering wheel.

[0006] In summary, how to effectively solve the above-mentioned emergencies and ensure the safety of the vehicle during the deployment of the steering wheel has become an urgent problem to be solved. Summary of the invention

[0007] The present application provides a vehicle steering control method, a control device and a vehicle. The method can control the vehicle to complete steering by an auxiliary steering control method other than the steering wheel in a vehicle equipped with a wire-controlled steering function and an automatic driving function, if the automatic driving function is exited for some reason during use and the steering wheel is folded, so as to ensure the safety of the vehicle.

[0008] In a first aspect, a method for controlling vehicle steering is provided, the method comprising: when the steering wheel of the vehicle is folded, in response to an exit signal of an automatic driving function of the vehicle, sending an expansion instruction to a steering wheel controller, the exit signal being used to indicate the exit of the automatic driving function, and the expansion instruction being used to control the steering wheel to return to an initial state before being folded; during the expansion of the steering wheel, judging whether the vehicle meets a start condition of an auxiliary steering control mode according to a fault state of the steering wheel, or according to the fault state and a first wheel angle of the vehicle, the fault state being used to indicate whether the steering wheel has a fault, and the auxiliary steering control mode being used to simulate a turning operation of the steering wheel; and when the vehicle meets the start condition, controlling the vehicle to steer by the auxiliary steering control mode.

[0009] In the above technical solution, for vehicles equipped with wire control steering function and automatic driving function, the steering wheel has the characteristics of flexible folding and unfolding, and the automatic driving function can free the driver's hands and realize intelligent vehicle control. When the automatic driving function is turned on and the steering wheel is folded, the present application proposes a method for controlling the steering of the vehicle. Specifically, when the steering wheel is folded, if the automatic driving function is exited for some reason, in order to enable the vehicle to turn, the vehicle can control the steering wheel to unfold to the initial state through the unfolding instruction. During the unfolding of the steering wheel, the present application can judge whether the vehicle meets the opening conditions of the auxiliary steering control mode according to the fault state of the steering wheel, or the fault state of the steering wheel and the first wheel angle. If it meets the conditions, the steering of the vehicle is controlled by the auxiliary steering control mode. Among them, the fault state of the steering wheel can reflect whether the steering wheel fails during the unfolding process, and the first wheel angle can reflect whether the vehicle is turning. Therefore, when the steering wheel is unfolded, the auxiliary steering control mode is controlled to be turned on in combination with the fault state of the steering wheel and the first wheel angle. On the one hand, it can ensure that when the fault state of the steering wheel indicates that the steering wheel is faulty and cannot be unfolded normally, a flexible, convenient and fast steering method is provided for the driver. On the other hand, it can also ensure that when the fault state of the steering wheel indicates that there is no fault in the steering wheel but the vehicle is in the process of turning, the driver can smoothly control the vehicle to complete the turn, thereby improving the driver's driving experience.

[0010] In combination with the first aspect, in some possible implementations, the determination of whether the vehicle meets the conditions for starting the auxiliary steering control mode is made based on the fault state of the steering wheel, or based on the fault state and a first wheel angle of the vehicle, including: when the fault state of the steering wheel is used to indicate that there is a fault in the steering wheel, determining that the vehicle meets the conditions for starting; when the fault state of the steering wheel is used to indicate that there is no fault in the steering wheel, determining whether the vehicle meets the conditions for starting based on the first wheel angle.

[0011] In the above technical solution, when judging whether to turn on the auxiliary steering control mode, when the steering wheel fails, it means that the steering wheel cannot be normally unfolded, and the auxiliary steering control mode can be turned on, ensuring that when the steering wheel fails, the vehicle can complete the turning process through the auxiliary steering control mode. When the steering wheel is not faulty, it can be judged by the first wheel angle whether the vehicle is turning to determine whether to turn on the auxiliary steering control mode, ensuring the time from folding to unfolding of the steering wheel, providing the driver with a flexible way to control the turning of the vehicle.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination of whether the vehicle meets the start-up condition is made based on the first wheel angle, including: when the first wheel angle is greater than a preset angle, determining that the vehicle meets the start-up condition; when the first wheel angle is less than or equal to the preset angle, determining that the vehicle does not meet the start-up condition.

[0013] In the above technical solution, when judging whether the vehicle is turning, when the first wheel angle is greater than the preset angle, it indicates that the vehicle is in a turning state, and the auxiliary steering control mode can be turned on. On the contrary, when the first wheel angle is less than or equal to the preset angle, it indicates that the vehicle is not in a turning state, and the vehicle does not need to be controlled temporarily, and the auxiliary steering control mode can be turned off. The above process can ensure that during the period when the steering wheel is unfolded, when the vehicle needs to turn, an operable turning method is provided for the driver, so that the driver can control the vehicle during this process, ensuring the safety of the vehicle and the safety of the people in the vehicle.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the fault state of the steering wheel is used to indicate that there is a fault in the steering wheel, after the vehicle is controlled to steer by the auxiliary steering control method, the method also includes: obtaining a state parameter of the vehicle, the state parameter being used to indicate the operating state of the vehicle; judging whether the vehicle meets a shutdown condition of the auxiliary steering control method based on the state parameter; and turning off the auxiliary steering control method when the vehicle meets the shutdown condition.

[0015] In the above technical solution, the auxiliary steering control method is a temporary auxiliary turning method. When the steering wheel fails, the auxiliary steering control method should not be used as a long-term control method. When the steering wheel fails, in order to ensure the safety of the vehicle, the driver needs to control the vehicle to move to a safe area through the auxiliary steering control method to perform corresponding maintenance on the vehicle. In other words, in this case, the driver controls the vehicle to turn through the auxiliary steering control method, which can be understood as controlling the vehicle to stop in a safe area through the auxiliary steering control method. After this process, the application also needs to combine the state parameters of the vehicle to determine whether the vehicle is parked safely. When the state parameters indicate that the vehicle has stopped at the emergency channel, that is, the vehicle meets the closing conditions of the auxiliary steering control method, the auxiliary steering control method is turned off. The above-mentioned closing of the auxiliary steering control method in combination with the state parameters can ensure the accuracy and rationality of closing the auxiliary steering control method, and ensure the driving safety of the vehicle.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the state parameters include the hazard warning light state, the parking switch state and the gear position, and the determination of whether the vehicle meets the shutdown condition of the assisted steering control mode is based on the state parameters, including: when the gear position is a preset gear position, and the parking switch state is on, and the hazard warning light state is on, determining that the vehicle meets the shutdown condition; when the gear position is not the preset gear position, or, the parking switch state is off, or, the hazard warning light state is off, determining that the vehicle does not meet the shutdown condition.

[0017] In the above technical solution, when judging whether the vehicle meets the shutdown condition of the auxiliary steering control mode according to the state parameters, the state parameters include the hazard warning light state, the parking switch state and the gear position. If the gear position is in the preset gear position, the parking switch state is on, and the hazard warning light state is on, it is determined that the vehicle meets the shutdown condition. On the contrary, when at least one of the above conditions is not met, it is considered that the vehicle does not meet the shutdown condition. The above judgment process can ensure that when the auxiliary steering control mode is turned off, the vehicle is in a stationary state and the hazard warning light is on to remind the vehicles beside to pay attention to driving safety.

[0018] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the first wheel angle is greater than the preset angle, after the vehicle is controlled to steer through the auxiliary steering control method, the method also includes: when the steering wheel is unfolded, obtaining the steering wheel angle and the second wheel angle; when the steering wheel angle and the second wheel angle meet the preset steering ratio, generating a first prompt message according to the steering wheel angle and the second wheel angle; when the steering wheel angle and the second wheel angle do not meet the preset steering ratio, adjusting the steering wheel angle so that the adjusted steering wheel angle and the second wheel angle meet the preset steering ratio; generating a second prompt message according to the adjusted steering wheel angle and the second wheel angle, both of which are used to prompt the driver to operate the steering wheel; and turning off the auxiliary steering control method.

[0019] In the above technical solution, after the steering wheel is unfolded, the present application also needs to control the steering wheel angle and the current second wheel angle to be aligned. The sign of alignment is that the steering wheel angle and the second wheel angle meet the preset steering ratio. First, when the steering wheel is unfolded, the steering wheel angle and the second wheel angle are obtained. When the steering wheel angle and the second wheel angle meet the preset steering ratio, a first prompt message can be generated according to the steering wheel angle and the second wheel angle to prompt the driver to manually operate the steering wheel. On the contrary, when the steering wheel angle and the second wheel angle do not meet the preset steering ratio, the steering wheel angle can be adjusted until the adjusted steering wheel angle and the second wheel angle meet the preset steering ratio. Then, according to the adjusted steering wheel angle and wheel angle, a second prompt message is generated to prompt the driver to manually operate the steering wheel. The above process can enable the steering wheel angle to be adjusted in time in combination with the current turning state of the vehicle after the steering wheel is unfolded, so that the steering wheel angle and the current second wheel angle are synchronized with the preset steering ratio, thereby avoiding the problem of vehicle steering obstruction caused by the steering wheel angle and the second wheel angle not meeting the preset steering ratio. Furthermore, after the steering wheel angle and the second wheel angle are aligned, the auxiliary steering control mode is controlled to be closed, thereby ensuring flexible opening and closing of the auxiliary steering control mode.

[0020] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, controlling the vehicle to steer through the auxiliary steering control method includes: activating the auxiliary steering control method; responding to the control operation of the auxiliary steering control method, determining the target wheel angle according to the vehicle speed and the control parameter corresponding to the control operation, and the control parameter is used to indicate the changing state of the auxiliary steering control method during the control process; and controlling the steering of the vehicle according to the target wheel angle.

[0021] In the above technical solution, when the vehicle steering is controlled by the auxiliary steering control mode, the auxiliary steering control mode can be activated first, and when the driver's control operation on the auxiliary steering control mode is received, the target wheel angle can be determined in combination with the vehicle speed and the control parameter to control the vehicle steering. The control parameter can represent the changing state of the auxiliary steering control mode during the control process. The vehicle speed can reflect the speed of the vehicle. The above determination of the target wheel angle based on the vehicle speed and the control parameter can obtain different degrees of target wheel angles according to the vehicle speed when the control parameters are the same. For example, when the vehicle speed is relatively high, the variation range of the wheel angle can be appropriately increased, so the target wheel angle is slightly larger. On the contrary, when the vehicle speed is relatively low, the variation range of the wheel angle can be appropriately reduced, and the target wheel angle is a little smaller, so that the above process ensures the correlation between the target wheel angle and the vehicle speed, and improves the accuracy of determining the target wheel angle.

[0022] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the auxiliary steering control method includes any one of a virtual button, a physical knob, a virtual steering wheel and a physical button, and activating the auxiliary steering control method includes any one of the following: controlling the physical knob to turn on; displaying the control interface of the virtual button; displaying the control interface of the virtual steering wheel; controlling the physical button to turn on; and the control operation includes any one of a click operation, a rotation operation and a sliding operation, and the control parameter includes any one of a rotation angle, a sliding distance and a number of clicks, and the number of clicks includes a first number of clicks and a second number of clicks, and in response to the control operation of the auxiliary steering control method, the target wheel is determined according to the vehicle speed and the control parameter corresponding to the control operation. The turning angle includes any of the following items: in response to a rotation operation on the physical knob, obtaining a rotation angle corresponding to the rotation operation; determining the target wheel turning angle according to the vehicle speed and the rotation angle; in response to a first click operation on the virtual button on the control interface of the virtual button, obtaining a first number of clicks corresponding to the first click operation; determining the target wheel turning angle according to the vehicle speed and the first number of clicks; in response to a sliding operation on the virtual steering wheel on the control interface of the virtual steering wheel, obtaining a sliding distance corresponding to the sliding operation; determining the target wheel turning angle according to the vehicle speed and the sliding distance; in response to a second click operation on the physical button, obtaining a second number of clicks corresponding to the second click operation; determining the target wheel turning angle according to the vehicle speed and the second number of clicks.

[0023] In the above technical solution, several auxiliary steering control methods are proposed, including virtual buttons, physical knobs, virtual steering wheels and physical buttons. Based on different auxiliary steering control methods, the specific activation and control processes are also different.

