A control method, control device, and vehicle for vehicle steering

Abstract

The application provides a vehicle steering control method, a control device and a vehicle. The method is applied to the field of vehicle steering and includes the following steps: in the case that a steering wheel of the vehicle is folded, a deployment instruction is sent to a steering wheel controller in response to an exit signal of an automatic driving function of the vehicle; in the process of unfolding the steering wheel, it is determined whether the vehicle meets an opening 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; and in the case that the vehicle meets the opening condition, the vehicle is controlled to steer by the auxiliary steering control mode. The method can be used in a vehicle configured with a steer-by-wire function and an automatic driving function. In the case that the automatic driving function is exited due to a fault during use and the steering wheel is folded, the vehicle can complete steering by the auxiliary steering control mode other than the steering wheel, so that the safety of the vehicle is ensured.

Description

Technical Field

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

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

[0003] Steer-by-wire primarily replaces the mechanical connection between the steering wheel and wheels with a data bus, enabling steering entirely through electrical power. In vehicles equipped with steer-by-wire, the driver can fold the steering wheel to increase interior space, facilitating in-car entertainment or work.

[0004] In one possible implementation, for vehicles equipped with autonomous driving capabilities, the vehicle enters an intelligent driving process after the driver activates the autonomous driving function. To provide the driver with ample space, the vehicle can also control the steering wheel to fold after the autonomous driving function is activated. If the autonomous driving function malfunctions while the vehicle is in motion, the driver needs to manually control the vehicle. To achieve manual control, the vehicle first needs to unfold the steering wheel to its initial state so that the driver can operate the vehicle via the steering wheel.

[0005] Several unexpected situations may arise during the steering wheel unfolding process. The first is a sudden steering wheel malfunction, preventing it from unfolding properly. The second is when the vehicle is turning. Because the steering wheel angle and wheel angle need to maintain a certain proportional relationship, after the steering wheel unfolds, it's necessary to align the steering wheel angle with the wheel angle. This process takes time, preventing the driver from immediately controlling the vehicle through the steering wheel.

[0006] In summary, how to effectively handle the aforementioned emergencies and ensure vehicle safety during the steering wheel unfolding process has become an urgent issue to be addressed. Summary of the Invention

[0007] This application provides a vehicle steering control method, control device, and vehicle. The method enables the vehicle to complete steering through an auxiliary steering control method other than the steering wheel in a vehicle equipped with steer-by-wire and automatic driving functions, in the event that the automatic driving function disengages for some reason and the steering wheel is retracted during use, thereby ensuring vehicle safety.

[0008] Firstly, a vehicle steering control method is provided, comprising: when the vehicle's steering wheel is folded, in response to a disengagement signal of the vehicle's autonomous driving function, sending an unfolding command to a steering wheel controller, the disengagement signal indicating that the autonomous driving function has disengaged, and the unfolding command controlling the steering wheel to return to its initial state before folding; during the unfolding of the steering wheel, determining whether the vehicle meets the activation conditions of an auxiliary steering control mode based on a fault state of the steering wheel, or based on the fault state and the first wheel angle of the vehicle, the fault state indicating whether the steering wheel is faulty, and the auxiliary steering control mode simulating a turning operation of the steering wheel; and when the vehicle meets the activation conditions, controlling the vehicle to steer using the auxiliary steering control mode.

[0009] In the aforementioned technical solution, for vehicles equipped with steer-by-wire and autonomous driving functions, the steering wheel features flexible folding and unfolding capabilities. The autonomous driving function can free the driver's hands, enabling intelligent vehicle control. When the autonomous driving function is activated and the steering wheel is folded, this application proposes a method for controlling vehicle steering. Specifically, if the autonomous driving function disengages for any reason while the steering wheel is folded, the vehicle can unfold the steering wheel to its initial state via an unfolding command to enable steering. During the steering wheel unfolding process, this application can determine whether the vehicle meets the activation conditions for the assisted steering control mode based on the steering wheel's fault status, or the steering wheel's fault status and the first wheel angle. If the conditions are met, the vehicle is steered using the assisted steering control mode. The steering wheel's fault status reflects whether a malfunction has occurred during unfolding, and the first wheel angle reflects whether the vehicle is turning. Therefore, by combining the steering wheel's fault status and the first wheel angle when the steering wheel is unfolded, the assisted steering control mode can be activated, ensuring that a flexible, convenient, and quick steering method is provided to the driver when the steering wheel's fault status indicates a malfunction and inability to unfold properly. On the other hand, it can also ensure that when the steering wheel malfunction status indicates that there is no problem with 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 conjunction with the first aspect, in some possible implementations, determining whether the vehicle meets the activation conditions for the auxiliary steering control method based on the fault state of the steering wheel, or based on the fault state and the first wheel angle of the vehicle, includes: determining that the vehicle meets the activation conditions when the fault state of the steering wheel indicates that the steering wheel is faulty; and determining whether the vehicle meets the activation conditions based on the first wheel angle when the fault state of the steering wheel indicates that the steering wheel is not faulty.

[0011] In the above technical solution, when determining whether to activate the assisted steering control mode, if the steering wheel malfunctions, it indicates that the steering wheel cannot unfold normally, and the assisted steering control mode can be activated. This ensures that even when the steering wheel is faulty, the vehicle can still complete the turning process through assisted steering control. When the steering wheel is not faulty, the turning angle of the first wheel can be used to determine whether the vehicle is turning, thus determining whether to activate the assisted steering control mode. This ensures that the time from steering wheel retraction to unfolding provides the driver with a flexible way to control the vehicle's turning.

[0012] In combination with the first aspect and the above implementation methods, in some possible implementation methods, determining whether the vehicle meets the opening condition based on the first wheel rotation angle includes: determining that the vehicle meets the opening condition when the first wheel rotation angle is greater than a preset rotation angle; and determining that the vehicle does not meet the opening condition when the first wheel rotation angle is less than or equal to the preset rotation angle.

[0013] In the above technical solution, when determining whether the vehicle is turning, if the first wheel angle is greater than a preset angle, it indicates that the vehicle is turning, and the auxiliary steering control mode can be activated. Conversely, if the first wheel angle is less than or equal to the preset angle, it indicates that the vehicle is not turning, and no control is needed temporarily, so the auxiliary steering control mode can be deactivated. This process ensures that during the period when the steering wheel is extended, when the vehicle needs to turn, it provides the driver with an operable turning method, allowing the driver to maintain control of the vehicle and ensuring the safety of the vehicle and its occupants.

[0014] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, when the fault state of the steering wheel is used to indicate that the steering wheel is faulty, after controlling the vehicle to steer through the auxiliary steering control method, the method further includes: obtaining the vehicle's state parameters, which are used to indicate the vehicle's operating state; determining, based on the state parameters, whether the vehicle meets the closing conditions of the auxiliary steering control method; and closing the auxiliary steering control method when the vehicle meets the closing conditions.

[0015] In the above technical solution, the assisted steering control method is a temporary steering assistance method. In the event of a steering wheel malfunction, assisted steering control is not suitable as a long-term control method. When the steering wheel malfunctions, to ensure vehicle safety, the driver needs to use assisted steering control to move the vehicle to a safe area for repairs. In other words, in this situation, the driver's use of assisted steering control to steer the vehicle can be understood as using assisted steering control to stop the vehicle in a safe area. After this process, this application also needs to consider the vehicle's status parameters to determine if the vehicle is safely parked. When the status parameters indicate that the vehicle has stopped in the emergency lane, that is, when the vehicle meets the conditions for deactivating assisted steering control, the assisted steering control is deactivated. The above-mentioned method of deactivating assisted steering control based on status parameters ensures the accuracy and rationality of deactivating assisted steering control, guaranteeing vehicle driving safety.

[0016] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the state parameter includes the hazard warning light status, the parking switch status, and the gear position. Determining whether the vehicle meets the closing conditions of the auxiliary steering control method based on the state parameter includes: determining that the vehicle meets the closing conditions when the gear position is a preset gear, the parking switch is on, and the hazard warning light is on; and determining that the vehicle does not meet the closing conditions when the gear position is not the preset gear, or the parking switch is off, or the hazard warning light is off.

[0017] In the above technical solution, when determining whether the vehicle meets the conditions for deactivating the assisted steering control mode based on state parameters, the state parameters include the hazard warning light status, the parking switch status, and the gear position. If the gear is in a preset gear, the parking switch is on, and the hazard warning lights are on, the vehicle is determined to meet the deactivation conditions. Conversely, if at least one of the above conditions is not met, the vehicle is considered not to meet the deactivation conditions. This determination process ensures that when the assisted steering control mode is deactivated, the vehicle is stationary and the hazard warning lights are illuminated to alert other vehicles to driving safely.

[0018] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, after the vehicle is steered by the auxiliary steering control method when the first wheel angle is greater than a preset angle, the method further includes: when the steering wheel is deployed, acquiring the steering wheel angle and the second wheel angle; when the steering wheel angle and the second wheel angle meet a preset steering ratio, generating a first prompt message based on 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 based on 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 disabling the auxiliary steering control method.

[0019] In the above technical solution, after the steering wheel is deployed, this application also needs to align the steering wheel angle with the current second wheel angle. Alignment is indicated by the steering wheel angle and the second wheel angle meeting a preset steering ratio. First, when the steering wheel is deployed, the steering wheel angle and the second wheel angle are acquired. When the steering wheel angle and the second wheel angle meet the preset steering ratio, a first prompt message is generated to prompt the driver to manually operate the steering wheel. Conversely, 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, a second prompt message is generated based on the adjusted steering wheel angle and wheel angle to prompt the driver to manually operate the steering wheel. This process allows the steering wheel angle to be adjusted in a timely manner according to the vehicle's current turning state after the steering wheel is deployed, keeping the steering wheel angle synchronized with the current second wheel angle at a preset steering ratio, thus 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 turned off, ensuring the flexible activation and deactivation of the auxiliary steering control mode.

[0020] In combination with the first aspect and the above 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; in response to a control operation on the auxiliary steering control method, determining a target wheel angle based on the vehicle speed and control parameters corresponding to the control operation, wherein the control parameters are used to represent the changing state of the auxiliary steering control method during the control process; and controlling the vehicle to steer based on the target wheel angle.

