Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, and relates to the field of vehicles, the vehicle control method and device are applied to a hand feeling simulator in a steer-by-wire system, the steer-by-wire system comprises the hand feeling simulator and a steering actuator, and the hand feeling simulator is in communication connection with the steering actuator; the method comprises the following steps: judging whether a vehicle meets a game mode entering condition and enters a game mode or not; and under the condition that the vehicle meets the entering condition of the game mode and enters the game mode, the steering actuator is controlled to keep the wheels to stop steering, so that the steering actuator is decoupled from a steering column in the hand feeling simulator. After the vehicle enters the game mode, the hand feeling simulator and the steering actuator in the steer-by-wire system of the vehicle are controlled to be decoupled, when a user performs game entertainment through the steering wheel, the wheels cannot be steered due to rotation of the steering wheel, abrasion to the wheels can be reduced, and the service life of the wheels can be prolonged.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle control method, a device, a vehicle, and a computer-readable storage medium in the field of vehicles. Background Art

[0002] With the gradual improvement of the intelligence level of vehicles and the development of vehicle internal equipment technology, vehicles are no longer just a means of transportation for users. At present, some vehicles are equipped with game functions, and users can play some racing games through the steering wheel while waiting for someone or parking for a rest. However, the traditional vehicle steering system is usually based on a mechanical structure. When users use the steering wheel to play games, the wheels will turn with the steering wheel, causing wheel wear. Therefore, how to reduce wheel wear when users play games through the steering wheel has become an urgent problem to be solved. Summary of the invention

[0003] The present application provides a vehicle control method, device, vehicle and storage medium. The method can decouple the hand feel simulator and the steering actuator in the vehicle's wire-controlled steering system after the vehicle enters the game mode. When the user plays games through the steering wheel, the wheels will not turn due to the rotation of the steering wheel, which can reduce the wear on the wheels and help extend the service life of the wheels.

[0004] In a first aspect, a vehicle control method is provided, the method being applied to a feel simulator in a wire-controlled steering system, the wire-controlled steering system comprising a feel simulator and a steering actuator, the feel simulator being in communication connection with the steering actuator. The method comprises: determining whether the vehicle meets the entry conditions of a game mode and enters the game mode; if the vehicle meets the entry conditions of the game mode and enters the game mode, controlling the steering actuator to keep the wheels from turning, so that the steering actuator is decoupled from the steering column in the feel simulator.

[0005] In the above technical scheme, a hand feel simulator is used to control the steering actuator to keep the wheels from turning when it is determined that the vehicle meets the entry conditions of the game mode and enters the game mode, so as to decouple the steering actuator from the steering column in the hand feel simulator. After the vehicle enters the game mode, the hand feel simulator and the steering actuator in the vehicle's steer-by-wire system can be decoupled. When the user plays games through the steering wheel, the wheels will not turn due to the rotation of the steering wheel, which can reduce the wear on the wheels and help extend the service life of the wheels.

[0006] In combination with the first aspect, in some possible implementations, controlling the steering actuator to keep the wheels from turning includes: obtaining a steering wheel steering angle and obtaining an absolute value of the steering wheel steering angle; when the absolute value is within a first preset interval, controlling the steering actuator to keep the wheels from turning; the above method also includes: when the absolute value is within a second preset interval, limiting the maximum steering wheel steering angle to a preset angle; wherein the first preset interval is the same as the second preset interval, or the first preset interval is a sub-interval of the second preset interval.