[0024] When the auxiliary steering control mode is a virtual button, the control interface of the virtual button can be displayed, and the driver can click the virtual button in the control interface of the virtual button to control the steering of the vehicle. When the auxiliary steering control mode is a virtual steering wheel, the control interface of the virtual steering wheel can be displayed, and the driver can slide the virtual steering wheel in the control interface of the virtual steering wheel to control the steering of the vehicle. When the auxiliary steering control mode is a physical knob, the physical knob can be controlled to be turned on, and the driver can rotate the physical knob to control the steering of the vehicle. When the auxiliary steering control mode is a physical button, the physical button can be controlled to be turned on, and the driver can click the physical button to control the steering of the vehicle.

[0025] The above-mentioned methods of controlling vehicle steering are flexible and diverse, avoiding the problem of monotonous control caused by a single auxiliary steering control method.

[0026] When determining the target wheel angle, the corresponding control operation is any one of a click operation, a rotation operation and a slide operation, and the control parameter includes any one of a rotation angle, a slide distance and a click count.

[0027] Specifically, when the control operation is a rotation operation, the present application can determine the target wheel angle based on the rotation angle and vehicle speed corresponding to the rotation operation. When the control operation is a first click operation on a virtual button, the present application can determine the target wheel angle based on the first number of clicks and vehicle speed corresponding to the first click operation. When the control operation is a sliding operation on a virtual steering wheel, the present application can determine the target wheel angle based on the sliding distance and vehicle speed corresponding to the sliding operation. When the control operation is a second click operation on a physical button, the present application can determine the target wheel angle based on the second number of clicks and vehicle speed corresponding to the second click operation. The above process can ensure that under different control operations, the target wheel angle under different control operations can be accurately determined in combination with the control parameters and vehicle speed corresponding to the control operation. The above process ensures the diversity, flexibility and richness of the methods for determining the target wheel angle.

[0028] In summary, for vehicles equipped with wire-controlled steering function and automatic driving function, the steering wheel has the characteristics of flexible folding and unfolding, and the automatic driving function can free the driver's hands and realize intelligent vehicle control. When the automatic driving function is turned on and the steering wheel is folded, the present application proposes a method for controlling the steering of the vehicle. Specifically, when the steering wheel is folded, if the automatic driving function is exited for some reason, in order to enable the vehicle to turn, the vehicle can control the steering wheel to unfold to the initial state through the unfolding instruction. During the unfolding of the steering wheel, the present application can judge whether the vehicle meets the opening conditions of the auxiliary steering control mode according to the fault state of the steering wheel, or the fault state of the steering wheel and the first wheel angle. If it meets the conditions, the steering of the vehicle is controlled by the auxiliary steering control mode. Among them, the fault state of the steering wheel can reflect whether the steering wheel fails during the unfolding process, and the first wheel angle can reflect whether the vehicle is turning. Therefore, when the steering wheel is unfolded, the auxiliary steering control mode is controlled to be turned on in combination with the fault state of the steering wheel and the first wheel angle. On the one hand, it can ensure that when the fault state of the steering wheel indicates that the steering wheel is faulty and cannot be unfolded normally, a flexible, convenient and fast steering method is provided for the driver. On the other hand, it can also ensure that when the fault state of the steering wheel indicates that there is no fault in the steering wheel but the vehicle is in the process of turning, the driver can smoothly control the vehicle to complete the turn, thereby improving the driver's driving experience.

[0029] When judging whether to turn on the auxiliary steering control mode, when the steering wheel fails, it means that the steering wheel cannot be unfolded normally, and the auxiliary steering control mode can be turned on, ensuring that when the steering wheel fails, the vehicle can complete the turning process through the auxiliary steering control mode. When the steering wheel is not faulty, it can be judged by the first wheel angle whether the vehicle is turning to determine whether the auxiliary steering control mode needs to be turned on, ensuring the time from folding to unfolding of the steering wheel, providing the driver with a flexible way to control the vehicle turning.

[0030] When judging whether the vehicle is turning, when the first wheel angle is greater than the preset angle, it indicates that the vehicle is in a turning state, and the auxiliary steering control mode can be turned on. On the contrary, when the first wheel angle is less than or equal to the preset angle, it indicates that the vehicle is not in a turning state, and the vehicle does not need to be controlled temporarily, and the auxiliary steering control mode can be turned off. The above process can ensure that during the period when the steering wheel is unfolded, when the vehicle needs to turn, an operable turning method is provided for the driver, so that the driver can control the vehicle during this process, ensuring the safety of the vehicle and the safety of the people in the vehicle.

[0031] The auxiliary steering control mode is a temporary auxiliary turning mode. When the steering wheel fails, the auxiliary steering control mode should not be used as a long-term control mode. When the steering wheel fails, in order to ensure the safety of the vehicle, the driver needs to control the vehicle to move to a safe area through the auxiliary steering control mode to perform corresponding maintenance on the vehicle. In other words, in this case, the driver controls the vehicle to turn through the auxiliary steering control mode, which can be understood as controlling the vehicle to stop in a safe area through the auxiliary steering control mode. After this process, the application also needs to combine the state parameters of the vehicle to determine whether the vehicle is parked safely. When the state parameters indicate that the vehicle has stopped at the emergency channel, that is, the vehicle meets the closing conditions of the auxiliary steering control mode, the auxiliary steering control mode is turned off. The above-mentioned closing of the auxiliary steering control mode in combination with the state parameters can ensure the accuracy and rationality of closing the auxiliary steering control mode, and ensure the driving safety of the vehicle.

[0032] When judging whether the vehicle meets the shutdown condition of the auxiliary steering control mode according to the state parameters, the state parameters include the hazard warning light state, the parking switch state and the gear position. If the gear position is in the preset gear position, the parking switch state is on, and the hazard warning light state is on, it is determined that the vehicle meets the shutdown condition. On the contrary, when at least one of the above conditions is not met, it is considered that the vehicle does not meet the shutdown condition. The above judgment process can ensure that when the auxiliary steering control mode is turned off, the vehicle is stationary and the hazard warning light is on to remind the vehicles beside to pay attention to driving safety.

[0033] After the steering wheel is unfolded, the present application also needs to control the steering wheel angle and the current second wheel angle to be aligned. The sign of alignment is that the steering wheel angle and the second wheel angle meet the preset steering ratio. First, when the steering wheel is unfolded, the steering wheel angle and the second wheel angle are obtained. When the steering wheel angle and the second wheel angle meet the preset steering ratio, a first prompt message can be generated according to the steering wheel angle and the second wheel angle to prompt the driver to manually operate the steering wheel. On the contrary, when the steering wheel angle and the second wheel angle do not meet the preset steering ratio, the steering wheel angle can be adjusted until the adjusted steering wheel angle and the second wheel angle meet the preset steering ratio. Then, according to the adjusted steering wheel angle and wheel angle, a second prompt message is generated to prompt the driver to manually operate the steering wheel. The above process can enable the steering wheel angle to be adjusted in time in combination with the current turning state of the vehicle after the steering wheel is unfolded, so that the steering wheel angle and the current second wheel angle are synchronized with the preset steering ratio, thereby avoiding the problem of vehicle steering obstruction caused by the steering wheel angle and the second wheel angle not meeting the preset steering ratio. Furthermore, after the steering wheel angle and the second wheel angle are aligned, the auxiliary steering control mode is controlled to be closed, thereby ensuring flexible opening and closing of the auxiliary steering control mode.

[0034] When controlling the steering of the vehicle by the auxiliary steering control mode, the auxiliary steering control mode can be activated first. When receiving the control operation of the driver on the auxiliary steering control mode, the target wheel angle can be determined in combination with the vehicle speed and the control parameter to control the steering of the vehicle. The control parameter can represent the changing state of the auxiliary steering control mode during the control process. The vehicle speed can reflect the speed of the vehicle. The above-mentioned determination of the target wheel angle based on the vehicle speed and the control parameter can obtain different degrees of target wheel angles according to the vehicle speed when the control parameters are the same. For example, when the vehicle speed is relatively high, the variation range of the wheel angle can be appropriately increased, so that the target wheel angle is slightly larger. On the contrary, when the vehicle speed is relatively low, the variation range of the wheel angle can be appropriately reduced, and the target wheel angle is a little smaller, so that the above process ensures the correlation between the target wheel angle and the vehicle speed, and improves the accuracy of determining the target wheel angle.

[0035] Specifically, the present application proposes several assisted steering control methods, including virtual buttons, physical knobs, virtual steering wheels, and physical buttons. Based on different assisted steering control methods, the specific activation and control processes are also different.

[0036] When the auxiliary steering control mode is a virtual button, the control interface of the virtual button can be displayed, and the driver can click the virtual button in the control interface of the virtual button to control the steering of the vehicle. When the auxiliary steering control mode is a virtual steering wheel, the control interface of the virtual steering wheel can be displayed, and the driver can slide the virtual steering wheel in the control interface of the virtual steering wheel to control the steering of the vehicle. When the auxiliary steering control mode is a physical knob, the physical knob can be controlled to be turned on, and the driver can rotate the physical knob to control the steering of the vehicle. When the auxiliary steering control mode is a physical button, the physical button can be controlled to be turned on, and the driver can click the physical button to control the steering of the vehicle.

[0037] The above-mentioned methods of controlling vehicle steering are flexible and diverse, avoiding the problem of monotonous control caused by a single auxiliary steering control method.

[0038] When determining the target wheel angle, the corresponding control operation is any one of a click operation, a rotation operation and a slide operation, and the control parameter includes any one of a rotation angle, a slide distance and a click count.

[0039] Specifically, when the control operation is a rotation operation, the present application can determine the target wheel angle based on the rotation angle and vehicle speed corresponding to the rotation operation. When the control operation is a first click operation on a virtual button, the present application can determine the target wheel angle based on the first number of clicks and vehicle speed corresponding to the first click operation. When the control operation is a sliding operation on a virtual steering wheel, the present application can determine the target wheel angle based on the sliding distance and vehicle speed corresponding to the sliding operation. When the control operation is a second click operation on a physical button, the present application can determine the target wheel angle based on the second number of clicks and vehicle speed corresponding to the second click operation. The above process can ensure that under different control operations, the target wheel angle under different control operations can be accurately determined in combination with the control parameters and vehicle speed corresponding to the control operation. The above process ensures the diversity, flexibility and richness of the methods for determining the target wheel angle.

[0040] In a second aspect, a vehicle steering control device is provided, the device comprising: a sending module for sending an expansion signal to a steering wheel controller in response to an exit instruction of an automatic driving function of the vehicle when the steering wheel of the vehicle is folded, the exit signal being used to indicate the exit of the automatic driving function, and the expansion instruction being used to control the steering wheel to return to its initial state before being folded; a judging module for judging whether the vehicle meets a start condition of an auxiliary steering control mode according to a fault state of the steering wheel or according to the fault state and a first wheel angle of the vehicle during the deployment of the steering wheel, the fault state being used to indicate whether the steering wheel is faulty, and the auxiliary steering control mode being used to simulate a turning operation on the steering wheel; a first control module for controlling the steering of the vehicle through the auxiliary steering control mode when the vehicle meets the start condition.

[0041] In combination with the second aspect, in some possible implementations, the judgment module is specifically used to: when the fault state of the steering wheel is used to indicate that there is a fault in the steering wheel, determine that the vehicle meets the startup condition; when the fault state of the steering wheel is used to indicate that there is no fault in the steering wheel, determine whether the vehicle meets the startup condition based on the first wheel angle.

[0042] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the judgment module is also used to: when the first wheel angle is greater than a preset angle, determine that the vehicle meets the start-up condition; when the first wheel angle is less than or equal to the preset angle, determine that the vehicle does not meet the start-up condition.

[0043] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, when the fault state of the steering wheel is used to indicate that there is a fault in the steering wheel, after the vehicle is controlled to steer by the auxiliary steering control method, the device also includes: a second control module, used to obtain a state parameter of the vehicle, wherein the state parameter is used to indicate the operating state of the vehicle; based on the state parameter, determining whether the vehicle meets the shutdown condition of the auxiliary steering control method; and when the vehicle meets the shutdown condition, turning off the auxiliary steering control method.

[0044] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the status parameters include the hazard warning light status, the parking switch status and the gear position, and the second control module is specifically used to: when the gear position is the preset gear position, and the parking switch status is on, and the hazard warning light status is on, determine that the vehicle meets the shutdown condition; when the gear position is not the preset gear position, or, the parking switch status is off, or, the hazard warning light status is off, determine that the vehicle does not meet the shutdown condition.