[0021] In the above technical solution, when controlling vehicle steering through assisted steering control, the assisted steering control mode can first be activated. Upon receiving the driver's control operation for the assisted steering control mode, the target wheel angle can be determined by combining vehicle speed and control parameters to control vehicle steering. Control parameters represent the changing state of the assisted steering control mode during its control process. Vehicle speed reflects the vehicle's travel speed. The above method of determining the target wheel angle based on vehicle speed and control parameters allows for different target wheel angles depending on vehicle speed, even with the same control parameters. For example, when the vehicle speed is high, the variation range of the wheel angle can be appropriately increased, resulting in a slightly larger target wheel angle. Conversely, when the vehicle speed is low, the variation range of the wheel angle can be appropriately reduced, resulting in a smaller target wheel angle. This process ensures the correlation between the target wheel angle and vehicle speed, improving the accuracy of the target wheel angle determination.

[0022] In conjunction with the first aspect and the above-described implementations, in some possible implementations, the assisted steering control method includes any one of virtual buttons, a physical knob, a virtual steering wheel, and physical buttons. Activating the assisted 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, the control parameters include any one of a rotation angle, a sliding distance, and a number of clicks, the number of clicks including a first number of clicks and a second number of clicks. In response to the control operation of the assisted steering control method, the target wheel is determined based on the vehicle speed and the control parameters corresponding to the control operation. The turning angle includes any of the following: in response to a rotation operation of the physical knob, obtaining the rotation angle corresponding to the rotation operation; determining the target wheel turning angle based on the vehicle speed and the rotation angle; in the control interface of the virtual button, in response to a first click operation of the virtual button, obtaining the first click count corresponding to the first click operation; determining the target wheel turning angle based on the vehicle speed and the first click count; in the control interface of the virtual steering wheel, in response to a sliding operation of the virtual steering wheel, obtaining the sliding distance corresponding to the sliding operation; determining the target wheel turning angle based on the vehicle speed and the sliding distance; in response to a second click operation of the physical button, obtaining the second click count corresponding to the second click operation; determining the target wheel turning angle based on the vehicle speed and the second click count.

[0023] The above technical solutions propose several assisted steering control methods, including virtual buttons, physical knobs, virtual steering wheels, and physical buttons. The specific activation and control processes differ depending on the assisted steering control method.

[0024] When the assisted steering control method is virtual buttons, a virtual button control interface will be displayed, allowing the driver to click on virtual buttons to control vehicle steering. When the assisted steering control method is virtual steering wheel, a virtual steering wheel control interface will be displayed, allowing the driver to slide on the virtual steering wheel to control vehicle steering. When the assisted steering control method is physical knob, the physical knob can be activated, allowing the driver to rotate it to control vehicle steering. When the assisted steering control method is physical button, the physical button can be activated, allowing the driver to click on the physical button to control vehicle steering.

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

[0026] When determining the target wheel angle, the corresponding control operation can be any one of click operation, rotation operation, and sliding operation, and the control parameters can be any one of rotation angle, sliding distance, and number of clicks.

[0027] Specifically, when the control operation is a rotation operation, this 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, this application can determine the target wheel angle based on the number of first clicks and vehicle speed corresponding to the first click operation. When the control operation is a sliding operation on a virtual steering wheel, this 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, this application can determine the target wheel angle based on the number of second clicks and vehicle speed corresponding to the second click operation. The above process ensures that the target wheel angle under different control operations can be accurately determined by combining 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 steer-by-wire and autonomous driving functions, the steering wheel features flexible folding and unfolding capabilities. The autonomous driving function frees the driver's hands, enabling intelligent vehicle control. This application proposes a method for controlling vehicle steering when the autonomous driving function is activated and the steering wheel is folded. Specifically, if the autonomous driving function disengages for any reason while the steering wheel is folded, the vehicle can unfold the steering wheel to its initial state via an unfolding command to enable steering. During the steering wheel unfolding process, this application can determine whether the vehicle meets the activation conditions for the assisted steering control mode based on the steering wheel's fault status, or the steering wheel's fault status and the first wheel angle. If the conditions are met, the vehicle is steered using the assisted steering control mode. The steering wheel's fault status reflects whether a malfunction has occurred during unfolding, and the first wheel angle reflects whether the vehicle is turning. Therefore, by combining the steering wheel's fault status and the first wheel angle when the steering wheel is unfolded, the assisted steering control mode can be activated, ensuring a flexible, convenient, and quick steering method for the driver when the steering wheel's fault status indicates a malfunction and inability to unfold properly. On the other hand, it can also ensure that when the steering wheel malfunction status indicates that there is no problem with 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 determining whether to activate the assisted steering control mode, if the steering wheel malfunctions (meaning it cannot unfold normally), the assisted steering control mode can be activated to ensure the vehicle can complete the turning process even with a faulty steering wheel. If the steering wheel is functioning correctly, the turning angle of the first wheel can be used to determine if the vehicle is turning, thus deciding whether to activate the assisted steering control mode. This ensures that the time between the steering wheel's folding and unfolding provides the driver with a flexible way to control the vehicle's turning.

[0030] When determining whether the vehicle is turning, if the first wheel's turning angle is greater than a preset angle, it indicates the vehicle is turning, and the auxiliary steering control mode can be activated. Conversely, if the first wheel's turning angle is less than or equal to the preset angle, it indicates the vehicle is not turning, and no control is needed; therefore, the auxiliary steering control mode can be deactivated. This process ensures that during the period when the steering wheel is extended, the driver is provided with an operable turning method when the vehicle needs to turn, allowing the driver to maintain control of the vehicle and ensuring the safety of the vehicle and its occupants.

[0031] Assisted steering control is a temporary steering assistance method. It is not suitable as a long-term control method in the event of steering wheel failure. When the steering wheel fails, to ensure vehicle safety, the driver needs to use assisted steering control to move the vehicle to a safe area for repairs. In other words, in this situation, the driver's use of assisted steering control to steer the vehicle can be understood as using it to bring the vehicle to a safe stop. After this process, this application also needs to consider the vehicle's status parameters to determine if the vehicle has safely stopped. When the status parameters indicate that the vehicle has stopped in the emergency lane, meaning the vehicle meets the conditions for deactivating assisted steering control, the assisted steering control is deactivated. This method of deactivating assisted steering control based on status parameters ensures the accuracy and rationality of the deactivation, guaranteeing vehicle safety.

[0032] When determining whether a vehicle meets the conditions for deactivating the assisted steering control mode based on status parameters, these parameters include the status of the hazard warning lights, the parking switch, and the gear position. If the gear is in the preset position, the parking switch is on, and the hazard warning lights are on, the vehicle is considered to meet the deactivation conditions. Conversely, if at least one of these conditions is not met, the vehicle is considered not to meet the deactivation conditions. This determination process ensures that when the assisted steering control mode is deactivated, the vehicle is stationary and the hazard warning lights are illuminated to alert other vehicles to the need for safe driving.

[0033] After the steering wheel is deployed, this application also needs to align the steering wheel angle with the current second wheel angle. Alignment is indicated by the steering wheel angle and the second wheel angle meeting a preset steering ratio. First, when the steering wheel is deployed, the steering wheel angle and the second wheel angle are acquired. When the steering wheel angle and the second wheel angle meet the preset steering ratio, a first prompt message is generated to instruct the driver to manually operate the steering wheel. Conversely, 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, a second prompt message is generated based on the adjusted steering wheel angle and wheel angle to instruct the driver to manually operate the steering wheel. This process allows the steering wheel angle to be adjusted promptly based on the vehicle's current turning state after the steering wheel is deployed, keeping the steering wheel angle synchronized with the current second wheel angle at the preset steering ratio, thus 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 turned off, ensuring the flexible activation and deactivation of the auxiliary steering control mode.

[0034] When controlling vehicle steering using assisted steering control, the assisted steering control mode is first activated. Upon receiving the driver's control operation for assisted steering control, the target wheel angle is determined by combining vehicle speed and control parameters to control vehicle steering. Control parameters represent the changing state of the assisted steering control mode during its operation. Vehicle speed reflects the vehicle's travel speed. The above method of determining the target wheel angle based on vehicle speed and control parameters allows for different target wheel angles depending on vehicle speed, even with the same control parameters. For example, at higher vehicle speeds, the variation range of the wheel angle can be appropriately increased, resulting in a slightly larger target wheel angle. Conversely, at lower vehicle speeds, the variation range of the wheel angle can be appropriately decreased, resulting in a smaller target wheel angle. This process ensures the correlation between the target wheel angle and vehicle speed, improving the accuracy of the target wheel angle determination.

[0035] Specifically, this application proposes several assisted steering control methods, including virtual buttons, physical knobs, virtual steering wheels, and physical buttons. The specific activation and control processes differ depending on the assisted steering control method.

[0036] When the assisted steering control method is virtual buttons, a virtual button control interface will be displayed, allowing the driver to click on virtual buttons to control vehicle steering. When the assisted steering control method is virtual steering wheel, a virtual steering wheel control interface will be displayed, allowing the driver to slide on the virtual steering wheel to control vehicle steering. When the assisted steering control method is physical knob, the physical knob can be activated, allowing the driver to rotate it to control vehicle steering. When the assisted steering control method is physical button, the physical button can be activated, allowing the driver to click on the physical button to control vehicle steering.

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

[0038] When determining the target wheel angle, the corresponding control operation can be any one of click operation, rotation operation, and sliding operation, and the control parameters can be any one of rotation angle, sliding distance, and number of clicks.

[0039] Specifically, when the control operation is a rotation operation, this 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, this application can determine the target wheel angle based on the number of first clicks and vehicle speed corresponding to the first click operation. When the control operation is a sliding operation on a virtual steering wheel, this 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, this application can determine the target wheel angle based on the number of second clicks and vehicle speed corresponding to the second click operation. The above process ensures that the target wheel angle under different control operations can be accurately determined by combining 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] Secondly, a vehicle steering control device is provided, comprising: a sending module, configured to send an unfolding signal to a steering wheel controller in response to an exit command of the vehicle's autonomous driving function when the vehicle's steering wheel is folded, the exit signal indicating that the autonomous driving function has exited, and the unfolding command controlling the steering wheel to return to its initial state before folding; a judging module, configured to determine, during the unfolding process, whether the vehicle meets the activation conditions for an auxiliary steering control mode based on a fault state of the steering wheel, or based on the fault state and the first wheel angle of the vehicle, the fault state indicating whether the steering wheel is faulty, and the auxiliary steering control mode simulating a turning operation of the steering wheel; and a first control module, configured to control the vehicle to steer via the auxiliary steering control mode when the vehicle meets the activation conditions.

[0041] In conjunction with the second aspect, in some possible implementations, the judgment module is specifically used to: determine that the vehicle meets the opening condition when the steering wheel malfunction status indicates that the steering wheel is malfunctioning; and determine whether the vehicle meets the opening condition based on the first wheel rotation angle when the steering wheel malfunction status indicates that the steering wheel is not malfunctioning.

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

[0043] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, when the fault state of the steering wheel is used to indicate that the steering wheel is faulty, after the vehicle is steered by the auxiliary steering control method, the device further includes: a second control module, used to acquire the status parameters of the vehicle, the status parameters being used to indicate the operating state of the vehicle; based on the status parameters, determining whether the vehicle meets the closing conditions of the auxiliary steering control method; and if the vehicle meets the closing conditions, closing the auxiliary steering control method.

[0044] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the state parameter includes the hazard warning light status, the parking switch status, and the gear position. The second control module is specifically used to: determine that the vehicle meets the closing condition when the gear position is a preset gear, the parking switch status is on, and the hazard warning light status is on; and determine that the vehicle does not meet the closing condition when the gear position is not the preset gear, or the parking switch status is off, or the hazard warning light status is off.

[0045] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, after the vehicle is steered by the auxiliary steering control method when the first wheel angle is greater than a preset angle, the device further includes: a third control module, configured to: acquire the steering wheel angle and the second wheel angle when the steering wheel is deployed; generate a first prompt message based on the steering wheel angle and the second wheel angle when the steering wheel angle and the second wheel angle meet a 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 when the steering wheel angle and the second wheel angle do not meet the preset steering ratio; generate a second prompt message based on 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 deactivate the auxiliary steering control method.

[0046] In conjunction with the second aspect and the above 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 based on the vehicle speed and the control parameters corresponding to the control operation, wherein the control parameters are used to represent the changing state of the auxiliary steering control mode during the control process; and control the vehicle steering based on the target wheel angle.

[0047] In conjunction with the second aspect and the above-described implementations, in some possible implementations, the assisted steering control method includes any one of virtual buttons, physical knobs, virtual steering wheels, and physical buttons. The first control module is further configured to perform any one of the following: control the physical knob to turn on; display the control interface of the virtual button; display the control interface of the virtual steering wheel; control the physical button to turn on; and the control operation includes any one of click operation, rotation operation, and sliding operation, the control parameter includes any one of rotation angle, sliding distance, and 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 configured to perform any one of the following: responding to the rotation of the physical knob... The system performs a rotation operation, obtaining the rotation angle corresponding to the rotation operation; based on the vehicle speed and the rotation angle, it determines the target wheel rotation angle; in the control interface of the virtual button, in response to a first click operation on the virtual button, it obtains the first click count corresponding to the first click operation; based on the vehicle speed and the first click count, it determines the target wheel rotation angle; in the control interface of the virtual steering wheel, in response to a sliding operation on the virtual steering wheel, it obtains the sliding distance corresponding to the sliding operation; based on the vehicle speed and the sliding distance, it determines the target wheel rotation angle; in response to a second click operation on the physical button, it obtains the second click count corresponding to the second click operation; based on the vehicle speed and the second click count, it determines the target wheel rotation angle.

[0048] Thirdly, a vehicle is provided, including 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, causing the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0049] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0050] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

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

[0052] Figure 2 This is a schematic diagram of the structure of a steer-by-wire system provided in an embodiment of this application;

[0053] Figure 3 This is a schematic diagram of the structure of an autonomous driving system provided in an embodiment of this application;

[0054] Figure 4 This is a schematic flowchart of a vehicle steering control method provided in an embodiment of this application;

[0055] Figure 5 This is a schematic diagram illustrating a scenario where a steer-by-wire system acquires data, as provided in an embodiment of this application.

[0056] Figure 6 This is a schematic diagram of a scenario for activating an assisted steering control method according to an embodiment of this application;

[0057] Figure 7 This is a schematic flowchart of another vehicle steering control method provided in an embodiment of this application;

[0058] Figure 8 This is a schematic diagram of the structure of a vehicle steering control device provided in an embodiment of this application;

[0059] Figure 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0060] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0061] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting 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 that feature.

[0062] It should be understood that the methods of this application embodiment are mainly applied to vehicles equipped with steer-by-wire function (or steer-by-wire system) and autonomous driving function (autonomous driving system). Before introducing the methods of this application embodiment, the steer-by-wire system and the autonomous driving system will be introduced first.

[0063] Steering-by-Wire (SBW) systems, compared to traditional mechanical steering systems, eliminate the mechanical connection between the steering wheel and the steering wheels, completely freeing them from the limitations of mechanical components and using electric power to achieve steering.

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

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

[0066] Specifically, in a steering-by-wire system, the driver's maneuvers are converted into electrical signals by corresponding sensors. These signals are then analyzed and processed to obtain corresponding control commands, which are transmitted directly to the actuator (the steering module) via wires.

[0067] Figure 2 This is a schematic diagram of the structure of a steer-by-wire system provided in an embodiment of this application.

[0068] For example, such as 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 supply 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, while the other modules are auxiliary parts.

[0069] The steering wheel module 201 is the input module for steering intention, including the steering wheel, a corresponding steering angle sensor (or angular sensor), a torque sensor, and a return torque motor. The steering wheel module 201 measures the steering wheel angle and torque, converts the driver's steering intention into an electrical signal, and transmits it to the steer-by-wire controller 202. Furthermore, the steering wheel module 201 can also receive torque signals from the steer-by-wire controller 202, generating a return torque for the steering wheel to provide the driver with corresponding road feel.

[0070] The steer-by-wire controller 202 is the core of the steer-by-wire system 200, and it determines the control effect of the steer-by-wire system. The main function of the steer-by-wire controller 202 is to analyze and process various signals, determine the steering intention and the vehicle's operating status, and output corresponding control commands.

[0071] The fault handling module 203 contains a series of monitoring and response procedures. When the steer-by-wire system 200 malfunctions, the fault handling module 203 takes corresponding measures according to the pre-set procedures to avoid or mitigate the harm caused to the vehicle and ensure vehicle safety.

[0072] The power module 204 serves as a power supply facility, primarily 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 intentions. It consists of a steering execution motor, a steering execution motor controller, wheel steering components, and wheel-specific angle sensors. The steering execution module 205 receives instructions from the steer-by-wire controller 202 and controls the rotation of the wheels through the steering execution motor and steering execution motor controller to achieve steering.

[0074] Furthermore, for vehicles equipped with steer-by-wire systems, drivers can choose whether to fold the steering wheel based on their driving needs. For example, if a driver needs to conduct business while driving, they can fold the steering wheel after parking to gain more usable space.

[0075] After introducing the basic knowledge related to steer-by-wire, the following section introduces the basic knowledge related to autonomous driving functions.

[0076] It should be understood that autonomous driving function, also known as intelligent driving function, refers to the functionality achieved by an autonomous driving system. Autonomous driving means that a vehicle, equipped with advanced sensors, autonomous driving controllers, and actuators, assists the driver in controlling the vehicle, or even completely replaces the driver to achieve driverless operation.

[0077] For vehicles equipped with autonomous driving systems, the architecture and function of these systems can be specifically described as follows: Figure 3 Let me introduce it.

[0078] Figure 3 This is a schematic diagram of the structure of an autonomous driving system provided in an embodiment of this application.

[0079] For example, such as Figure 3 As shown, the vehicle 300 is equipped with an autonomous driving system 301. The hardware structure of the autonomous driving system 301 mainly includes sensors 3011, an autonomous driving controller 3012, and actuators 3013.

[0080] Sensor 3011 is also known as the perception part of the autonomous driving system 301. Sensor 3011 is responsible for collecting various driving parameters (such as positioning information), environmental information around the vehicle 300, and attributes of the occupants in the vehicle 300 during the driving process.

[0081] Based on the different functions of the aforementioned sensor 3011, the sensor 3011 can be further divided into motion sensors, environmental perception sensors, and driver monitoring sensors.

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

[0083] Environmental perception sensors include ultrasonic sensors, external cameras, millimeter-wave radar, and lidar. Different environmental perception sensors are mainly responsible for collecting environmental information around the vehicle 300, such as monitoring the distances between the vehicle 300 and the vehicles in front, behind, and obstacles, as well as environmental images around the vehicle 300 (such as road images, obstacle images, etc.).

[0084] The driver monitoring sensors include in-vehicle cameras. Optionally, the in-vehicle cameras include cameras in the Driver Monitor System (DMS) and cameras in the Occupancy Monitoring System (OMS), which can respectively capture facial images of the driver and passengers in the vehicle 300.

[0085] The aforementioned sensor 3011 can send all the collected data to the autonomous driving controller 3012, so that the autonomous driving controller 3012 can analyze and process the data.

[0086] When the autonomous driving controller 3012 processes the data and needs to control the vehicle 300, it can do so through the corresponding actuator 3013.

[0087] Optionally, the actuator 3013 may vary depending on the control scenario and requirements, and may include braking components, steering components, engine components, gearbox components, voice control components, display components, etc.

[0088] Furthermore, the autonomous driving system 301 can also communicate with other ECUs in the vehicle 300 via the CAN bus and the autonomous driving controller 3012. For example, combined with Figure 2The automatic driving controller 3012 can send the status of the automatic driving function (e.g., whether it is on or off) to the steer-by-wire controller 202.

[0089] After introducing the steer-by-wire and autonomous driving functions involved in the embodiments of this application, the vehicle enters an intelligent driving process after the driver activates the autonomous driving function. To provide the driver with ample space, the vehicle can also control the steering wheel to fold after the autonomous driving function is activated. If the autonomous driving function malfunctions while the vehicle is in motion after the steering wheel is folded, the driver needs to manually control the vehicle. To achieve manual control, the vehicle first needs to return the steering wheel to its initial position so that the driver can operate the vehicle via the steering wheel.