[0045] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, when the first wheel angle is greater than the preset angle, after the vehicle is controlled to steer through the auxiliary steering control method, the device also includes: a third control module, used to obtain the steering wheel angle and the second wheel angle when the steering wheel is unfolded; when the steering wheel angle and the second wheel angle meet the preset steering ratio, generate a first prompt message according to the steering wheel angle and the second wheel angle; when the steering wheel angle and the second wheel angle do not meet the preset steering ratio, adjust the steering wheel angle so that the adjusted steering wheel angle and the second wheel angle meet the preset steering ratio; generate a second prompt message according to the adjusted steering wheel angle and the second wheel angle, and both the first prompt message and the second prompt message are used to prompt the driver to operate the steering wheel; turn off the auxiliary steering control method.

[0046] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the first control module is specifically used to: activate the auxiliary steering control mode; in response to the control operation of the auxiliary steering control mode, determine the target wheel angle according to the vehicle speed and the control parameter corresponding to the control operation, and the control parameter is used to indicate the changing state of the auxiliary steering control mode during the control process; and control the steering of the vehicle according to the target wheel angle.

[0047] In combination with the second aspect and the above-mentioned implementation manner, in some possible implementation manners, the auxiliary steering control method includes any one of a virtual button, a physical knob, a virtual steering wheel and a physical button, and the first control module is further used to perform any one of the following: controlling the physical knob to turn on; displaying the control interface of the virtual button; displaying the control interface of the virtual steering wheel; controlling the physical button to turn on; and the control operation includes any one of a click operation, a rotation operation and a sliding operation, the control parameter includes any one of a rotation angle, a sliding distance and a number of clicks, the number of clicks includes a first number of clicks and a second number of clicks, and the first control module is further used to perform any one of the following: in response to the rotation of the physical knob A rotation operation is performed on the virtual key to obtain a rotation angle corresponding to the rotation operation; the target wheel angle is determined according to the vehicle speed and the rotation angle; on the control interface of the virtual key, in response to a first click operation on the virtual key, a first number of clicks corresponding to the first click operation is obtained; the target wheel angle is determined according to the vehicle speed and the first number of clicks; on the control interface of the virtual steering wheel, in response to a sliding operation on the virtual steering wheel, a sliding distance corresponding to the sliding operation is obtained; the target wheel angle is determined according to the vehicle speed and the sliding distance; in response to a second click operation on the physical key, a second number of clicks corresponding to the second click operation is obtained; and the target wheel angle is determined according to the vehicle speed and the second number of clicks.

[0048] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0049] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0050] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a structural schematic diagram of a vehicle with a steer-by-wire function provided in an embodiment of the present application;

[0052] Figure 2 is a structural schematic diagram of a wire-controlled steering system provided in an embodiment of the present application;

[0053] Figure 3 is a structural schematic diagram of an automatic driving system provided in an embodiment of the present application;

[0054] Figure 4 is a schematic flow chart of a vehicle steering control method provided in an embodiment of the present application;

[0055] Figure 5 This is a schematic diagram of a scenario in which a steer-by-wire system acquires data provided by an embodiment of the present application;

[0056] Figure 6 is a schematic diagram of a scenario for activating an auxiliary steering assist control method provided in an embodiment of the present application;

[0057] Figure 7 is a schematic flow chart of another vehicle steering control method provided in an embodiment of the present application;

[0058] Figure 8 It is a structural schematic diagram of a vehicle steering control device provided in an embodiment of the present application;

[0059] Fig. 9 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0061] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0062] It should be understood that the method of the embodiment of the present application is mainly used in vehicles equipped with a steer-by-wire function (or a steer-by-wire system) and an autonomous driving function (autonomous driving system). Before introducing the method of the embodiment of the present application, the steer-by-wire system and the autonomous driving system are first introduced.

[0063] Compared with the traditional mechanical steering system, the Steering-By-Wire system eliminates the mechanical connection components between the steering wheel and the steering wheel, completely gets rid of the limitations of mechanical firmware, and completely achieves steering by electric energy.

[0064] Figure 1 It is a structural schematic diagram of a vehicle with a steer-by-wire function provided in an embodiment of the present application.

[0065] For example, Figure 1 As shown, compared with the traditional mechanical steering system, in the wire steering system, the wheels 101, 102 and the steering wheel 103 are connected through an electronic control unit (ECU) and wires to achieve the control process.

[0066] Specifically, in a wire-controlled steering system, the driver's operating action can be converted into an electrical signal through a corresponding sensor. The electrical signal is further analyzed and processed to obtain a corresponding control instruction, which is directly transmitted to an actuator (i.e., a steering execution module) through a wire.

[0067] Figure 2 It is a structural schematic diagram of a wire-controlled steering system provided in an embodiment of the present application.

[0068] For example, Figure 2 As shown, the steer-by-wire system 200 includes a steering wheel module 201, a steer-by-wire controller 202, a fault handling module 203, a power module 204, and a steering execution module 205. Among them, the steering wheel module 201, the steer-by-wire controller 202, and the steering execution module 205 are the three main parts of the steer-by-wire system 200, and the other modules belong to auxiliary parts.

[0069] The steering wheel module 201 is a steering intention input module, including a steering wheel, a steering wheel corresponding angle sensor (or angle sensor), a torque sensor, a self-aligning torque motor, etc. The steering wheel module 201 converts the driver's steering intention into an electrical signal by measuring the steering wheel angle and torque, and transmits it to the wire steering controller 202. In addition, the steering wheel module 201 can also receive the torque signal fed back by the wire steering controller 202, generate the steering wheel self-aligning torque, and provide the driver with a corresponding road feel.

[0070] The steer-by-wire controller 202 is the core of the steer-by-wire system 200 and determines the control effect of the steer-by-wire system 200. The steer-by-wire controller 202 mainly analyzes and processes various signals, determines the steering intention and the running state of the vehicle, and outputs corresponding control instructions.

[0071] The fault handling module 203 includes a series of monitoring and countermeasures programs. When a fault occurs in the steer-by-wire system 200, the fault handling module 203 takes corresponding treatment measures according to the set program to avoid or reduce the harm caused by the fault to the vehicle and ensure the safety of the vehicle.

[0072] The power module 204 is a power supply facility, mainly used to supply power to the steer-by-wire system 200 .

[0073] The steering execution module 205 is used to realize and execute the driver's steering intention, and it is composed of a steering execution motor, a steering execution motor controller, a wheel steering assembly, and a wheel corresponding angle sensor. The steering execution module 205 receives the instruction of the wire control steering controller 202, controls the rotation of the wheel through the steering execution motor and the steering execution motor controller, and realizes the steering.

[0074] In addition, for vehicles equipped with a wire-controlled steering system, the driver can choose whether to fold the steering wheel according to driving needs during the driving process. For example, if the driver needs to do business work while driving the vehicle, the driver can choose to fold the steering wheel after parking to obtain more space for use.

[0075] After introducing the basic knowledge related to the wire-controlled steering function, the following introduces the basic knowledge related to the automatic driving function.

[0076] It should be understood that the automatic driving function is also called the intelligent driving function. The function realized by the automatic driving system is the automatic driving function. Automatic driving refers to the vehicle equipped with advanced sensors, automatic driving controllers and actuators, etc., to assist the driver in controlling the vehicle, or even completely replace the driver to realize the function of unmanned driving.

[0077] For vehicles equipped with an autonomous driving system, the architecture and functions of the autonomous driving system can be specifically described as follows: Figure 3 Come introduce.

[0078] Figure 3 It is a structural schematic diagram of an automatic driving system provided in an embodiment of the present application.

[0079] For example, Figure 3 As shown, an automatic driving system 301 is configured in a vehicle 300. The hardware structure of the automatic driving system 301 mainly includes a sensor 3011, an automatic driving controller 3012 and an actuator 3013.

[0080] The sensor 3011 is also referred to as the perception part of the automatic driving system 301. The sensor 3011 is responsible for collecting various driving parameters (such as positioning information) during the driving of the vehicle 300, the environmental information around the vehicle 300, and the attributes of the driving and occupants in the vehicle 300.

[0081] According to the different functions of the above-mentioned sensor 3011, the sensor 3011 can be further divided into a motion sensor, an environment perception sensor and a driver monitoring sensor.

[0082] The motion sensors mainly include vehicle speed sensors, angular velocity sensors, acceleration sensors, rotation angle sensors, yaw rate sensors, positioning systems (navigation systems), etc. Different motion sensors are mainly responsible for collecting various driving parameters, such as the vehicle speed, angular velocity, acceleration, wheel rotation angle, yaw rate, and position of the vehicle 300.

[0083] Environmental perception sensors include ultrasonic waves, external cameras, millimeter wave radars, laser radars, etc. Different environmental perception sensors are mainly responsible for collecting environmental information around the vehicle 300, such as monitoring the distance between the vehicle 300 and the front vehicle, the rear vehicle, and obstacles, as well as environmental images around the vehicle 300 (such as road images, obstacle images, etc.).

[0084] The driver monitoring sensor includes an in-vehicle camera. Optionally, the in-vehicle camera includes a camera in a driver monitoring system (DMS) and a camera in an occupancy monitoring system (OMS), which can respectively capture the facial image of the driver and the facial image of the passenger in the vehicle 300.

[0085] The above-mentioned sensor 3011 can send all collected data to the automatic driving controller 3012, so that the automatic driving controller 3012 can analyze and process the data.

[0086] After the automatic driving controller 3012 processes the data, when driving control of the vehicle 300 is required, it can be completed through the corresponding actuator 3013.

[0087] Optionally, according to different control scenarios and requirements, the actuator 3013 also varies, mainly including brake elements, steering elements, engine elements, gearbox elements, voice control elements, display elements, etc.

[0088] In addition, the autonomous driving system 301 can also communicate with other ECUs in the vehicle 300 based on the CAN bus and the autonomous driving controller 3012. Figure 2The autonomous driving controller 3012 can send the status of the autonomous driving function (for example, on or off) to the wire-controlled steering controller 202.

[0089] After introducing the wire control steering function and the automatic driving function involved in the embodiments of the present application, when the driver turns on the automatic driving function, the vehicle enters an intelligent driving process. In order to provide the driver with ample space for use, the vehicle can also control the steering wheel to fold after the automatic driving function is turned on. After controlling the steering wheel to fold, when the automatic driving function fails during driving, the driver needs to manually control the vehicle. When implementing manual control, the vehicle first needs to control the steering wheel to unfold to its original initial state so that the driver can control the vehicle through the steering wheel.

[0090] In the process of controlling the steering wheel to unfold, you may face the following emergencies: the first is a sudden failure of the steering wheel, which causes the steering wheel to be unable to unfold normally. The second is that the vehicle is turning. Because the steering wheel angle and the wheel angle need to meet a certain proportional relationship, after the steering wheel is unfolded, the steering wheel angle and the wheel angle need to be aligned. This process takes a certain amount of time, resulting in the driver being unable to immediately control the vehicle through the steering wheel.

[0091] Based on the above problems, an embodiment of the present application provides a method for controlling vehicle steering. In a vehicle equipped with a steer-by-wire function and an automatic driving function, if the automatic driving function is exited for some reason during use and the steering wheel is folded, the method can control the vehicle to complete steering through an auxiliary steering control method other than the steering wheel to ensure the safety of the vehicle.

[0092] The following is an introduction to a vehicle steering control method provided in an embodiment of the present application.

[0093] Figure 4 is a schematic flow chart of a vehicle steering control method provided in an embodiment of the present application. It should be understood that the method can be applied to Figure 2 The wire control steering system 200 shown is specifically applied to Figure 2 The wire-controlled steering controller 202 in FIG.

[0094] For example, Figure 4 As shown, the method 400 includes:

[0095] 401. When the steering wheel of the vehicle is folded, in response to an exit signal of the vehicle's automatic driving function, an expansion command is sent to the steering wheel controller, wherein the exit signal is used to indicate the exit of the automatic driving function, and the expansion command is used to control the steering wheel to return to its initial state before being folded.

[0096] It should be understood that for vehicles equipped with both steer-by-wire and autonomous driving functions, on the one hand, the steer-by-wire function can enable the steering wheel in the vehicle to be flexible in folding and unfolding. On the other hand, the autonomous driving function can provide the driver with an intelligent way to control the vehicle, freeing the driver's hands.

[0097] Based on the respective advantages of the above-mentioned steer-by-wire function and the automatic driving function, the driver can turn on the automatic driving function in the vehicle so that the vehicle can move forward intelligently, and control the steering wheel to fold to obtain a more spacious space.