[0090] Several unexpected situations may arise during the steering wheel unfolding process. The first is a sudden steering wheel malfunction, preventing it from unfolding properly. The second is when the vehicle is turning. Because the steering wheel angle and wheel angle need to maintain a certain proportional relationship, after the steering wheel unfolds, it's necessary to align the steering wheel angle with the wheel angle. This process takes time, preventing the driver from immediately controlling the vehicle through the steering wheel.

[0091] To address the aforementioned issues, this application provides a vehicle steering control method. This method enables the vehicle to complete steering by means of auxiliary steering control methods other than the steering wheel, in vehicles equipped with steer-by-wire and autonomous driving functions, when the autonomous driving function disengages for any reason and the steering wheel is retracted during use, thereby ensuring vehicle safety.

[0092] The following describes a vehicle steering control method provided by an embodiment of this application.

[0093] Figure 4 This is a schematic flowchart illustrating a vehicle steering control method provided in an embodiment of this application. It should be understood that this method can be applied to... Figure 2 The steer-by-wire system 200 shown is specifically applied to Figure 2 The steer-by-wire controller 202 in the middle.

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

[0095] 401. When the vehicle's steering wheel is folded, in response to the vehicle's automatic driving function exit signal, a release command is sent to the steering wheel controller. The exit signal indicates that the automatic driving function has exited, and the release command is used to control the steering wheel to return to its initial state before it was folded.

[0096] It should be understood that for vehicles equipped with steer-by-wire and autonomous driving functions, on the one hand, the steer-by-wire function allows the steering wheel to fold and unfold flexibly. On the other hand, the autonomous driving function provides the driver with an intelligent way to control the vehicle, freeing the driver's hands.

[0097] Based on the advantages of both the steer-by-wire function and the automatic driving function, the driver can activate the automatic driving function in the vehicle to enable the vehicle to move forward intelligently and control the steering wheel to fold, thereby obtaining more spacious interior space.

[0098] Optionally, the autonomous driving function can be activated by any one of the following methods: tap operation, gesture adjustment operation, rotation operation, and voice command.

[0099] For example, when a virtual switch (e.g., a virtual button) for autonomous driving function is displayed on the vehicle's display device, the driver can select the virtual switch by clicking it to activate the autonomous driving function.

[0100] Another example is when a vehicle is equipped with a physical switch (such as a physical button) for autonomous driving functions, the driver can select the physical switch by clicking to activate the autonomous driving function.

[0101] Another example is that when the vehicle has pre-stored gesture control operations corresponding to activating the autonomous driving function, the driver can control the autonomous driving function to be activated by making the gesture control operation.

[0102] Another example is that the driver can also directly activate the autonomous driving function via voice command, such as "activate the autonomous driving function". The autonomous driving controller responds to the voice command and controls the autonomous driving function to be activated.

[0103] Another example is when the driver's terminal device has the corresponding vehicle application control software installed. The driver can click to control the terminal device to display the configuration interface of the autonomous driving function in the display area. In this configuration interface, the driver can click to select the virtual switch of the autonomous driving function and control the autonomous driving function to be turned on.

[0104] After the autonomous driving function is activated, in order to provide the driver with a more spacious driving position, the driver can also control the steering wheel to fold using the steering wheel folding switch in the vehicle.

[0105] The activation of the aforementioned autonomous driving function and the folding of the steering wheel are prerequisites for the application of the vehicle steering control method provided in this application embodiment.

[0106] When the autonomous driving function is activated and the steering wheel is folded, if the autonomous driving function malfunctions, is accidentally triggered, or the driver actively deactivates the autonomous driving function to take over the vehicle, the autonomous driving function will disengage and its status will switch from activated to deactivated.

[0107] When the aforementioned autonomous driving function is disengaged, the steer-by-wire controller obtains the deactivation status of the autonomous driving function, i.e., the disengagement signal, from the autonomous driving controller. In response to this disengagement signal, the steer-by-wire controller needs to release the steering wheel, allowing the driver to manually drive the vehicle.

[0108] Specifically, the steer-by-wire controller can communicate with the steering wheel controller in the vehicle (i.e., Figure 2 The steering wheel module 201 sends an unfolding command to the steering wheel controller, which then controls the steering wheel unfolding switch to open, thereby switching the steering wheel from the folded state to the unfolded state. The unfolded state is the initial state of the steering wheel before it is folded.

[0109] 402. During the steering wheel deployment process, based on the steering wheel's fault status, or based on the fault status and the vehicle's first wheel angle, determine whether the vehicle meets the activation conditions for the auxiliary steering control mode. The fault status is used to indicate whether the steering wheel has a fault, and the auxiliary steering control mode is used to simulate the rotation operation of the steering wheel.

[0110] During the unfolding of the steering wheel, several situations may occur, such as a sudden malfunction or jamming that prevents it from unfolding properly. Another example is if the vehicle needs to turn during this process; the driver must turn the steering wheel to achieve the turn, but the steering wheel takes time to unfold from its folded state.

[0111] In light of the two possible scenarios during the steering wheel deployment process described above, this application provides an auxiliary steering control method other than the steering wheel itself. This method allows the driver to control the vehicle's steering while the steering wheel is deployed. By operating the auxiliary steering control method, the driver can achieve the functions that the steering wheel can perform.

[0112] Specifically, during the steering wheel deployment process, the steer-by-wire controller can detect the steering wheel's fault status and the vehicle's first wheel angle to determine whether the assisted steering control mode needs to be activated.

[0113] Specifically, the fault status and the first wheel steering angle are collected at any point during the steering wheel deployment process, determining whether to activate the auxiliary steering control mode. The steering wheel fault status indicates whether a fault exists in the steering wheel during deployment.

[0114] Figure 5 This is a schematic diagram of a scenario where a steer-by-wire system acquires data, as provided in an embodiment of this application.

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

[0116] In this embodiment, the first wheel angle specifically refers to the 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; therefore, the wheel angle in this embodiment refers to the left front wheel angle. Specifically, in this embodiment, the first wheel angle refers to the first left front wheel angle.

[0117] The steer-by-wire controller 202 can be specifically accessed through... Figure 5 The wheel angle sensor 505 corresponding to the left front wheel in the image obtains the first left front wheel angle.

[0118] After obtaining the first wheel angle and the steering wheel fault status, the steer-by-wire controller can determine whether the vehicle meets the assisted steering control mode based on the steering wheel fault status, or based on the steering wheel fault status and the first wheel angle.

[0119] In one possible implementation, the determination of whether the vehicle meets the activation conditions for the assisted steering control mode is based on the steering wheel malfunction status, or based on the malfunction status and the first wheel steering angle, including:

[0120] When the steering wheel malfunction status indicates that there is a malfunction in the steering wheel, determine that the vehicle meets the opening conditions;

[0121] When the steering wheel malfunction status indicates that the steering wheel is not faulty, the vehicle's opening conditions are determined based on the first wheel's turning angle.

[0122] It should be understood that when the steering wheel malfunctions (e.g., becomes stuck), the steering wheel controller can generate a fault signal and send it to the steer-by-wire controller. When the steering wheel is functioning normally, the steering wheel controller can generate a normal signal and send it to the steer-by-wire controller. Both of these signals can be interpreted as signals corresponding to a steering wheel malfunction.

[0123] For example, when the steer-by-wire controller receives a fault signal, it can be determined that there is a fault in the steering wheel. In this case, it is determined that the assisted steering control mode needs to be activated.

[0124] For example, when the fault status signal received by the steer-by-wire 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 it needs to turn, the steer-by-wire controller also needs to determine whether the vehicle is turning during the steering wheel unfolding process, in combination with the first wheel turning angle, so as to determine whether to activate the assisted steering control mode.

[0125] In the above technical solution, when determining whether to activate the assisted steering control mode, if the steering wheel malfunctions, it indicates that the steering wheel cannot unfold normally, and the assisted steering control mode can be activated. This ensures that even when the steering wheel is faulty, the vehicle can still complete the turning process through assisted steering control. When the steering wheel is not faulty, the turning angle of the first wheel can be used to determine whether the vehicle is turning, thus determining whether to activate the assisted steering control mode. This ensures that the time from steering wheel retraction to unfolding provides the driver with a flexible way to control the vehicle's turning.

[0126] Specifically, in the case of a steering wheel malfunction status indicating that the steering wheel is not faulty, the vehicle's opening conditions are determined based on the first wheel's turning angle, including:

[0127] If the first wheel angle is greater than the preset angle, it is determined that the vehicle meets the opening conditions;

[0128] If the first wheel's turning angle is less than or equal to a preset turning angle, it is determined that the vehicle does not meet the opening conditions.

[0129] Optionally, the preset turning angle can be a critical wheel turning angle that indicates the vehicle is in a straight-line state, which is 0° in this embodiment.

[0130] It should be understood that the first wheel angle here specifically refers to the numerical value of the wheel angle, excluding the direction of the angle. For example, taking the driver's seat position as a reference, the angle of the wheel turning to the left is positive, and the angle of turning to the right is negative. Correspondingly, -50° and +50° in this embodiment of the application both correspond to a first wheel angle of 50°.

[0131] For example, when the first wheel turns at 50°, which is greater than the preset turning angle of 0°, it means that the vehicle is turning. In this case, the auxiliary steering control mode needs to be activated so that the driver can control the vehicle to complete the vehicle control process.

[0132] For example, when the first wheel turns at 0°, which is equal to the preset turning angle of 0°, it means that the vehicle is in a straight-line state. In this case, the auxiliary steering control mode can be temporarily not activated.

[0133] In the above technical solution, when determining whether the vehicle is turning, if the first wheel angle is greater than a preset angle, it indicates that the vehicle is turning, and the auxiliary steering control mode can be activated. Conversely, if the first wheel angle is less than or equal to the preset angle, it indicates that the vehicle is not turning, and no control is needed temporarily, so the auxiliary steering control mode can be deactivated. This process ensures that during the period when the steering wheel is extended, when the vehicle needs to turn, it provides the driver with an operable turning method, allowing the driver to maintain control of the vehicle and ensuring the safety of the vehicle and its occupants.

[0134] 403. When the vehicle meets the activation conditions, the vehicle is steered by means of auxiliary steering control.

[0135] When the steer-by-wire controller determines in step 402 that the vehicle meets the activation conditions, it can control the vehicle to steer through the auxiliary steering control method.

[0136] Specifically, when controlling the vehicle's steering using the assisted steering control method, the assisted steering control method can be activated first, and then the target wheel angle can be obtained based on the assisted steering control method, so that the vehicle's wheels can steer according to the target wheel angle.

[0137] One possible implementation involves controlling vehicle steering through assisted steering control, specifically including:

[0138] Activate the assisted steering control mode;

[0139] In response to the control operation of the assisted steering control mode, the target wheel angle is determined based on the vehicle speed and the control parameters corresponding to the control operation. The control parameters are used to represent the changing state of the assisted steering control mode during the control process.

[0140] Control the vehicle's steering based on the target wheel angle.

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

[0142] The activation methods for different steering assist control methods also vary.

[0143] Specifically, activating the assisted steering control mode includes any of the following:

[0144] Control the physical knob to turn on;

[0145] The control interface displays virtual buttons;

[0146] The control interface for displaying the virtual steering wheel;

[0147] Control the physical button to turn it on.

[0148] Figure 6 This is a schematic diagram of a scenario for activating an assisted steering control method according to an embodiment of this application.

[0149] For example, such as Figure 6 As shown, combined with Figure 5 . Figure 6 Image (a) is a schematic diagram of a scenario for activating a virtual steering wheel according to an embodiment of this application. The steer-by-wire controller 202 can display the control interface of the virtual steering wheel on the display area of ​​the display device via the multimedia control module 506. Figure 6 As shown in (a), the control interface of the virtual steering wheel also includes a rotation angle display area, which can display the wheel rotation angle in real time during the process of controlling the vehicle's steering.

[0150] Another example, Figure 6 (b) in this embodiment is a schematic diagram of a scenario for activating virtual buttons according to an embodiment of this application. In addition to controlling the display device to show the control interface of the virtual steering wheel, the steer-by-wire controller 202 can also control the display device to show the control interface of the virtual buttons in the display area via the multimedia control module 506. For example... Figure 6 As shown in (b), the virtual button control interface displays a "left" control, a "right" control, a "reset" control, and a rotation angle display area.

[0151] The "Left" control controls the vehicle's wheels to turn left, the "Right" control controls the wheels to turn right, and the "Reset" control restores the wheel rotation angle to 0°. The rotation angle display area shows the wheel rotation angle in real time.

[0152] Another example, Figure 6 (c) in this application is a schematic diagram of a scenario for activating a physical knob according to an embodiment of the present application. Besides the virtual control method, when a vehicle is equipped with a physical knob corresponding to wheel steering, the steer-by-wire controller 202 can control the physical knob to open via a physical knob switch after the opening conditions are met. After the physical knob is opened, the indicator light corresponding to the physical knob can automatically light up to indicate that the physical knob is in the open state. In this way, the display area of ​​the display device can also include a rotation angle display area to display the wheel rotation angle in real time.

[0153] Another example, Figure 6(d) in the diagram is a schematic diagram of a scenario for activating a physical button according to an embodiment of this application. When a vehicle is equipped with a physical button corresponding to wheel steering, after the activation conditions are met, the steer-by-wire controller 202 can control the physical button to be activated via a physical button switch (e.g., ...). Figure 6 (d) refers to the left-click button, right-click button, and reset button. After a physical button is activated, its corresponding indicator light will automatically illuminate to indicate that the physical button is active. In this mode, the display area of ​​the device can also include a rotation angle display area to show the wheel's rotation angle in real time.

[0154] Combining the activation processes of the above-described auxiliary steering control methods, 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 specific scenario, the assisted steering control mode may be activated if the steering wheel malfunctions and cannot be deployed during the steering wheel unfolding process. In this embodiment, to ensure vehicle safety, the provided assisted steering control mode can be considered a temporary control mode used to enable the driver to move the vehicle to a safe area (such as an emergency lane, roadside, etc.).

[0156] Therefore, while activating the assisted steering control mode, the steer-by-wire controller can also control the multimedia control module to display a prompt message on the display area of ​​the display device, prompting the driver to use the assisted steering control mode to turn the vehicle and park it in a safe area. The prompt message might be something like, "The steering wheel is currently malfunctioning; please use the assisted steering control mode to park the vehicle in a safe area."

[0157] It should also be understood that, based on the different assisted steering control methods provided in the embodiments of this application, the control operations corresponding to different control methods are different when specifically determining the target wheel turning angle. Specifically, the control operations corresponding to virtual buttons and physical buttons are click operations, 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 operations are used to represent the changing state of the assisted 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 vehicle speed may fluctuate during operation. Generally, at lower speeds, the turning radius tends to be slower during cornering, meaning the wheel angle changes less noticeably. Conversely, at higher speeds, the turning radius tends to be larger, meaning the wheel angle changes more rapidly. Therefore, to ensure that the turning radius keeps pace with speed changes when using assisted steering control, both control parameters and vehicle speed must be considered when determining the target wheel angle.

[0159] In one possible implementation, different auxiliary steering control methods are combined. In response to the control operation of the auxiliary steering control method, the target wheel steering angle is determined based on the vehicle speed and the control parameters corresponding to the control operation, specifically including any of the following:

[0160] In response to the rotation operation of the physical knob, the rotation angle corresponding to the rotation operation is obtained; the target wheel rotation angle is determined based on the vehicle speed and the rotation angle.

[0161] In the virtual button control interface, in response to the first click operation of the virtual button, the number of clicks corresponding to the first click operation is obtained; based on the vehicle speed and the number of clicks, the target wheel angle is determined.

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

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

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

[0165] For example, when the assisted steering control method is a physical knob, the corresponding control operation is a rotation operation, and the corresponding control parameter is the rotation angle. During the driver's rotation of the physical knob, the steer-by-wire controller can obtain the corresponding rotation angle through the angle sensor within the physical knob.

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

[0167] After obtaining the rotation angle, the steer-by-wire controller can determine the current vehicle speed range based on the vehicle speed. It then determines the ratio between the rotation angle and the target wheel angle within that speed range, and uses this ratio to obtain the target wheel angle.

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

[0169] As another example, when the assisted steering control method is a virtual button, the corresponding control operation is a click operation, and the corresponding control parameter is the first click count. During the driver's click of the virtual button, the steer-by-wire controller can obtain the first click count through the counter corresponding to that virtual button in the multimedia control module.

[0170] Similar to physical knobs, technicians can pre-configure the correspondence between the number of first clicks and the target wheel angle for different vehicle speed ranges. For example, when the vehicle speed is between 0 and 20 km / h, the correspondence between the number of first clicks and the target wheel angle can be set to 10 clicks for a target wheel angle of 1°; when the vehicle speed is between 20 and 60 km / h, the correspondence can be set to 5 clicks for a target wheel angle of 1°, and so on.

[0171] After receiving the first click count, the steer-by-wire controller can determine the current vehicle speed range based on the vehicle speed. It then establishes the correspondence between the first click count and the target wheel angle within that speed range, and uses this correspondence to obtain the target wheel angle.

[0172] Assuming the current vehicle speed is 40 km / h, the steer-by-wire controller can determine the correspondence between the first click count and the target wheel angle as follows: 5 clicks correspond to a target wheel angle of 1°. If the steer-by-wire controller obtains 20 clicks for the first time, it can determine the target wheel angle as 4°.

[0173] As another example, when the assisted steering control method is a virtual steering wheel, the corresponding control operation is a sliding operation, and the corresponding control parameter is the sliding distance. During the driver's sliding of the virtual steering wheel, the steer-by-wire controller can obtain the coordinates of the initial and final positions of the finger on the display area through the touch event listener in the multimedia control module, and process these two coordinates to obtain the sliding distance of the finger on the virtual steering wheel.

[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 rotation angle at different vehicle speed ranges.

[0175] Optionally, in this embodiment, the sliding distance can be either an arc length or a straight line distance, and this embodiment does not limit it.

[0176] For example, assuming the sliding distance is a straight line distance, technicians can configure the virtual steering wheel to rotate at an angle of 20° when the sliding distance is 10cm.

[0177] Furthermore, when configuring the correspondence between the virtual steering wheel rotation angle and the target wheel rotation angle under different vehicle speed ranges, for example, when the vehicle speed is between 0 and 20 km / h, the ratio between the virtual steering wheel rotation angle and the target wheel rotation angle can be set to 10:1; when the vehicle speed is between 20 and 60 km / h, the ratio between the virtual steering wheel rotation angle and the target wheel rotation 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 based on the correspondence between the sliding distance and the virtual steering wheel rotation angle. Furthermore, by combining the current vehicle speed, it determines the corresponding speed range, identifies the corresponding ratio between the virtual steering wheel rotation angle and the target wheel rotation angle within that speed range, and obtains the target wheel rotation angle based on the virtual steering wheel rotation angle and this ratio.

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

[0180] As another example, when the assisted steering control method is a physical button, the corresponding control operation is a click operation, and the corresponding control parameter is the second click count. During the driver's click of the physical button, the steer-by-wire controller can obtain the second click count through the counter corresponding to the physical button.

[0181] Similar to virtual buttons, technicians can pre-configure the correspondence between the number of second clicks and the target wheel angle for different vehicle speed ranges. For example, when the vehicle speed is between 0 and 20 km / h, the correspondence between the number of second clicks and the target wheel angle can be set to 10 clicks for a target wheel angle of 1°; when the vehicle speed is between 20 and 60 km / h, the correspondence can be set to 5 clicks for a target wheel angle of 1°, and so on.

[0182] After obtaining the second click count, the steer-by-wire controller can determine the current vehicle speed range based on the vehicle speed, identify the correspondence between the second click count and the target wheel angle within that speed range, and obtain the target wheel angle based on the second click count and this correspondence.

[0183] For example, assuming the current vehicle speed is 40km / h, the steer-by-wire controller can determine the correspondence between the number of second clicks and the target wheel angle as follows: if the number of second clicks is 5, the target wheel angle is 1°. If the number of second clicks obtained by the steer-by-wire controller is 40, then the target wheel angle can be determined to be 8°.