[0098] Optionally, the autonomous driving function may be activated by any of a click operation, a gesture adjustment operation, a rotation operation and a voice command.

[0099] For example, when the vehicle's display device displays a virtual switch for the autonomous driving function (such as a virtual button), the driver can select the virtual switch by clicking to turn on the autonomous driving function.

[0100] As another example, when a physical switch (such as a physical button) for the automatic driving function is configured in the vehicle, the driver can select the physical switch by clicking to control the automatic driving function to be turned on.

[0101] As another example, when the gesture adjustment operation corresponding to turning on the automatic driving function is pre-stored in the vehicle, the driver can control the turning on of the automatic driving function by performing the gesture adjustment operation.

[0102] As another example, the driver may also directly use voice commands, such as "turn on the automatic driving function", and the automatic driving controller responds to the voice command to turn on the automatic driving function.

[0103] As another example, when the driver's terminal device has installed the application control software corresponding to the vehicle, the driver can click to control the terminal device to display the configuration interface of the automatic driving function in the display area. In this configuration interface, the driver can select the virtual switch of the automatic driving function by clicking to control the automatic driving function to be turned on.

[0104] After the automatic driving function is turned on, in order to provide the driver's main driving seat with a more spacious space, the driver can also control the folding of the steering wheel through the steering wheel folding switch in the vehicle.

[0105] The activation of the above-mentioned automatic driving function and the folding of the steering wheel are the application prerequisites of the vehicle steering control method provided in the embodiment of the present application.

[0106] When the automatic driving function is turned on and the steering wheel is folded, if the automatic driving function fails or is triggered by mistake or the driver actively turns off the automatic driving function to take over the vehicle, the automatic driving function will be exited and the state of the automatic driving function will be switched from on to off.

[0107] When the above-mentioned automatic driving function is exited, the wire steering controller obtains the shutdown state of the automatic driving function, that is, the exit signal, based on the automatic driving controller. In response to the exit signal, the wire steering controller needs to control the steering wheel to unfold so that the driver can drive manually.

[0108] Specifically, the wire control controller can control the steering wheel controller (i.e. Figure 2 The steering wheel module 201 in the embodiment sends an unfolding instruction, so that the steering wheel controller controls the steering wheel unfolding switch to be turned on according to the unfolding instruction, thereby switching the steering wheel from the folded state to the unfolded state, and the unfolded state is the initial state of the steering wheel before it is folded.

[0109] 402. During the unfolding of the steering wheel, it is determined whether the vehicle meets the conditions for starting the auxiliary steering control mode according to the fault state of the steering wheel, or according to the fault state and the first wheel turning angle of the vehicle. The fault state is used to indicate whether there is a fault in the steering wheel, and the auxiliary steering control mode is used to simulate the turning operation of the steering wheel.

[0110] During the unfolding of the steering wheel, some situations may occur, such as a sudden failure or jam of the steering wheel, which may cause the steering wheel to be unable to unfold and be used normally. For example, if the vehicle needs to turn during this process, the driver needs to turn the steering wheel to realize the turning process of the vehicle, but it takes a certain amount of time for the steering wheel to be folded and unfolded.

[0111] In combination with the above two situations that may occur during the unfolding of the steering wheel, the embodiment of the present application provides an auxiliary steering control method other than the steering wheel, which can enable the driver to control the steering of the vehicle based on the auxiliary steering control method during the unfolding of the steering wheel. The driver can achieve the functions that the steering wheel can achieve by operating the auxiliary steering control method.

[0112] Specifically, during the unfolding of the steering wheel, the steer-by-wire controller can determine whether it is necessary to trigger the auxiliary steering control mode to be turned on by detecting the fault state of the steering wheel and the first wheel angle of the vehicle.

[0113] The fault state and the first wheel angle collection time may be any time when it is determined whether the auxiliary steering control mode needs to be turned on during the unfolding of the steering wheel. The fault state of the steering wheel can indicate whether the steering wheel has a fault during the unfolding of the steering wheel.

[0114] Figure 5 It is a schematic diagram of a scenario in which a steer-by-wire system acquires data provided in an embodiment of the present application.

[0115] For example, Figure 5 As shown, when acquiring the fault status of the steering wheel, the steer-by-wire controller 202 may receive the fault status of the steering wheel sent by the steering wheel module 201 .

[0116] The first wheel turning angle, in the embodiment of the present application, specifically refers to the turning angle of the wheel on the same side as the steering wheel. In general vehicles, the wheel on the same side as the steering wheel is the left front wheel, so the wheel turning angle in the embodiment of the present application refers to the left front wheel turning angle. In the embodiment of the present application, the first wheel turning angle specifically refers to the first left front wheel turning angle.

[0117] The wire steering controller 202 can be specifically Figure 5 The wheel angle sensor 505 corresponding to the left front wheel in the embodiment obtains the first left front wheel angle.

[0118] After acquiring the first wheel angle and the fault state of the steering wheel, the steer-by-wire controller may determine whether the vehicle satisfies the auxiliary steering control mode according to the fault state of the steering wheel, or according to the fault state of the steering wheel and the first wheel angle.

[0119] In a possible implementation, judging whether the vehicle meets the activation condition of the auxiliary steering control mode according to the fault state of the steering wheel, or according to the fault state and the first wheel angle, includes:

[0120] In the case where the fault state of the steering wheel is used to indicate that there is a fault in the steering wheel, determining that the vehicle meets the start condition;

[0121] When the fault state of the steering wheel is used to indicate that there is no fault in the steering wheel, it is determined whether the vehicle meets the start condition according to the first wheel angle.

[0122] It should be understood that when the steering wheel fails (e.g., gets stuck), the steering wheel controller can generate a fault signal and send it to the wire steering controller. When the steering wheel is normal, the steering wheel controller can generate a normal signal and send it to the wire steering controller. Both of the above signals can be understood as signals corresponding to the fault state of the steering wheel.

[0123] Exemplarily, when the signal of the fault state received by the wire-controlled steering controller is a fault signal, it can be determined that there is a fault in the steering wheel. In this case, it is determined that the auxiliary steering control mode needs to be activated.

[0124] For example, when the signal of the fault state received by the wire-controlled steering controller is a normal signal, it can be determined that there is no fault in the steering wheel. In this case, in order to prevent the driver from being unable to control the vehicle when the vehicle needs to turn, the wire-controlled steering controller also needs to determine whether the vehicle is turning during the deployment of the steering wheel, combined with the first wheel angle, to determine whether to turn on the auxiliary steering control mode.

[0125] In the above technical solution, when judging whether to turn on the auxiliary steering control mode, when the steering wheel fails, it means that the steering wheel cannot be normally unfolded, and the auxiliary steering control mode can be turned on, ensuring that when the steering wheel fails, the vehicle can complete the turning process through the auxiliary steering control mode. When the steering wheel is not faulty, it can be judged by the first wheel angle whether the vehicle is turning to determine whether to turn on the auxiliary steering control mode, ensuring the time from folding to unfolding of the steering wheel, providing the driver with a flexible way to control the turning of the vehicle.

[0126] Specifically, when the fault state of the steering wheel is used to indicate that there is no fault in the steering wheel, judging whether the vehicle meets the start condition according to the first wheel angle includes:

[0127] When the first wheel turning angle is greater than a preset turning angle, determining that the vehicle meets the start condition;

[0128] When the first wheel turning angle is less than or equal to the preset turning angle, it is determined that the vehicle does not meet the start condition.

[0129] Optionally, the preset turning angle may be a critical wheel turning angle that can indicate that the vehicle is in a straight-ahead state, which is 0° in the embodiment of the present application.

[0130] It should be understood that the first wheel turning angle here specifically refers to the numerical value of the wheel turning angle, and does not include the direction of the turning angle. For example, based on the driver's seat, the angle of the wheel turning to the left is positive, and the angle of the wheel turning to the right is negative. Correspondingly, -50° and +50° in the embodiment of the present application correspond to the first wheel turning angle of 50°.

[0131] Exemplarily, when the first wheel turning angle is 50°, which is greater than the preset turning angle of 0°, it means that the vehicle is turning at this time. In this case, the auxiliary steering control mode needs to be turned on to enable the driver to control the vehicle to complete the vehicle control process.

[0132] Exemplarily, when the first wheel turning angle is 0°, which is equal to the preset turning angle of 0°, it means that the vehicle is in a straight-ahead state at this time. In this case, the auxiliary steering control mode may be temporarily disabled.

[0133] In the above technical solution, when judging whether the vehicle is turning, when the first wheel angle is greater than the preset angle, it indicates that the vehicle is in a turning state, and the auxiliary steering control mode can be turned on. On the contrary, when the first wheel angle is less than or equal to the preset angle, it indicates that the vehicle is not in a turning state, and the vehicle does not need to be controlled temporarily, and the auxiliary steering control mode can be turned off. The above process can ensure that during the period when the steering wheel is unfolded, when the vehicle needs to turn, an operable turning method is provided for the driver, so that the driver can control the vehicle during this process, ensuring the safety of the vehicle and the safety of the people in the vehicle.

[0134] 403 , when the vehicle meets the start-up conditions, the vehicle is controlled to steer by an auxiliary steering control method.

[0135] When the steer-by-wire controller determines in step 402 that the vehicle meets the start-up condition, the vehicle can be controlled to steer by an auxiliary steering control method.

[0136] Specifically, when controlling the steering of the vehicle through the auxiliary steering control method, the auxiliary steering control method can be activated (turned on) first, and then based on the auxiliary steering control method, the target wheel angle is obtained so that the wheels of the vehicle are turned according to the target wheel angle.

[0137] In a possible implementation, the vehicle steering is controlled by an auxiliary steering control method, specifically including:

[0138] Activate assisted steering control mode;

[0139] In response to a control operation of the auxiliary steering control mode, a target wheel angle is determined according to a vehicle speed and a control parameter corresponding to the control operation, wherein the control parameter is used to indicate a change state of the auxiliary steering control mode during the control process;

[0140] Control the vehicle steering according to the target wheel angle.

[0141] Optionally, the auxiliary steering control method in the embodiment of the present application includes any one of a physical knob, a virtual button, a virtual steering wheel and a physical button.

[0142] According to the above-mentioned different auxiliary steering control modes, the method of activating the auxiliary steering control mode is also different.

[0143] Specifically, the activating auxiliary steering control method includes any of the following:

[0144] Control the physical knob to turn on;

[0145] Display the control interface of virtual buttons;

[0146] Display the control interface of the virtual steering wheel;

[0147] Control the physical button to turn on.

[0148] Figure 6 This is a schematic diagram of a scenario for activating an auxiliary steering control method provided in an embodiment of the present application.

[0149] For example, Figure 6 As shown, combined Figure 5 . Figure 6 (a) is a schematic diagram of a scenario of activating a virtual steering wheel provided in an embodiment of the present application. The wire steering controller 202 can display the control interface of the virtual steering wheel in the display area of ​​the display device through the multimedia control module 506. Figure 6 As shown in (a) in the figure, the control interface of the virtual steering wheel also includes a rotation angle display area, which can display the wheel angle in real time during the process of controlling the vehicle steering.

[0150] Another example, Figure 6 (b) is a schematic diagram of a scenario of activating a virtual key provided by an embodiment of the present application. In addition to controlling the display device to display the control interface of the virtual steering wheel, the wire steering controller 202 can also control the display device to display the control interface of the virtual key in the display area through the multimedia control module 506. Figure 6 As shown in (b) in FIG. 8 , the control interface of the virtual button displays a “left” control, a “right” control, a “reset” control, and a rotation angle display area.

[0151] The "left" control is used to control the vehicle's wheels to turn left, the "right" control is used to control the vehicle's wheels to turn right, and the "reset" control is used to restore the wheel's rotation angle to 0°. In the rotation angle display area, the wheel angle can be displayed in real time.

[0152] Another example, Figure 6 (c) is a schematic diagram of a scenario for activating a physical knob provided in an embodiment of the present application. In addition to the virtual control method, when a physical knob corresponding to wheel steering is configured in the vehicle, after the activation condition is met, the wire-controlled steering controller 202 can control the physical knob to turn on through the physical knob switch. After the physical knob is turned on, the indicator light corresponding to the physical knob can automatically light up to indicate that the physical knob is in the on state. In this way, the display area of ​​the display device can also correspond to include a rotation angle display area to display the wheel angle in real time.