[0184] In the above technical solution, when controlling vehicle steering through assisted steering control, the assisted steering control mode can first be activated. Upon receiving the driver's control operation for the assisted steering control mode, the target wheel angle can be determined by combining vehicle speed and control parameters to control vehicle steering. Control parameters represent the changing state of the assisted steering control mode during its control process. Vehicle speed reflects the vehicle's travel speed. The above method of determining the target wheel angle based on vehicle speed and control parameters allows for different target wheel angles depending on vehicle speed, even with the same control parameters. For example, when the vehicle speed is high, the variation range of the wheel angle can be appropriately increased, resulting in a slightly larger target wheel angle. Conversely, when the vehicle speed is low, the variation range of the wheel angle can be appropriately reduced, resulting in a smaller target wheel angle. This process ensures the correlation between the target wheel angle and vehicle speed, improving the accuracy of the target wheel angle determination.

[0185] Several steering assist control methods are specifically proposed, including virtual buttons, physical knobs, virtual steering wheels, and physical buttons. The specific activation and control processes differ depending on the chosen steering assist control method.

[0186] When the assisted steering control method is virtual buttons, a virtual button control interface will be displayed, allowing the driver to click on virtual buttons to control vehicle steering. When the assisted steering control method is virtual steering wheel, a virtual steering wheel control interface will be displayed, allowing the driver to slide on the virtual steering wheel to control vehicle steering. When the assisted steering control method is physical knob, the physical knob can be activated, allowing the driver to rotate it to control vehicle steering. When the assisted steering control method is physical button, the physical button can be activated, allowing the driver to click on the physical button to control vehicle steering.

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

[0188] When determining the target wheel angle, the corresponding control operation can be any one of click operation, rotation operation, and sliding operation, and the control parameters can be any one of rotation angle, sliding distance, and number of clicks.

[0189] Specifically, when the control operation is a rotation operation, this 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, this application can determine the target wheel angle based on the number of first clicks and vehicle speed corresponding to the first click operation. When the control operation is a sliding operation on a virtual steering wheel, this 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, this application can determine the target wheel angle based on the number of second clicks and vehicle speed corresponding to the second click operation. The above process ensures that the target wheel angle under different control operations can be accurately determined by combining 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 a turn by using auxiliary steering control methods other than the steering wheel while the steering wheel is extended.

[0192] It should be understood that in the above description, the assisted steering control mode is activated if the steering wheel malfunctions and cannot be deployed. The assisted steering control mode is used to allow the driver to move the vehicle to a safe area (such as the 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 one possible implementation, when the steering wheel malfunction status indicates a steering wheel failure, after controlling the vehicle to steer via assisted steering control, the following additional steps are included:

[0195] Obtain the vehicle's status parameters, which are used to represent the vehicle's operating status;

[0196] Based on the status parameters, determine whether the vehicle meets the conditions for disabling the assisted steering control mode;

[0197] When the vehicle meets the conditions for deactivation, the auxiliary steering control mode is deactivated.

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

[0199] Hazard warning lights are signal lights used to alert pedestrians and other vehicles when the vehicle is in a special situation. By combining the status of the hazard warning lights, the steer-by-wire controller can determine whether the vehicle is temporarily stopped. The status and position of the parking switch indicate whether the vehicle is currently parked. Therefore, based on these three status parameters, the steer-by-wire controller can determine whether the vehicle has stopped in a safe area.

[0200] For example, such as Figure 5 As shown, the steer-by-wire controller 202 can... Figure 5 The turn signal acquisition module 503 acquires the status of the hazard warning lights. The hazard warning light status includes "on" and "off." When the hazard warning lights are on, the driver can manually activate them according to actual driving needs. For example, in the event of a traffic accident, to promptly warn vehicles behind, the driver can manually activate the hazard warning lights. Alternatively, when the vehicle needs to be moved temporarily, the driver can manually activate the hazard warning lights. The hazard warning light switch can be a physical switch or a virtual switch. Furthermore, the driver can also activate or deactivate the hazard warning lights via voice control, such as by saying "turn on hazard warning lights" or "turn off hazard warning lights."

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

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

[0203] Regarding gear selection, the steer-by-wire controller 202 can... Figure 5 The gear position data is acquired by the gear position acquisition module 502. Specifically, the gear position acquisition module 502 can be the gear position controller in the vehicle.

[0204] After acquiring the three status parameters mentioned above, the steer-by-wire controller can determine whether the vehicle has stopped in a safe area. If yes, it means the driver no longer needs to control the vehicle through the assisted steering control method, and the steer-by-wire controller can then deactivate the assisted steering control method.

[0205] In the above technical solution, the assisted steering control method is a temporary steering assistance method. In the event of a steering wheel malfunction, assisted steering control is not suitable as a long-term control method. When the steering wheel malfunctions, to ensure vehicle safety, the driver needs to use assisted steering control to move the vehicle to a safe area for repairs. In other words, in this situation, the driver's use of assisted steering control to steer the vehicle can be understood as using assisted steering control to stop the vehicle in a safe area. After this process, this application also needs to consider the vehicle's status parameters to determine if the vehicle is safely parked. When the status parameters indicate that the vehicle has stopped in the emergency lane, that is, when the vehicle meets the conditions for deactivating assisted steering control, the assisted steering control is deactivated. The above-mentioned method of deactivating assisted steering control based on status parameters ensures the accuracy and rationality of deactivating assisted steering control, guaranteeing vehicle driving safety.

[0206] One possible implementation, specifically when determining whether the vehicle meets the deactivation conditions for the assisted steering control mode based on state parameters, includes:

[0207] When the gear is the preset gear, the parking switch is on, and the hazard warning lights are on, determine that the status parameters meet the closing conditions;

[0208] If the gear is not the preset gear, or the parking switch is closed, or the hazard warning light is closed, it is determined that the status parameter does not meet the closing condition.

[0209] Optionally, the default gear is Parking (P).

[0210] The vehicle is in park when the gear is in Park (P) and the parking switch is on. The hazard warning lights are on to alert other vehicles. In this situation, the steer-by-wire controller 202 determines that the vehicle meets the conditions for disabling the assisted steering control mode.

[0211] When disabling the assisted steering control mode, the process of disabling the assisted steering control mode varies slightly depending on the different assisted steering control modes provided in the embodiments of this application.

[0212] For example, when the assisted steering control method is virtual buttons, the activation method is to display the virtual button control interface. When turned off, the display device can be controlled to exit the virtual button control interface.

[0213] As another example, when the power steering assist control method is a physical knob, the activation method is to control the physical knob to turn on. When turned off, the physical knob can be turned off and its indicator light can be turned off.

[0214] As another example, when the assisted steering control mode is a virtual steering wheel, the activation mode is to display the virtual steering wheel control interface. When turned off, the display device can be controlled to exit the virtual steering wheel control interface.

[0215] Another example is when the power steering assist control method is a physical button, the activation method is to control the physical button to turn on. When turning off, the physical button and its indicator light can be turned off.

[0216] Conversely, if the gear is not in P, the parking switch is off, or the hazard warning lights are off, the conditions for safe parking of the vehicle are not met. In this case, the steer-by-wire controller will determine that the vehicle does not meet the closing conditions.

[0217] Correspondingly, if the closing conditions are not met, the steer-by-wire controller can generate corresponding prompts based on the current status parameters to remind the driver to adjust the current status parameters to ensure that the vehicle is parked in a safe area and to avoid interfering with the driving of other vehicles.

[0218] In the above technical solution, when determining whether the vehicle meets the conditions for deactivating the assisted steering control mode based on state parameters, the state parameters include the hazard warning light status, the parking switch status, and the gear position. If the gear is in a preset gear, the parking switch is on, and the hazard warning lights are on, the vehicle is determined to meet the deactivation conditions. Conversely, if at least one of the above conditions is not met, the vehicle is considered not to meet the deactivation conditions. This determination process ensures that when the assisted steering control mode is deactivated, the vehicle is stationary and the hazard warning lights are illuminated to alert other vehicles to driving safely.

[0219] It should be understood that when the steering wheel is extended, if the assisted steering control is activated because the vehicle is turning, the steering wheel angle is generally at its initial angle (0°). Therefore, it is necessary to align the steering wheel angle with the vehicle's current wheel angle to ensure safe driving. Alignment essentially means ensuring that the steering wheel angle and wheel angle meet a preset steering ratio. After alignment, the steer-by-wire controller can remind the driver that the vehicle can be controlled via the steering wheel, and correspondingly deactivate the assisted steering control.

[0220] In one possible implementation, after steering the vehicle using an assisted steering control method when the first wheel angle is greater than a preset wheel angle, the method further includes:

[0221] With the steering wheel extended, obtain the steering wheel angle and the second wheel angle;

[0222] When the steering wheel angle and the second wheel angle meet the preset steering ratio, a first prompt message is generated based on the state of the steering wheel, the steering wheel angle, and the second wheel angle.

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

[0224] Turn off the auxiliary steering control mode.

[0225] For example, when the steering wheel is unfolded, the steer-by-wire controller can acquire the current steering wheel angle (typically 0°) via the steering angle sensor corresponding to the steering wheel. The steer-by-wire controller can also acquire the current second wheel angle via the steering angle sensor corresponding to the left front wheel.

[0226] When the steering wheel angle and the second wheel angle do not meet the preset steering ratio, the steer-by-wire controller can adjust the steering wheel angle so that the adjusted steering wheel angle and the second wheel angle meet 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] Formula (1) for β = k*θ

[0229] In formula (1):

[0230] β: Second wheel turning angle, unit: degrees (°);

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

[0232] θ: Steering wheel angle, unit: degrees (°).

[0233] It should be understood that, under normal circumstances, the alignment process of the steering wheel is very short, and the change in wheel angle during the alignment process is negligible.

[0234] Specifically, during the steering wheel adjustment process, the steer-by-wire controller first obtains the target steering wheel angle (i.e., the ideal adjusted steering wheel angle) based on the second wheel's turning angle and the preset steering ratio. Then, based on the currently obtained steering wheel angle and the target steering wheel angle, the angle difference is calculated. This difference is used to adjust the steering wheel angle until it closely approximates the target angle. Specifically, "the adjusted steering wheel angle closely approximates the target steering wheel angle" means that the angle difference between the adjusted and target angles is less than or equal to a preset difference. The preset difference is the maximum critical value for 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 based on the adjusted steering wheel angle and the second wheel angle, such as "The steering wheel is now aligned. Please grip the steering wheel and 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 wheels no longer need to be aligned. At this time, the steer-by-wire controller can generate the first prompt message based on the steering wheel angle and the second wheel angle, such as "The steering wheel does not need to be aligned at present. Please hold the steering wheel firmly and drive the vehicle."