[0153] Another example, Figure 6(d) is a schematic diagram of a scenario of activating a physical button provided in an embodiment of the present application. When a physical button corresponding to wheel steering is configured in the vehicle, after the activation condition is met, the wire steering controller 202 can control the activation of the physical button through the physical button switch (e.g. Figure 6 After the physical button is turned on, the indicator light corresponding to the physical button can automatically light up to indicate that the physical button is turned on. In this way, the display area of ​​the display device can also correspond to a rotation angle display area to display the wheel angle in real time.

[0154] In combination with the activation process of the several auxiliary steering control methods given above, in addition to displaying the wheel angle, the display area of ​​the display device can also display a 360-degree panoramic image of the vehicle during the steering process, so that the driver can more intuitively understand the status of the vehicle during the steering process.

[0155] It should be understood that in a special scenario, when the steering wheel is deployed, if the steering wheel cannot be deployed due to a steering wheel failure, the auxiliary steering control mode is activated. In the embodiment of the present application, in order to ensure the safety of the vehicle, the auxiliary steering control mode provided can be considered as a temporary control mode, which is used to enable the driver to control the vehicle to move to a safe area (such as an emergency lane, roadside, etc.).

[0156] Therefore, while the auxiliary steering control mode is activated, the wire steering controller can also control the multimedia control module to display a prompt message in the display area of ​​the display device, prompting the driver to control the vehicle to turn through the auxiliary steering control mode so as to park the vehicle in a safe area. The prompt message is, for example, "The current steering wheel is faulty, please park the vehicle in a safe area through the auxiliary steering control mode."

[0157] It should also be understood that based on the several different auxiliary steering control methods provided in the embodiments of the present application, when specifically determining the target wheel angle, different control methods correspond to different control operations. Specifically, the control operation corresponding to the virtual buttons and physical buttons is a click operation, the control operation corresponding to the virtual steering wheel is a sliding operation, and the control operation corresponding to the physical knob is a rotation operation. The control parameters corresponding to the control operation are used to indicate the changing state of the auxiliary steering control method during the control process. Therefore, for virtual buttons and physical buttons, the corresponding control parameters can be reflected by the number of clicks. The control parameters corresponding to the rotation operation can be reflected by the rotation angle. The control parameters corresponding to the virtual steering wheel can be reflected by the sliding distance.

[0158] It should also be understood that the vehicle speed may fluctuate during driving. Generally, when the vehicle speed is relatively slow, the turning amplitude of the wheels tends to be slower during the turning process, that is, the wheel angle changes slightly slower. When the vehicle speed is relatively fast, the turning amplitude of the wheels tends to be larger during the turning process, that is, the wheel angle changes slightly faster. Therefore, in order to ensure that the turning process of the wheels can keep up with the change in vehicle speed when the vehicle turns through the auxiliary steering control mode, it is necessary to combine the control parameters and vehicle speed when determining the target wheel angle.

[0159] In a possible implementation, in combination with different auxiliary steering control modes, in response to a control operation of the auxiliary steering control mode, a target wheel angle is determined according to a vehicle speed and a control parameter corresponding to the control operation, specifically including any of the following:

[0160] In response to a rotation operation on a physical knob, a rotation angle corresponding to the rotation operation is acquired; and a target wheel angle is determined according to a vehicle speed and the rotation angle;

[0161] In response to a first click operation on the virtual button, obtaining a first number of clicks corresponding to the first click operation on the virtual button control interface; and determining a target wheel angle according to the vehicle speed and the first number of clicks;

[0162] In response to a sliding operation on the virtual steering wheel, a sliding distance corresponding to the sliding operation is obtained on the control interface of the virtual steering wheel; a target wheel angle is determined according to the vehicle speed and the sliding distance;

[0163] In response to a second click operation on the physical button, a second number of clicks corresponding to the second click operation is obtained; and a target wheel angle is determined according to the vehicle speed and the second number of clicks.

[0164] For example, Figure 5 As shown, the steer-by-wire controller 202 can specifically collect the current vehicle speed through the vehicle speed sensor 504 .

[0165] For example, when the auxiliary steering control mode is a physical knob, the corresponding control operation is a rotation operation, and the corresponding control parameter is a rotation angle. When the driver turns the physical knob, the wire steering controller can obtain the corresponding rotation angle during the driver's rotation of the physical knob through the angle sensor in the physical knob.

[0166] Technicians can pre-configure the correspondence between the rotation angle and the target wheel angle under different vehicle speed ranges. For example, when the vehicle speed is between 0 and 20 km / h, the corresponding ratio between the rotation angle and the target wheel angle can be set to 10:1; when the vehicle speed is between 20 and 60 km / h, the corresponding ratio between the rotation angle and the target wheel angle can be set to 5:1, etc.

[0167] After obtaining the rotation angle, the steer-by-wire controller can determine the speed range to which the current vehicle speed belongs according to the vehicle speed, determine the corresponding ratio between the rotation angle and the target wheel angle in the speed range, and obtain the target wheel angle according to the rotation angle and the corresponding ratio.

[0168] Assuming the current vehicle speed is 40 km / h, the steer-by-wire controller can determine that the corresponding ratio between the rotation angle and the target wheel angle is 5: 1. If the rotation angle obtained by the steer-by-wire controller is 100°, the target wheel angle can be determined to be 20°.

[0169] In another exemplary embodiment, when the auxiliary steering control mode is a virtual button, the corresponding control operation is a click operation, and the corresponding control parameter is a first number of clicks. When the driver clicks the virtual button, the wire steering controller can obtain the first number of clicks through a counter corresponding to the virtual button in the multimedia control module.

[0170] Similar to the physical knob method, technicians can pre-configure the correspondence between the first click and the target wheel angle in different vehicle speed ranges. For example, when the vehicle speed is between 0 and 20 km / h, the correspondence between the first click and the target wheel angle can be set to 10 clicks and 1°; when the vehicle speed is between 20 and 60 km / h, the correspondence between the first click and the target wheel angle can be set to 5 clicks and 1°, etc.

[0171] After obtaining the first number of clicks, the steer-by-wire controller can determine the speed range to which the current vehicle speed belongs according to the vehicle speed, determine the corresponding relationship between the first number of clicks and the target wheel angle in the speed range, and obtain the target wheel angle according to the first number of clicks and the corresponding relationship.

[0172] Assuming that the current vehicle speed is 40 km / h, the steer-by-wire controller can determine that the correspondence between the first click count and the target wheel angle is 5 times and the target wheel angle is 1°. If the first click count obtained by the steer-by-wire controller is 20 times, the target wheel angle can be determined to be 4°.

[0173] In another example, when the auxiliary steering control mode is a virtual steering wheel, the corresponding control operation is a sliding operation, and the corresponding control parameter is a sliding distance. When the driver slides the virtual steering wheel, the wire steering controller can obtain the coordinates of the initial position and the end position of the finger in the display area through the touch event listener in the multimedia control module, and obtain the sliding distance of the finger on the virtual steering wheel according to the two coordinates.

[0174] Technicians can pre-configure the correspondence between the sliding distance and the virtual steering wheel rotation angle, as well as the correspondence between the virtual steering wheel rotation angle and the target wheel angle under different vehicle speed ranges.

[0175] Optionally, in the embodiment of the present application, the sliding distance can be either an arc length or a straight-line distance, and the embodiment of the present application is not limited to this.

[0176] For example, assuming that the sliding distance is a straight-line distance, the technician can configure that when the sliding distance is 10 cm, the virtual steering wheel rotation angle is 20°.

[0177] Furthermore, when configuring the correspondence between the virtual steering wheel angle and the target wheel angle under different vehicle speed ranges, for example, when the vehicle speed is between 0 and 20 km / h, the corresponding ratio between the virtual steering wheel angle and the target wheel angle can be set to 10:1; when the vehicle speed is between 20 and 60 km / h, the corresponding ratio between the virtual steering wheel angle and the target wheel angle can be set to 5:1, etc.

[0178] After obtaining the sliding distance, the steer-by-wire controller can first determine the virtual steering wheel rotation angle corresponding to the sliding operation according to the corresponding relationship between the sliding distance and the virtual steering wheel rotation angle. Further, in combination with the current vehicle speed, the vehicle speed range corresponding to the current vehicle speed is determined, the corresponding ratio between the virtual steering wheel rotation angle and the target wheel angle under the vehicle speed range is determined, and the target wheel angle is obtained according to the virtual steering wheel rotation angle and the corresponding ratio.

[0179] Assuming the sliding distance is 10cm, the steer-by-wire controller can obtain a virtual steering wheel angle of 20° based on the corresponding relationship between the sliding distance and the virtual steering wheel rotation angle. The current vehicle speed is 40km / h, and the steer-by-wire controller can determine that the corresponding ratio between the virtual steering wheel rotation angle and the target wheel angle is 5:1, and the corresponding target wheel angle is 4°.

[0180] In another exemplary embodiment, when the auxiliary steering control mode is a physical button, the corresponding control operation is a click operation, and the corresponding control parameter is the second number of clicks. When the driver clicks the physical button, the wire steering controller can obtain the second number of clicks through the counter corresponding to the physical button.

[0181] Similar to the virtual button method, technicians can pre-configure the correspondence between the second click number and the target wheel angle under different vehicle speed ranges. For example, when the vehicle speed is between 0 and 20 km / h, the correspondence between the second click number and the target wheel angle can be set to 10 times for the second click and 1° for the target wheel angle; when the vehicle speed is between 20 and 60 km / h, the correspondence between the second click number and the target wheel angle can be set to 5 times for the second click and 1° for the target wheel angle, etc.

[0182] After obtaining the second number of clicks, the wire-controlled steering controller can determine the speed range to which the current vehicle speed belongs based on the vehicle speed, determine the correspondence between the second number of clicks and the target wheel angle within the speed range, and obtain the target wheel angle based on the second number of clicks and the correspondence.

[0183] For example, assuming the current vehicle speed is 40 km / h, the wire-controlled steering controller can determine that the correspondence between the second number of clicks and the target wheel angle is that the second number of clicks is 5 times and the target wheel angle is 1°. If the wire-controlled steering controller obtains 40 second clicks, it can be determined that the target wheel angle is 8°.

[0184] In the above technical solution, when the vehicle steering is controlled by the auxiliary steering control mode, the auxiliary steering control mode can be activated first, and when the driver's control operation on the auxiliary steering control mode is received, the target wheel angle can be determined in combination with the vehicle speed and the control parameter to control the vehicle steering. The control parameter can represent the changing state of the auxiliary steering control mode during the control process. The vehicle speed can reflect the speed of the vehicle. The above determination of the target wheel angle based on the vehicle speed and the control parameter can obtain different degrees of target wheel angles according to the vehicle speed when the control parameters are the same. For example, when the vehicle speed is relatively high, the variation range of the wheel angle can be appropriately increased, so the target wheel angle is slightly larger. On the contrary, when the vehicle speed is relatively low, the variation range of the wheel angle can be appropriately reduced, and the target wheel angle is a little smaller, so that the above process ensures the correlation between the target wheel angle and the vehicle speed, and improves the accuracy of determining the target wheel angle.

[0185] Several assisted steering control methods are specifically proposed, including virtual buttons, physical knobs, virtual steering wheels, and physical buttons. Based on different assisted steering control methods, the specific activation and control processes are also different.

[0186] When the auxiliary steering control mode is a virtual button, the control interface of the virtual button can be displayed, and the driver can click the virtual button in the control interface of the virtual button to control the steering of the vehicle. When the auxiliary steering control mode is a virtual steering wheel, the control interface of the virtual steering wheel can be displayed, and the driver can slide the virtual steering wheel in the control interface of the virtual steering wheel to control the steering of the vehicle. When the auxiliary steering control mode is a physical knob, the physical knob can be controlled to be turned on, and the driver can rotate the physical knob to control the steering of the vehicle. When the auxiliary steering control mode is a physical button, the physical button can be controlled to be turned on, and the driver can click the physical button to control the steering of the vehicle.

[0187] The above-mentioned methods of controlling vehicle steering are flexible and diverse, avoiding the problem of monotonous control caused by a single auxiliary steering control method.

[0188] When determining the target wheel angle, the corresponding control operation is any one of a click operation, a rotation operation and a slide operation, and the control parameter includes any one of a rotation angle, a slide distance and a click count.