[0237] After prompting the driver, the steer-by-wire controller can further control the disabling of the assisted steering control mode. For detailed disabling steps, please refer to the preceding text; they will not be repeated here.

[0238] In the above technical solution, after the steering wheel is deployed, this application also needs to align the steering wheel angle with the current second wheel angle. Alignment is indicated by the steering wheel angle and the second wheel angle meeting a preset steering ratio. First, when the steering wheel is deployed, the steering wheel angle and the second wheel angle are acquired. When the steering wheel angle and the second wheel angle meet the preset steering ratio, a first prompt message is generated to prompt the driver to manually operate the steering wheel. Conversely, 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, a second prompt message is generated based on the adjusted steering wheel angle and wheel angle to prompt the driver to manually operate the steering wheel. This process allows the steering wheel angle to be adjusted in a timely manner according to the vehicle's current turning state after the steering wheel is deployed, keeping the steering wheel angle synchronized with the current second wheel angle at a preset steering ratio, thus 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 turned off, ensuring the flexible activation and deactivation of the auxiliary steering control mode.

[0239] In summary, for vehicles equipped with steer-by-wire and autonomous driving functions, the steering wheel features flexible folding and unfolding capabilities. The autonomous driving function frees the driver's hands, enabling intelligent vehicle control. This application proposes a method for controlling vehicle steering when the autonomous driving function is activated and the steering wheel is folded. Specifically, if the autonomous driving function disengages for any reason while the steering wheel is folded, the vehicle can unfold the steering wheel to its initial state via an unfolding command to enable steering. During the steering wheel unfolding process, this application can determine whether the vehicle meets the activation conditions for the assisted steering control mode based on the steering wheel's fault status, or the steering wheel's fault status and the first wheel angle. If the conditions are met, the vehicle is steered using the assisted steering control mode. The steering wheel's fault status reflects whether a malfunction has occurred during unfolding, and the first wheel angle reflects whether the vehicle is turning. Therefore, by combining the steering wheel's fault status and the first wheel angle when the steering wheel is unfolded, the assisted steering control mode can be activated, ensuring that a malfunction in the steering wheel indicates a problem, while normal unfolding provides the driver with a flexible, convenient, and quick steering method. On the other hand, it can also ensure that when the steering wheel malfunction status indicates that there is no problem with 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 determining whether to activate the assisted steering control mode, if the steering wheel malfunctions (meaning it cannot unfold normally), the assisted steering control mode can be activated to ensure the vehicle can complete the turning process even with a faulty steering wheel. If the steering wheel is functioning correctly, the turning angle of the first wheel can be used to determine if the vehicle is turning, thus deciding whether to activate the assisted steering control mode. This ensures that the time between the steering wheel's folding and unfolding provides the driver with a flexible way to control the vehicle's turning.

[0241] When determining whether the vehicle is turning, if the first wheel's turning angle is greater than a preset angle, it indicates the vehicle is turning, and the auxiliary steering control mode can be activated. Conversely, if the first wheel's turning angle is less than or equal to the preset angle, it indicates the vehicle is not turning, and no control is needed; therefore, the auxiliary steering control mode can be deactivated. This process ensures that during the period when the steering wheel is extended, the driver is provided with an operable turning method when the vehicle needs to turn, allowing the driver to maintain control of the vehicle and ensuring the safety of the vehicle and its occupants.

[0242] Assisted steering control is a temporary steering assistance method. It is not suitable as a long-term control method in the event of steering wheel failure. When the steering wheel fails, to ensure vehicle safety, the driver needs to use assisted steering control to move the vehicle to a safe area for repairs. In other words, in this situation, the driver's use of assisted steering control to steer the vehicle can be understood as using it to bring the vehicle to a safe stop. After this process, this application also needs to consider the vehicle's status parameters to determine if the vehicle has safely stopped. When the status parameters indicate that the vehicle has stopped in the emergency lane, meaning the vehicle meets the conditions for deactivating assisted steering control, the assisted steering control is deactivated. This method of deactivating assisted steering control based on status parameters ensures the accuracy and rationality of the deactivation, guaranteeing vehicle safety.

[0243] When determining whether a vehicle meets the conditions for deactivating the assisted steering control mode based on status parameters, these parameters include the status of the hazard warning lights, the parking switch, and the gear position. If the gear is in the preset position, the parking switch is on, and the hazard warning lights are on, the vehicle is considered to meet the deactivation conditions. Conversely, if at least one of these conditions is not met, the vehicle is considered not to meet the deactivation conditions. This determination process ensures that when the assisted steering control mode is deactivated, the vehicle is stationary and the hazard warning lights are illuminated to alert other vehicles to the need for safe driving.

[0244] After the steering wheel is deployed, this application also needs to align the steering wheel angle with the current second wheel angle. Alignment is indicated by the steering wheel angle and the second wheel angle meeting a preset steering ratio. First, when the steering wheel is deployed, the steering wheel angle and the second wheel angle are acquired. When the steering wheel angle and the second wheel angle meet the preset steering ratio, a first prompt message is generated to instruct the driver to manually operate the steering wheel. Conversely, 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, a second prompt message is generated based on the adjusted steering wheel angle and wheel angle to instruct the driver to manually operate the steering wheel. This process allows the steering wheel angle to be adjusted promptly based on the vehicle's current turning state after the steering wheel is deployed, keeping the steering wheel angle synchronized with the current second wheel angle at the preset steering ratio, thus 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 turned off, ensuring the flexible activation and deactivation of the auxiliary steering control mode.

[0245] When controlling vehicle steering using assisted steering control, the assisted steering control mode is first activated. Upon receiving the driver's control operation for assisted steering control, the target wheel angle is determined by combining vehicle speed and control parameters to control vehicle steering. Control parameters represent the changing state of the assisted steering control mode during its operation. Vehicle speed reflects the vehicle's travel speed. The above method of determining the target wheel angle based on vehicle speed and control parameters allows for different target wheel angles depending on vehicle speed, even with the same control parameters. For example, at higher vehicle speeds, the variation range of the wheel angle can be appropriately increased, resulting in a slightly larger target wheel angle. Conversely, at lower vehicle speeds, the variation range of the wheel angle can be appropriately decreased, resulting in a smaller target wheel angle. This process ensures the correlation between the target wheel angle and vehicle speed, improving the accuracy of the target wheel angle determination.

[0246] Specifically, this application proposes several assisted steering control methods, including virtual buttons, physical knobs, virtual steering wheels, and physical buttons. The specific activation and control processes differ depending on the assisted steering control method.

[0247] When the assisted steering control method is virtual buttons, a virtual button control interface will be displayed, allowing the driver to click on virtual buttons to control vehicle steering. When the assisted steering control method is virtual steering wheel, a virtual steering wheel control interface will be displayed, allowing the driver to slide on the virtual steering wheel to control vehicle steering. When the assisted steering control method is physical knob, the physical knob can be activated, allowing the driver to rotate it to control vehicle steering. When the assisted steering control method is physical button, the physical button can be activated, allowing the driver to click on the physical button to control vehicle steering.

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

[0249] When determining the target wheel angle, the corresponding control operation can be any one of click operation, rotation operation, and sliding operation, and the control parameters can be any one of rotation angle, sliding distance, and number of clicks.

[0250] Specifically, when the control operation is a rotation operation, this 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, this application can determine the target wheel angle based on the number of first clicks and vehicle speed corresponding to the first click operation. When the control operation is a sliding operation on a virtual steering wheel, this 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, this application can determine the target wheel angle based on the number of second clicks and vehicle speed corresponding to the second click operation. The above process ensures that the target wheel angle under different control operations can be accurately determined by combining 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 embodiments of this application will be briefly described below.

[0252] Figure 7 This is a schematic flowchart of another vehicle steering control method provided in the embodiments of this application.

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

[0254] 701. When the vehicle's steering wheel is folded, in response to the exit signal of the automatic driving function, a release command is sent to the steering wheel controller. The exit signal indicates that the automatic driving function has exited, and the release command is used to control the steering wheel to return to its initial state before it was folded.

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

[0256] 702. During the steering wheel deployment process, based on the steering wheel's fault status, or based on the fault status and the vehicle's first wheel angle, determine whether the vehicle meets the activation conditions for the auxiliary steering control mode. The fault status is used to indicate whether the steering wheel has a fault, and the auxiliary steering control mode is used to simulate the rotation operation of the steering wheel.

[0257] Step 702 and step 402 have the same inventive concept, please refer to step 402 for details, which will not be repeated here.

[0258] If the vehicle does not meet the opening conditions, proceed to step 703, which ends the process.

[0259] If the vehicle meets the opening conditions, proceed to step 704.

[0260] 703, End.

[0261] 704. When the vehicle meets the activation conditions, the vehicle is steered using an auxiliary steering control method.

[0262] Step 704 and step 403 have the same inventive concept, please refer to step 403 for details, which will not be repeated here.

[0263] 705. When the steering wheel malfunction status indicates that there is a malfunction in the steering wheel, the vehicle is steered by the auxiliary steering control method, and the vehicle's status parameters are obtained. The status parameters are used to indicate the vehicle's operating status.

[0264] 706. Based on the status parameters, determine whether the vehicle meets the conditions for disabling the auxiliary steering control mode.

[0265] When the vehicle meets the closing conditions, proceed to step 707.

[0266] If a vehicle does not meet the conditions for closing, the driver should be promptly reminded to park the vehicle in a safe area.

[0267] 707. When the vehicle meets the conditions for deactivation, the auxiliary steering control mode is deactivated.

[0268] Steps 705-707 are the same as the process in step 403, which involves "when the steering wheel malfunction status indicates a steering wheel malfunction, after controlling the vehicle to steer using the auxiliary steering control method, the auxiliary steering control method is turned off using the vehicle's status parameters." For details, please refer to step 403, which will not be repeated here.

[0269] 708. When the first wheel angle is greater than the preset angle, after the vehicle is steered by the auxiliary steering control method, the steering wheel angle and the second wheel angle are obtained when the steering wheel is unfolded.

[0270] 709. Determine whether the steering wheel angle and the second wheel angle meet the preset steering ratio.