[0189] Specifically, when the control operation is a rotation operation, the present application can determine the target wheel angle based on the rotation angle and vehicle speed corresponding to the rotation operation. When the control operation is a first click operation on a virtual button, the present application can determine the target wheel angle based on the first number of clicks and vehicle speed corresponding to the first click operation. When the control operation is a sliding operation on a virtual steering wheel, the present application can determine the target wheel angle based on the sliding distance and vehicle speed corresponding to the sliding operation. When the control operation is a second click operation on a physical button, the present application can determine the target wheel angle based on the second number of clicks and vehicle speed corresponding to the second click operation. The above process can ensure that under different control operations, the target wheel angle under different control operations can be accurately determined in combination with the control parameters and vehicle speed corresponding to the control operation. The above process ensures the diversity, flexibility and richness of the methods for determining the target wheel angle.

[0190] After obtaining the target wheel angle, the steer-by-wire controller can control the vehicle's wheels to steer according to the target wheel angle.

[0191] Through the above process, the driver can control the vehicle to complete the turn by using auxiliary steering control methods other than the steering wheel while the steering wheel is unfolding.

[0192] It should be understood that in the above description, if the auxiliary steering control mode is triggered by a steering wheel failure that causes the steering wheel to be unable to unfold, the auxiliary steering control mode is used to enable the driver to control the vehicle to move to a safe area (such as an emergency lane, roadside, etc.).

[0193] After the vehicle completes the turn, the steer-by-wire controller needs to further confirm whether the vehicle has stopped in a safe area.

[0194] In a possible implementation, when the fault state of the steering wheel indicates that there is a fault in the steering wheel, after the vehicle is controlled to steer by an auxiliary steering control method, the method further includes:

[0195] Obtaining the state parameters of the vehicle, where the state parameters are used to indicate the running state of the vehicle;

[0196] According to the state parameters, determining whether the vehicle meets the closing condition of the auxiliary steering control mode;

[0197] When the vehicle meets the shutdown conditions, the auxiliary steering control mode is turned off.

[0198] Optionally, the status parameters specifically include hazard warning light status, parking switch status and gear position.

[0199] The hazard warning light is a signal light that warns pedestrians and vehicles when something special happens to the vehicle. Combined with the status of the hazard warning light, the steer-by-wire controller can determine whether the vehicle is temporarily parked. The parking switch status and gear position can indicate whether the vehicle is parked. Therefore, based on the above three status parameters, the steer-by-wire controller can determine whether the vehicle is parked in a safe area.

[0200] For example, Figure 5 As shown, the steer-by-wire controller 202 can be Figure 5 The turn signal acquisition module 503 in the control module obtains the status of the hazard warning lights. The status of the hazard warning lights includes on and off. When the hazard warning lights are on, they can be manually turned on by the driver according to actual driving needs. For example, when a traffic accident occurs, in order to promptly warn the vehicle coming from behind, the driver can manually turn on the hazard warning lights to turn on the hazard warning lights. Alternatively, when the vehicle needs to be moved temporarily, the driver can manually turn on the hazard warning lights to turn on the hazard warning lights. The switch of the hazard warning lights can be a physical switch or a virtual switch. In addition, the driver can also turn on or off the hazard warning lights by voice control, such as "turn on the hazard warning lights or turn off the hazard warning lights".

[0201] Optionally, the turn signal acquisition module 503 may be a body control module (BCM, also known as a body controller) in the vehicle. BCM can be used to control the functions of various components such as interior lights, exterior lights, door control, seats, engine hood, wipers, etc.

[0202] For the parking switch state, the steer-by-wire controller 202 can Figure 5 The parking state acquisition module 501 in the vehicle can be collected. The parking state acquisition module 501 can be specifically an electronic parking system (EPB) in the vehicle. As an electronic parking system in the vehicle, EPB refers to a technology that integrates temporary braking during driving and long-term braking after parking, and realizes parking braking through electronic control.

[0203] For the gear position, the wire steering controller 202 can Figure 5 The gear position acquisition module 502 in the vehicle can be used to acquire the information. The gear position acquisition module 502 can be a gear position controller in the vehicle.

[0204] After obtaining the above three status parameters, the steer-by-wire controller can determine whether the vehicle has stopped in a safe area. If so, it means that the driver no longer needs to control the vehicle through the auxiliary steering control mode, and the steer-by-wire controller can control the auxiliary steering control mode to be turned off.

[0205] In the above technical solution, the auxiliary steering control method is a temporary auxiliary turning method. When the steering wheel fails, the auxiliary steering control method should not be used as a long-term control method. When the steering wheel fails, in order to ensure the safety of the vehicle, the driver needs to control the vehicle to move to a safe area through the auxiliary steering control method to perform corresponding maintenance on the vehicle. In other words, in this case, the driver controls the vehicle to turn through the auxiliary steering control method, which can be understood as controlling the vehicle to stop in a safe area through the auxiliary steering control method. After this process, the application also needs to combine the state parameters of the vehicle to determine whether the vehicle is parked safely. When the state parameters indicate that the vehicle has stopped at the emergency channel, that is, the vehicle meets the closing conditions of the auxiliary steering control method, the auxiliary steering control method is turned off. The above-mentioned closing of the auxiliary steering control method in combination with the state parameters can ensure the accuracy and rationality of closing the auxiliary steering control method, and ensure the driving safety of the vehicle.

[0206] In a possible implementation, when judging whether the vehicle meets the closing condition of the auxiliary steering control mode according to the state parameter, it includes:

[0207] When the gear position is the preset gear position, the parking switch state is on, and the hazard warning light state is on, determining that the state parameter meets the closing condition;

[0208] When the gear position is not the preset gear position, or the parking switch state is off, or the hazard warning light state is off, it is determined that the state parameter does not meet the closing condition.

[0209] Optionally, the preset gear position is parking (Parking, P).

[0210] The gear position is P gear and the parking switch is turned on, indicating that the vehicle is in the parking state. The hazard warning light state is turned on to serve the purpose of reminding the adjacent vehicle. In this case, the wire control steering controller 202 determines that the vehicle meets the closing condition of the auxiliary steering control mode.

[0211] When the auxiliary steering control mode is turned off, according to the several different auxiliary steering control modes provided in the embodiments of the present application, the process of turning off the auxiliary steering control mode is slightly different.

[0212] Exemplarily, when the auxiliary steering control mode is a virtual key, the activation mode is to display the control interface of the virtual key. When closed, the display device can be controlled to exit the control interface of the virtual key.

[0213] In another exemplary embodiment, when the auxiliary steering control mode is a physical knob, the activation mode is to control the physical knob to turn on. When turned off, the physical knob can be turned off and the indicator light of the physical knob can be turned off.

[0214] In another exemplary embodiment, when the auxiliary steering control mode is a virtual steering wheel, the activation mode is to display a control interface of the virtual steering wheel. When closed, the display device can be controlled to exit the control interface of the virtual steering wheel.

[0215] In another exemplary embodiment, when the auxiliary steering control mode is a physical button, the activation mode is to control the physical button to be turned on. When turned off, the physical button and the indicator light of the physical button can be turned off.

[0216] On the contrary, when the gear is not in P gear, or the parking switch is off, or the hazard warning light is off, the conditions for safe parking of the vehicle are not met. In this case, the wire-controlled steering controller determines that the vehicle does not meet the shutdown conditions.

[0217] Correspondingly, when the closing conditions are not met, the wire-controlled steering controller can generate corresponding prompt information based on the current state parameters to remind the driver to adjust the current state parameters to ensure that the vehicle is parked in a safe area to avoid interfering with the driving of nearby vehicles.

[0218] In the above technical solution, when judging whether the vehicle meets the shutdown condition of the auxiliary steering control mode according to the state parameters, the state parameters include the hazard warning light state, the parking switch state and the gear position. If the gear position is in the preset gear position, the parking switch state is on, and the hazard warning light state is on, it is determined that the vehicle meets the shutdown condition. On the contrary, when at least one of the above conditions is not met, it is considered that the vehicle does not meet the shutdown condition. The above judgment process can ensure that when the auxiliary steering control mode is turned off, the vehicle is in a stationary state and the hazard warning light is on to remind the vehicles beside to pay attention to driving safety.

[0219] It should be understood that when the steering wheel is deployed, if the auxiliary steering control mode is triggered because the vehicle is turning. After the steering wheel is deployed, the corresponding steering wheel angle is generally the initial angle (that is, 0°), so the steering wheel angle and the current wheel angle of the vehicle need to be aligned so that the vehicle can drive safely. Alignment essentially means making the steering wheel angle and the wheel angle meet the preset steering ratio. After alignment, the wire-controlled steering controller can remind the driver that the vehicle can be controlled by the steering wheel, and the auxiliary steering control mode will be turned off accordingly.

[0220] In a possible implementation, when the first wheel turning angle is greater than the preset wheel turning angle, after the vehicle is controlled to turn by the auxiliary steering control method, the method further includes:

[0221] When the steering wheel is unfolded, obtaining the steering wheel angle and the second wheel angle;

[0222] When the steering wheel angle and the second wheel angle satisfy a preset steering ratio, generating first prompt information according to the state of the steering wheel, the steering wheel angle and the second wheel angle;

[0223] When the steering wheel angle and the second wheel angle do not satisfy a preset steering ratio, the steering wheel is adjusted so that the adjusted steering wheel angle and the second wheel angle satisfy the preset steering ratio; a second prompt message is generated based on the adjusted steering wheel angle and the second wheel angle, and both the first prompt message and the second prompt message are used to prompt the driver to operate the steering wheel.

[0224] Turn off assisted steering control mode.

[0225] For example, when the steering wheel is unfolded, the wire steering controller can collect the current steering wheel angle (generally 0°) through the angle sensor corresponding to the steering wheel. The wire steering controller can also collect the current second wheel angle through the angle sensor corresponding to the left front wheel.

[0226] When the steering wheel angle and the second wheel angle do not satisfy a preset steering ratio, the steer-by-wire controller may adjust the steering wheel angle so that the adjusted steering wheel angle and the second wheel angle satisfy the preset steering ratio.

[0227] The relationship between the steering wheel angle and the second wheel angle can be described by the following formula (1).

[0228] β=k*θ Formula (1)

[0229] Wherein, in formula (1):

[0230] β: the second wheel turning angle, unit: degree (°);

[0231] k: the ratio between the steering wheel angle and the second wheel angle, that is, the preset steering ratio;

[0232] θ: steering wheel angle, unit: degree (°).

[0233] It should be understood that, generally speaking, the steering wheel alignment process takes a very short time, and during the alignment process, the change in the wheel angle can be ignored.

[0234] Specifically, in the process of adjusting the steering wheel, first, the wire-controlled steering controller can obtain the target steering wheel angle (that is, the ideal steering wheel angle after adjustment) when the preset steering ratio is met according to the second wheel angle and the preset steering ratio. According to the currently acquired steering wheel angle and the target steering wheel angle, the angle difference is calculated, and according to the angle difference, the steering wheel angle is adjusted so that the adjusted steering wheel angle is close to the target steering wheel angle. Among them, the meaning of the adjusted steering wheel angle being close to the target steering wheel angle means that the angle difference between the adjusted steering wheel angle and the target steering wheel angle is less than or equal to the preset difference. The preset difference is the maximum critical value of the allowable error of the steering wheel angle.

[0235] After the adjusted steering wheel angle and the second wheel angle meet the preset steering ratio, the steer-by-wire controller can generate a second prompt message according to the adjusted steering wheel angle and the second wheel angle, such as "The current steering wheel has been aligned, please hold the steering wheel firmly to drive the vehicle."

[0236] When the steering wheel angle and the second wheel angle meet the preset steering ratio, it means that the steering wheel and the wheel no longer need to be aligned. At this time, the wire steering controller can generate a first prompt message based on the steering wheel angle and the second wheel angle, such as "The current steering wheel does not need to be aligned, please hold the steering wheel firmly to drive the vehicle."

[0237] After prompting the driver, the steer-by-wire controller can further control the auxiliary steering control mode to be turned off. The specific turning-off steps are detailed in the above text and will not be repeated here.

[0238] In the above technical solution, after the steering wheel is unfolded, the present application also needs to control the steering wheel angle and the current second wheel angle to be aligned. The sign of alignment is that the steering wheel angle and the second wheel angle meet the preset steering ratio. First, when the steering wheel is unfolded, the steering wheel angle and the second wheel angle are obtained. When the steering wheel angle and the second wheel angle meet the preset steering ratio, a first prompt message can be generated according to the steering wheel angle and the second wheel angle to prompt the driver to manually operate the steering wheel. On the contrary, when the steering wheel angle and the second wheel angle do not meet the preset steering ratio, the steering wheel angle can be adjusted until the adjusted steering wheel angle and the second wheel angle meet the preset steering ratio. Then, according to the adjusted steering wheel angle and wheel angle, a second prompt message is generated to prompt the driver to manually operate the steering wheel. The above process can enable the steering wheel angle to be adjusted in time in combination with the current turning state of the vehicle after the steering wheel is unfolded, so that the steering wheel angle and the current second wheel angle are synchronized with the preset steering ratio, thereby avoiding the problem of vehicle steering obstruction caused by the steering wheel angle and the second wheel angle not meeting the preset steering ratio. Furthermore, after the steering wheel angle and the second wheel angle are aligned, the auxiliary steering control mode is controlled to be closed, thereby ensuring flexible opening and closing of the auxiliary steering control mode.

[0239] In summary, for vehicles equipped with wire-controlled steering function and automatic driving function, the steering wheel has the characteristics of flexible folding and unfolding, and the automatic driving function can free the driver's hands and realize intelligent vehicle control. When the automatic driving function is turned on and the steering wheel is folded, the present application proposes a method for controlling the steering of the vehicle. Specifically, when the steering wheel is folded, if the automatic driving function is exited for some reason, in order to enable the vehicle to turn, the vehicle can control the steering wheel to unfold to the initial state through the unfolding instruction. During the unfolding of the steering wheel, the present application can judge whether the vehicle meets the opening conditions of the auxiliary steering control mode according to the fault state of the steering wheel, or the fault state of the steering wheel and the first wheel angle. If it meets the conditions, the steering of the vehicle is controlled by the auxiliary steering control mode. Among them, the fault state of the steering wheel can reflect whether the steering wheel fails during the unfolding process, and the first wheel angle can reflect whether the vehicle is turning. Therefore, when the steering wheel is unfolded, the auxiliary steering control mode is controlled to be turned on in combination with the fault state of the steering wheel and the first wheel angle. On the one hand, it can ensure that the fault state of the steering wheel indicates that the steering wheel has a fault, and when it is unfolded normally, it provides a flexible, convenient and fast steering method for the driver. On the other hand, it can also ensure that when the fault state of the steering wheel indicates that there is no fault in the steering wheel but the vehicle is in the process of turning, the driver can smoothly control the vehicle to complete the turn, thereby improving the driver's driving experience.

[0240] When judging whether to turn on the auxiliary steering control mode, when the steering wheel fails, it means that the steering wheel cannot be unfolded normally, and the auxiliary steering control mode can be turned on, ensuring that when the steering wheel fails, the vehicle can complete the turning process through the auxiliary steering control mode. When the steering wheel is not faulty, it can be judged by the first wheel angle whether the vehicle is turning to determine whether the auxiliary steering control mode needs to be turned on, ensuring the time from folding to unfolding of the steering wheel, providing the driver with a flexible way to control the vehicle turning.

[0241] When judging whether the vehicle is turning, when the first wheel angle is greater than the preset angle, it indicates that the vehicle is in a turning state, and the auxiliary steering control mode can be turned on. On the contrary, when the first wheel angle is less than or equal to the preset angle, it indicates that the vehicle is not in a turning state, and the vehicle does not need to be controlled temporarily, and the auxiliary steering control mode can be turned off. The above process can ensure that during the period when the steering wheel is unfolded, when the vehicle needs to turn, an operable turning method is provided for the driver, so that the driver can control the vehicle during this process, ensuring the safety of the vehicle and the safety of the people in the vehicle.

[0242] The auxiliary steering control mode is a temporary auxiliary turning mode. When the steering wheel fails, the auxiliary steering control mode should not be used as a long-term control mode. When the steering wheel fails, in order to ensure the safety of the vehicle, the driver needs to control the vehicle to move to a safe area through the auxiliary steering control mode to perform corresponding maintenance on the vehicle. In other words, in this case, the driver controls the vehicle to turn through the auxiliary steering control mode, which can be understood as controlling the vehicle to stop in a safe area through the auxiliary steering control mode. After this process, the application also needs to combine the state parameters of the vehicle to determine whether the vehicle is parked safely. When the state parameters indicate that the vehicle has stopped at the emergency channel, that is, the vehicle meets the closing conditions of the auxiliary steering control mode, the auxiliary steering control mode is turned off. The above-mentioned closing of the auxiliary steering control mode in combination with the state parameters can ensure the accuracy and rationality of closing the auxiliary steering control mode, and ensure the driving safety of the vehicle.

[0243] When judging whether the vehicle meets the shutdown condition of the auxiliary steering control mode according to the state parameters, the state parameters include the hazard warning light state, the parking switch state and the gear position. If the gear position is in the preset gear position, the parking switch state is on, and the hazard warning light state is on, it is determined that the vehicle meets the shutdown condition. On the contrary, when at least one of the above conditions is not met, it is considered that the vehicle does not meet the shutdown condition. The above judgment process can ensure that when the auxiliary steering control mode is turned off, the vehicle is stationary and the hazard warning light is on to remind the vehicles beside to pay attention to driving safety.

[0244] After the steering wheel is unfolded, the present application also needs to control the steering wheel angle and the current second wheel angle to be aligned. The sign of alignment is that the steering wheel angle and the second wheel angle meet the preset steering ratio. First, when the steering wheel is unfolded, the steering wheel angle and the second wheel angle are obtained. When the steering wheel angle and the second wheel angle meet the preset steering ratio, a first prompt message can be generated according to the steering wheel angle and the second wheel angle to prompt the driver to manually operate the steering wheel. On the contrary, when the steering wheel angle and the second wheel angle do not meet the preset steering ratio, the steering wheel angle can be adjusted until the adjusted steering wheel angle and the second wheel angle meet the preset steering ratio. Then, according to the adjusted steering wheel angle and wheel angle, a second prompt message is generated to prompt the driver to manually operate the steering wheel. The above process can enable the steering wheel angle to be adjusted in time in combination with the current turning state of the vehicle after the steering wheel is unfolded, so that the steering wheel angle and the current second wheel angle are synchronized with the preset steering ratio, thereby avoiding the problem of vehicle steering obstruction caused by the steering wheel angle and the second wheel angle not meeting the preset steering ratio. Furthermore, after the steering wheel angle and the second wheel angle are aligned, the auxiliary steering control mode is controlled to be closed, thereby ensuring flexible opening and closing of the auxiliary steering control mode.

[0245] When controlling the steering of the vehicle by the auxiliary steering control mode, the auxiliary steering control mode can be activated first. When receiving the control operation of the driver on the auxiliary steering control mode, the target wheel angle can be determined in combination with the vehicle speed and the control parameter to control the steering of the vehicle. The control parameter can represent the changing state of the auxiliary steering control mode during the control process. The vehicle speed can reflect the speed of the vehicle. The above-mentioned determination of the target wheel angle based on the vehicle speed and the control parameter can obtain different degrees of target wheel angles according to the vehicle speed when the control parameters are the same. For example, when the vehicle speed is relatively high, the variation range of the wheel angle can be appropriately increased, so that the target wheel angle is slightly larger. On the contrary, when the vehicle speed is relatively low, the variation range of the wheel angle can be appropriately reduced, and the target wheel angle is a little smaller, so that the above process ensures the correlation between the target wheel angle and the vehicle speed, and improves the accuracy of determining the target wheel angle.

[0246] Specifically, the present application proposes several assisted steering control methods, including virtual buttons, physical knobs, virtual steering wheels, and physical buttons. Based on different assisted steering control methods, the specific activation and control processes are also different.

[0247] When the auxiliary steering control mode is a virtual button, the control interface of the virtual button can be displayed, and the driver can click the virtual button in the control interface of the virtual button to control the steering of the vehicle. When the auxiliary steering control mode is a virtual steering wheel, the control interface of the virtual steering wheel can be displayed, and the driver can slide the virtual steering wheel in the control interface of the virtual steering wheel to control the steering of the vehicle. When the auxiliary steering control mode is a physical knob, the physical knob can be controlled to be turned on, and the driver can rotate the physical knob to control the steering of the vehicle. When the auxiliary steering control mode is a physical button, the physical button can be controlled to be turned on, and the driver can click the physical button to control the steering of the vehicle.

[0248] The above-mentioned methods of controlling vehicle steering are flexible and diverse, avoiding the problem of monotonous control caused by a single auxiliary steering control method.

[0249] When determining the target wheel angle, the corresponding control operation is any one of a click operation, a rotation operation and a slide operation, and the control parameter includes any one of a rotation angle, a slide distance and a click count.

[0250] Specifically, when the control operation is a rotation operation, the present application can determine the target wheel angle based on the rotation angle and vehicle speed corresponding to the rotation operation. When the control operation is a first click operation on a virtual button, the present application can determine the target wheel angle based on the first number of clicks and vehicle speed corresponding to the first click operation. When the control operation is a sliding operation on a virtual steering wheel, the present application can determine the target wheel angle based on the sliding distance and vehicle speed corresponding to the sliding operation. When the control operation is a second click operation on a physical button, the present application can determine the target wheel angle based on the second number of clicks and vehicle speed corresponding to the second click operation. The above process can ensure that under different control operations, the target wheel angle under different control operations can be accurately determined in combination with the control parameters and vehicle speed corresponding to the control operation. The above process ensures the diversity, flexibility and richness of the methods for determining the target wheel angle.

[0251] For ease of understanding, the entire process of the embodiment of the present application is briefly introduced below.

[0252] Figure 7 It is a schematic flow chart of another vehicle steering control method provided in an embodiment of the present application.

[0253] For example, Figure 7 As shown, the method 700 includes:

[0254] 701. When the steering wheel of the vehicle is folded, in response to an exit signal of the automatic driving function, an unfolding instruction is sent to the steering wheel controller, wherein the exit signal is used to indicate the exit of the automatic driving function, and the unfolding instruction is used to control the steering wheel to return to its initial state before being folded.

[0255] Step 701 has the same inventive concept as step 401 , please refer to step 401 for details, which will not be repeated here.

[0256] 702. During the unfolding of the steering wheel, it is determined whether the vehicle meets the conditions for starting the auxiliary steering control mode according to the fault state of the steering wheel, or according to the fault state and the first wheel turning angle of the vehicle. The fault state is used to indicate whether there is a fault in the steering wheel, and the auxiliary steering control mode is used to simulate the turning operation of the steering wheel.

[0257] Step 702 has the same inventive concept as step 402. Please refer to step 402 for details, which will not be repeated here.

[0258] If the vehicle does not meet the start-up condition, step 703 is executed, and the process ends.

[0259] When the vehicle meets the start-up conditions, step 704 is executed.

[0260] 703, end.

[0261] 704 , when the vehicle meets the start-up conditions, the vehicle is controlled to steer by an auxiliary steering control method.

[0262] Step 704 has the same inventive concept as step 403. Please refer to step 403 for details, which will not be repeated here.

[0263] 705. When the fault state of the steering wheel is used to indicate that there is a fault in the steering wheel, after the vehicle is controlled to steer by an auxiliary steering control method, a state parameter of the vehicle is obtained, and the state parameter is used to indicate the operating state of the vehicle.

[0264] 706 , judging whether the vehicle satisfies a closing condition of the auxiliary steering control mode according to the state parameter.

[0265] When the vehicle meets the shutdown condition, step 707 is executed.

[0266] When the vehicle does not meet the closing conditions, the driver needs to be reminded in time to park the vehicle in a safe area.

[0267] 707, when the vehicle meets the shutdown condition, the auxiliary steering control mode is turned off.

[0268] Step 705-Step 707 are the same as the process in step 403: "When the fault state of the steering wheel indicates that there is a fault in the steering wheel, after controlling the vehicle to steer through the auxiliary steering control mode, the auxiliary steering control mode is turned off through the vehicle state parameters." For details, please refer to step 403 and will not be repeated here.

[0269] At 708, when the first wheel turning angle is greater than a preset turning angle, after the vehicle is controlled to steer by an auxiliary steering control method, when the steering wheel is unfolded, the steering wheel angle and the second wheel angle are obtained.

[0270] 709 , determining whether the steering wheel angle and the second wheel angle satisfy a preset steering ratio.

[0271] If yes, execute step 710; otherwise, execute step 711.

[0272] 710. When the steering wheel angle and the second wheel angle satisfy a preset steering ratio, generate a first prompt message according to the steering wheel angle and the second wheel angle; and turn off the auxiliary steering control mode.