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

[0272] 710. When the steering wheel angle and the second wheel angle meet the preset steering ratio, generate the first prompt information based on the steering wheel angle and the second wheel angle; turn off the auxiliary steering control mode.

[0273] 711. When the steering wheel angle and the second wheel angle do not meet the preset steering ratio, the steering wheel angle is adjusted so that the adjusted steering wheel angle and the second wheel angle meet the preset steering ratio; based on the adjusted steering wheel angle and the second wheel angle, a second prompt message is generated, and both the first and second prompt messages are used to prompt the driver to operate the steering wheel; the auxiliary steering control mode is turned off.

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

[0275] Figure 8 This is a schematic diagram of the structure of a vehicle steering control device provided in an embodiment of this application.

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

[0277] The sending module 801 is used to send an unfolding command to the steering wheel controller in response to the exit signal of the vehicle's autonomous driving function when the steering wheel of the vehicle is folded. The exit signal is used to indicate that the autonomous driving function has been discontinued, and the unfolding command is used to control the steering wheel to return to its initial state before it was folded.

[0278] The judgment module 802 is used to determine whether the vehicle meets the activation conditions of the auxiliary steering control mode based on the fault status of the steering wheel or based on the fault status and the first wheel turning angle of the vehicle during the steering wheel unfolding process. The fault status is used to indicate whether the steering wheel is faulty, and the auxiliary steering control mode is used to simulate the rotation operation of the steering wheel.

[0279] The first control module 803 is used to control the vehicle to steer through the auxiliary steering control method when the vehicle meets the opening conditions.

[0280] In one possible implementation, the judgment module 802 is specifically used to: determine that the vehicle meets the opening condition when the steering wheel malfunction status indicates that the steering wheel is malfunctioning; and determine whether the vehicle meets the opening condition based on the first wheel rotation angle when the steering wheel malfunction status indicates that the steering wheel is not malfunctioning.

[0281] In one possible implementation, the judgment module 802 is further configured to: determine that the vehicle meets the opening condition when the first wheel angle is greater than a preset angle; and determine that the vehicle does not meet the opening condition when the first wheel angle is less than or equal to the preset angle.

[0282] Optionally, when the steering wheel malfunction status indicates that the steering wheel is faulty, after controlling the vehicle to steer via the auxiliary steering control method, the device further includes: a second control module, used to acquire the vehicle's status parameters, the status parameters indicating the vehicle's operating status; based on the status parameters, determine whether the vehicle meets the conditions for closing the auxiliary steering control method; and if the vehicle meets the conditions for closing, close the auxiliary steering control method.

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

[0284] Optionally, when the first wheel angle is greater than a preset angle, after the vehicle is steered by the auxiliary steering control method, the device further includes: a third control module, configured to: acquire the steering wheel angle and the second wheel angle when the steering wheel is deployed; generate a first prompt message based on the steering wheel angle and the second wheel angle when the steering wheel angle and the second wheel angle meet a 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 when the steering wheel angle and the second wheel angle do not meet the preset steering ratio; generate a second prompt message based on 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 deactivate the auxiliary steering control method.

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

[0286] In one possible implementation, the assisted steering control method includes any one of virtual buttons, a physical knob, a virtual steering wheel, and physical buttons. The first control module 803 is further configured to perform any of the following: control the physical knob to turn on; display the control interface of the virtual button; display the control interface of the virtual steering wheel; control 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 803 is further configured to perform any of the following: in response to a rotation operation of the physical knob, obtain The rotation angle corresponding to the rotation operation is obtained; the target wheel angle is determined based on the vehicle speed and the rotation angle; in the control interface of the virtual button, in response to the first click operation on the virtual button, the first click count corresponding to the first click operation is obtained; the target wheel angle is determined based on the vehicle speed and the first click count; in the control interface of the virtual steering wheel, in response to the sliding operation on the virtual steering wheel, the sliding distance corresponding to the sliding operation is obtained; the target wheel angle is determined based on the vehicle speed and the sliding distance; in response to the second click operation on the physical button, the second click count corresponding to the second click operation is obtained; the target wheel angle is determined based on the vehicle speed and the second click count.

[0287] Figure 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0288] For example, such as Figure 9 As shown, the vehicle 300 includes a memory 901 and a processor 902. The memory 901 stores 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] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a vehicle steering control method provided in embodiments of this application.

[0290] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0291] When each functional module is divided according to its corresponding function, the device may further include a sending module, a judging module, and a first control module. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

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

[0293] When using 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 can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing program code, etc.

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

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

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

[0297] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement a vehicle steering control method provided in the above embodiment.

[0298] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0299] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above 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 this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0301] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle steering control method, characterized in that, The method includes: When the vehicle's steering wheel is folded, in response to the exit signal of the vehicle's autonomous driving function, an unfolding command is sent to the steering wheel controller. The exit signal indicates that the autonomous driving function has been disengaged, and the unfolding command controls the steering wheel to return to its initial state before it was folded. During the steering wheel deployment process, based on the fault status of the steering wheel, or based on the fault status and the first wheel angle of the vehicle, it is determined whether the vehicle meets the activation conditions of the auxiliary steering control mode. The fault status is used to indicate whether the steering wheel is faulty, and the auxiliary steering control mode is used to simulate the rotation operation of the steering wheel. When the vehicle meets the opening conditions, the vehicle is steered using the assisted steering control method. The step of determining whether the vehicle meets the activation conditions for the assisted steering control mode based on the fault state of the steering wheel, or based on the fault state and the first wheel angle of the vehicle, includes: When the steering wheel malfunction status indicates that the steering wheel is faulty, it is determined that the vehicle meets the opening conditions. When the steering wheel malfunction status indicates that the steering wheel is not malfunctioning, the vehicle is judged to meet the opening conditions based on the first wheel rotation angle.

2. The method according to claim 1, characterized in that, The step of determining whether the vehicle meets the opening condition based on the first wheel rotation angle includes: If the first wheel angle is greater than a preset angle, it is determined that the vehicle meets the opening condition; If the first wheel angle is less than or equal to the preset angle, it is determined that the vehicle does not meet the opening condition.

3. The method according to claim 1, characterized in that, When the steering wheel malfunction status indicates a steering wheel malfunction, after controlling the vehicle to steer via the assisted steering control method, the method further includes: Obtain the status parameters of the vehicle, which are used to represent the operating status of the vehicle; Based on the state parameters, determine whether the vehicle meets the conditions for disabling the assisted steering control mode; If the vehicle meets the aforementioned closing conditions, the assisted steering control mode is turned off.

4. The method according to claim 3, characterized in that, The status parameters include the status of the hazard warning lights, the status of the parking switch, and the gear position. The step of determining whether the vehicle meets the deactivation conditions for the auxiliary steering control mode based on the status parameters includes: If the gear is a preset gear, the parking switch is on, and the hazard warning light is on, then the vehicle meets the closing conditions. If the gear position is not the preset gear position, or the parking switch is closed, or the hazard warning light is closed, it is determined that the vehicle does not meet the closing conditions.

5. The method according to claim 2, characterized in that, When the first wheel angle is greater than a preset angle, after controlling the vehicle to steer using the auxiliary steering control method, the method further includes: With the steering wheel extended, 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 is generated based on the steering wheel angle and the second wheel angle. If the steering wheel angle and the second wheel angle do not meet the preset steering ratio, the steering wheel angle is adjusted so that the adjusted steering wheel angle and the second wheel angle meet the preset steering ratio; based on the adjusted steering wheel angle and the second wheel angle, a second prompt message is generated, 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 assisted steering control mode.

6. The method according to claim 1, characterized in that, The method of controlling the vehicle to steer via the assisted steering control includes: Activate the assisted steering control mode; In response to the control operation of the assisted steering control mode, the target wheel angle is determined according to the vehicle speed and the control parameters corresponding to the control operation, wherein the control parameters are used to represent the changing state of the assisted steering control mode during the control process; The vehicle is steered according to the target wheel angle.

7. The method according to claim 6, characterized in that, The assisted steering control method includes any one of virtual buttons, physical knobs, virtual steering wheels, and physical buttons, and activating the assisted steering control method includes any one of the following: Control the physical knob to turn on; The control interface for displaying the virtual buttons; The control interface for the virtual steering wheel is displayed; Control the physical button to turn on; Furthermore, the control operation includes any one of a click operation, a rotation operation, and a sliding operation; the control parameters include 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 in response to the control operation of the assisted steering control mode, the target wheel turning angle is determined based on the vehicle speed and the control parameters corresponding to the control operation, including any one of the following: In response to a rotation operation of the physical knob, the rotation angle corresponding to the rotation operation is obtained; the target wheel rotation angle is determined based on the vehicle speed and the rotation angle. In the control interface of the virtual button, in response to the first click operation of the virtual button, the first click count corresponding to the first click operation is obtained; the target wheel angle is determined based on the vehicle speed and the first click count. In the control interface of the virtual steering wheel, in response to the sliding operation of the virtual steering wheel, the sliding distance corresponding to the sliding operation is obtained; the target wheel angle is determined based on the vehicle speed and the sliding distance. In response to a second click operation on the physical button, the number of clicks corresponding to the second click operation is obtained; the target wheel angle is determined based on the vehicle speed and the number of clicks.

8. A vehicle steering control device, characterized in that, The device includes: The sending module is used to send an unfolding command to the steering wheel controller in response to a disengagement signal of the vehicle's autonomous driving function when the steering wheel of the vehicle is folded down. The disengagement signal indicates that the autonomous driving function has been disengaged, and the unfolding command controls the steering wheel to return to its initial state before it was folded down. The judgment module is used to determine whether the vehicle meets the activation conditions of the auxiliary steering control mode based on the fault status of the steering wheel or based on the fault status and the first wheel turning angle of the vehicle during the steering wheel unfolding process. The fault status is used to indicate whether the steering wheel is faulty, and the auxiliary steering control mode is used to simulate the rotation operation of the steering wheel. The first control module is used to control the vehicle to steer through the auxiliary steering control method when the vehicle meets the opening conditions. Specifically, the judgment module is used for: When the steering wheel malfunction status indicates that the steering wheel is faulty, it is determined that the vehicle meets the opening conditions. When the steering wheel malfunction status indicates that the steering wheel is not malfunctioning, the vehicle is judged to meet the opening conditions based on the first wheel rotation angle.

9. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 7.

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