[0273] 711. When the steering wheel angle and the second wheel angle do not satisfy a preset steering ratio, adjust the steering wheel angle so that the adjusted steering wheel angle and the second wheel angle satisfy the preset steering ratio; generate a second prompt message according to the adjusted steering wheel angle and the second wheel angle, wherein both the first prompt message and the second prompt message are used to prompt the driver to operate the steering wheel; and turn off the auxiliary steering control mode.

[0274] Step 708-Step 711 are the same as the process in step 403 of "when the steering wheel is unfolded, obtain the steering wheel angle and the second wheel angle, and turn off the auxiliary steering control mode according to the steering wheel angle and the second wheel angle". For details, please refer to step 403 and will not be repeated here.

[0275] Figure 8 It is a structural schematic diagram of a vehicle steering control device provided in an embodiment of the present application.

[0276] For example, Figure 8 As shown, the device 800 includes:

[0277] The sending module 801 is used for sending an unfolding instruction to the steering wheel controller in response to an exit signal of the automatic driving function of the vehicle when the steering wheel of the vehicle is folded, wherein the exit signal is used to indicate that the automatic driving function is exited, and the unfolding instruction is used to control the steering wheel to return to an initial state before being folded;

[0278] A judgment module 802 is used to judge whether the vehicle meets the activation condition of the auxiliary steering control mode according to the fault state of the steering wheel or according to the fault state and the first wheel angle of the vehicle during the unfolding process of the steering wheel, wherein the fault state is used to indicate whether the steering wheel has a fault, and the auxiliary steering control mode is used to simulate the turning operation of the steering wheel;

[0279] The first control module 803 is used to control the vehicle to steer by using the auxiliary steering control method when the vehicle meets the start condition.

[0280] In one possible implementation, the judgment module 802 is specifically used to: when the fault state of the steering wheel is used to indicate that there is a fault in the steering wheel, determine that the vehicle meets the start-up condition; when the fault state of the steering wheel is used to indicate that there is no fault in the steering wheel, determine whether the vehicle meets the start-up condition based on the first wheel angle.

[0281] In a possible implementation, the judgment module 802 is also used to: when the first wheel angle is greater than a preset angle, determine that the vehicle meets the start-up condition; when the first wheel angle is less than or equal to the preset angle, determine that the vehicle does not meet the start-up condition.

[0282] Optionally, when the fault state of the steering wheel is used to indicate that there is a fault in the steering wheel, after the vehicle is controlled to steer by the auxiliary steering control method, the device also includes: a second control module, used to obtain a state parameter of the vehicle, the state parameter being used to indicate the operating state of the vehicle; based on the state parameter, determining whether the vehicle meets a shutdown condition of the auxiliary steering control method; and when the vehicle meets the shutdown condition, shutting down the auxiliary steering control method.

[0283] In one possible implementation, the status parameters include a hazard warning light status, a parking switch status, and a gear position, and the second control module is specifically used to: when the gear position is a preset gear position, and the parking switch status is on, and the hazard warning light status is on, determine that the vehicle satisfies the shutdown condition; when the gear position is not the preset gear position, or, the parking switch status is off, or, the hazard warning light status is off, determine that the vehicle does not satisfy the shutdown condition.

[0284] Optionally, when the first wheel angle is greater than a preset angle, after the vehicle is controlled to steer by the auxiliary steering control method, the device also includes: a third control module, used to obtain the steering wheel angle and the second wheel angle when the steering wheel is unfolded; when the steering wheel angle and the second wheel angle meet a preset steering ratio, generate a first prompt message according to the steering wheel angle and the second wheel angle; when the steering wheel angle and the second wheel angle do not meet the preset steering ratio, adjust the steering wheel angle so that the adjusted steering wheel angle and the second wheel angle meet the preset steering ratio; generate a second prompt message according to the adjusted steering wheel angle and the second wheel angle, both of which are used to prompt the driver to operate the steering wheel; turn off the auxiliary steering control method.

[0285] In one possible implementation, the first control module 803 is specifically used to: activate the auxiliary steering control mode; in response to a control operation on the auxiliary steering control mode, determine a target wheel angle according to the vehicle speed and a control parameter corresponding to the control operation, wherein the control parameter is used to represent a changing state of the auxiliary steering control mode during the control process; and control the steering of the vehicle according to the target wheel angle.

[0286] In a possible implementation, the auxiliary steering control method includes any one of a virtual button, a physical knob, a virtual steering wheel and a physical button, and the first control module 803 is further used to perform any one of the following: control the physical knob to be turned on; display the control interface of the virtual button; display the control interface of the virtual steering wheel; control the physical button to be turned on; and the control operation includes any one of a click operation, a rotation operation and a sliding operation, and the control parameter includes any one of a rotation angle, a sliding distance and a number of clicks, and the number of clicks includes a first number of clicks and a second number of clicks, and the first control module 803 is further used to perform any one of the following: in response to the rotation operation of the physical knob, obtain Obtain a rotation angle corresponding to the rotation operation; determine the target wheel angle according to the vehicle speed and the rotation angle; on the control interface of the virtual button, in response to a first click operation on the virtual button, obtain a first number of clicks corresponding to the first click operation; determine the target wheel angle according to the vehicle speed and the first number of clicks; on the control interface of the virtual steering wheel, in response to a sliding operation on the virtual steering wheel, obtain a sliding distance corresponding to the sliding operation; determine the target wheel angle according to the vehicle speed and the sliding distance; in response to a second click operation on the physical button, obtain a second number of clicks corresponding to the second click operation; determine the target wheel angle according to the vehicle speed and the second number of clicks.

[0287] Fig. 9 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0288] For example, Fig. 9 As shown, the vehicle 300 includes: a memory 901 and a processor 902, wherein the memory 901 stores an executable program code 9011, and the processor 902 is used to call and execute the executable program code 9011 to perform a vehicle steering control method.

[0289] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a vehicle steering control method provided by an embodiment of the present application.

[0290] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0291] In the case of dividing each functional module according to each function, the device may also include a sending module, a judging module and a first control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0292] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle steering control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0293] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing mutual program codes, etc.

[0294] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0295] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle steering control method provided in the above-mentioned embodiments.

[0296] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle steering control method provided in the above embodiment.

[0297] This embodiment also provides a computer program product. When the computer program product runs on a computer, it enables the computer to execute the above-mentioned related steps to implement a vehicle steering control method provided by the above embodiment.

[0298] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0299] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0300] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0301] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling vehicle steering, characterized in that: The method comprises: When the steering wheel of the vehicle is folded, in response to an exit signal of the automatic driving function of the vehicle, sending an unfolding instruction to the steering wheel controller, wherein the exit signal is used to indicate that the automatic driving function is exited, and the unfolding instruction is used to control the steering wheel to return to an initial state before being folded; During the unfolding of the steering wheel, judging whether the vehicle meets a start condition of an auxiliary steering control mode according to a fault state of the steering wheel, or according to the fault state and a first wheel turning angle of the vehicle, wherein the fault state is used to indicate whether the steering wheel has a fault, and the auxiliary steering control mode is used to simulate a turning operation of the steering wheel; When the vehicle meets the start-up condition, the vehicle is controlled to steer using the auxiliary steering control method.

2. The method according to claim 1, characterized in that The determining, based on the fault state of the steering wheel, or based on the fault state and the first wheel angle of the vehicle, whether the vehicle satisfies the activation condition of the auxiliary steering control mode includes: In a case where the fault state of the steering wheel is used to indicate that the steering wheel is faulty, determining that the vehicle meets the start condition; In a case where the fault state of the steering wheel is used to indicate that there is no fault in the steering wheel, it is determined whether the vehicle satisfies the start condition according to the first wheel angle.

3. The method according to claim 2, characterized in that The determining, according to the first wheel angle, whether the vehicle satisfies the start condition includes: When the first wheel turning angle is greater than a preset turning angle, determining that the vehicle meets the start condition; When the first wheel turning angle is less than or equal to the preset turning angle, it is determined that the vehicle does not meet the start condition.

4. The method according to claim 2, characterized in that: In the case where the fault state of the steering wheel indicates that the steering wheel is faulty, after controlling the vehicle to steer by the auxiliary steering control method, the method further includes: Acquiring a state parameter of the vehicle, wherein the state parameter is used to represent a running state of the vehicle; determining, according to the state parameter, whether the vehicle satisfies a shut-down condition of the auxiliary steering control mode; When the vehicle satisfies the shut-down condition, the auxiliary steering control mode is shut down.

5. The method according to claim 4, characterized in that The state parameters include the state of the hazard warning lights, the state of the parking switch and the gear position. The determining, based on the state parameters, whether the vehicle meets the closing condition of the auxiliary steering control mode includes: When the gear position is a preset gear position, the parking switch state is on, and the hazard warning light state is on, determining that the vehicle meets the shutdown condition; When the gear position is not the preset gear position, or the parking switch state is off, or the hazard warning light state is off, it is determined that the vehicle does not meet the shutdown condition.

6. The method according to claim 3, characterized in that In the case where the first wheel turning angle is greater than a preset turning angle, after controlling the vehicle to turn by the auxiliary steering control method, the method further includes: When the steering wheel is unfolded, obtaining a steering wheel angle and a second wheel angle; generating first prompt information according to the steering wheel angle and the second wheel angle when the steering wheel angle and the second wheel angle satisfy a preset steering ratio; When the steering wheel angle and the second wheel angle do not satisfy the preset steering ratio, the steering wheel angle is adjusted so that the adjusted steering wheel angle and the second wheel angle satisfy the preset steering ratio; and second prompt information is generated according to the adjusted steering wheel angle and the second wheel angle, wherein the first prompt information and the second prompt information are both used to prompt the driver to operate the steering wheel; Turn off the auxiliary steering control mode.

7. The method according to claim 1, characterized in that The controlling the vehicle to steer by the auxiliary steering control method comprises: activating the auxiliary steering control mode; In response to a control operation of the auxiliary steering control mode, a target wheel angle is determined according to a vehicle speed of the vehicle and a control parameter corresponding to the control operation, wherein the control parameter is used to indicate a change state of the auxiliary steering control mode during control; The vehicle steering is controlled according to the target wheel angle.

8. The method according to claim 7, characterized in that The auxiliary steering control mode includes any one of a virtual button, a physical knob, a virtual steering wheel and a physical button, and activating the auxiliary steering control mode includes any one of the following: Control the physical knob to turn on; Displaying a control interface of the virtual button; Displaying a control interface of the virtual steering wheel; Controlling the physical button to turn on; Furthermore, the control operation includes any one of a click operation, a rotation operation, and a slide operation, the control parameter includes any one of a rotation angle, a slide distance, and a number of clicks, the number of clicks includes a first number of clicks and a second number of clicks, and the target wheel angle is determined in response to the control operation of the auxiliary steering control mode according to the vehicle speed and the control parameter corresponding to the control operation, including any one of the following: In response to a rotation operation on the physical knob, acquiring a rotation angle corresponding to the rotation operation; determining the target wheel angle according to the vehicle speed and the rotation angle; In response to a first click operation on the virtual button, obtaining a first number of clicks corresponding to the first click operation on the control interface of the virtual button; and determining the target wheel angle according to the vehicle speed and the first number of clicks; In response to a sliding operation on the virtual steering wheel, obtaining a sliding distance corresponding to the sliding operation on the control interface of the virtual steering wheel; determining the target wheel angle according to the vehicle speed and the sliding distance; In response to a second click operation on the physical button, a second number of clicks corresponding to the second click operation is acquired; and the target wheel angle is determined according to the vehicle speed and the second number of clicks.

9. A vehicle steering control device, characterized in that: The device comprises: a sending module, configured to send an unfolding instruction to a steering wheel controller in response to an exit signal of an automatic driving function of the vehicle when the steering wheel of the vehicle is folded, wherein the exit signal is used to indicate that the automatic driving function is exited, and the unfolding instruction is used to control the steering wheel to return to an initial state before being folded; a judgment module, configured to judge whether the vehicle satisfies a start condition of an auxiliary steering control mode according to a fault state of the steering wheel or according to the fault state and a first wheel turning angle of the vehicle during the unfolding of the steering wheel, wherein the fault state is used to indicate whether the steering wheel has a fault, and the auxiliary steering control mode is used to simulate a turning operation of the steering wheel; The first control module is used to control the vehicle to steer by using the auxiliary steering control method when the vehicle meets the start condition.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

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