[0007] In the above technical solution, after the game main controller controls the vehicle to enter the game mode, the hand feel simulator obtains the absolute value of the steering wheel steering angle. When the absolute value of the steering wheel steering angle is within the first preset interval, that is, the steering angle of the steering wheel is small at this time, on the one hand, the time required for the alignment process of the steering wheel steering angle and the wheel steering angle can be reduced in the subsequent coupling process of the steering actuator and the steering column; on the other hand, it indicates that the steering wheel is in a return state, that is, the wheel is also in a return state. When the user is in the game process, or when the user does not exit the game mode and directly locks the car and leaves the car, the vehicle will be in a parking state for a long time. If the wheel is not in a return state, at this time, due to the effect of the wheel inclination angle, the different wheel force points, and the effect of the steering rod, the vehicle suspension system will be attenuated, the vehicle tires will be damaged, and the vehicle steering system will be damaged. At this time, the steering actuator is controlled to keep the wheel from turning, so that the wheel remains in the current position unchanged, thereby achieving decoupling of the steering actuator from the steering column in the hand feel simulator; when it is detected that the absolute value of the steering wheel steering angle is within the second preset interval, the maximum steering wheel steering angle is further limited to a preset angle, so that during the game, the user will not drive the wheel to turn when operating the steering wheel, thereby reducing wheel wear, and by limiting the maximum steering angle, the heating of the steering column motor is further reduced.

[0008] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, controlling the steering actuator to keep the wheels from turning includes: obtaining a steering wheel steering angle to obtain a first absolute value of the steering wheel steering angle; when the first absolute value is within a third preset interval, continuously obtaining the steering wheel steering angle to obtain a second absolute value of the steering wheel steering angle; when the second absolute value is within a fourth preset interval, controlling the steering actuator to keep the wheels from turning; wherein the maximum value of the fourth preset interval is less than the minimum value of the third preset interval; the above-mentioned method also includes: when the first absolute value is within a fifth preset interval, limiting the maximum steering wheel steering angle to a preset angle; wherein the minimum value of the fifth preset interval is equal to the minimum value of the third preset interval, and the maximum value of the fifth preset interval is less than or equal to the maximum value of the third preset interval.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the steering actuator includes a rack; controlling the steering actuator to keep the wheel from turning includes: sending a decoupling request signal to the steering actuator; wherein, when the steering actuator receives the decoupling request signal, the rack is controlled to remain stationary so that the wheel stops turning.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the above-mentioned judgment on whether the vehicle meets the entry conditions of the game mode and enters the game mode includes: upon receiving a first signal sent by the game main controller requesting to enter the game mode, judging whether the vehicle is in a parking state; wherein, upon receiving a game entry instruction triggered by the user and sent by the central control screen of the vehicle, the game main controller sends a first signal to the hand feel simulator; when the vehicle is in a parking state, a second signal is sent to the game main controller to enable the game main controller to control the vehicle to enter the game mode; wherein the second signal is used to instruct the game main controller to allow the vehicle to enter the game mode; upon receiving a third signal sent by the game main controller regarding the vehicle entering the game mode, it is determined that the vehicle meets the entry conditions of the game mode and enters the game mode.

[0011] In the above technical solution, when the game main controller receives the game entry instruction triggered by the user sent by the vehicle's central control screen, it sends a first signal to the hand feel simulator. When the user wants to play games, the central control screen of the vehicle sends a request to enter the game mode. After receiving the request, the game main controller sends a first signal to the hand feel simulator, and the hand feel simulator performs corresponding operations according to the first signal. After receiving the first signal, the hand feel simulator obtains the current state of the vehicle and determines whether the current state of the vehicle is a parking state, that is, whether the user has the intention to park for a long time. If the current state of the vehicle is a parking state, it means that the current state of the vehicle meets the entry conditions of the game mode, that is, the user has the intention to park for a long time, then the game main controller sends a second signal that meets the entry conditions of the game mode, and the second signal is used to instruct the game main controller to allow the vehicle to enter the game mode; after receiving the second signal, the game main controller controls the vehicle to enter the game mode. If the current state of the vehicle is not a parking state, it means that the current state of the vehicle does not meet the entry conditions of the game mode, and the user does not have the intention to park for a long time, then a signal prohibiting entry into the game mode is sent to the game main controller, and the user cannot play games. After the game main controller controls the vehicle to enter the game mode, it sends a third signal to the hand feel simulator indicating that the vehicle has entered the game mode. When the hand feel simulator receives the third signal sent by the game main controller, it determines that the vehicle meets the entry conditions of the game mode and enters the game mode.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining whether the vehicle is in a parking state includes: obtaining the vehicle speed, gear position and the switch state of the electronic brake; determining whether the vehicle speed is less than or equal to the preset vehicle speed, whether the gear position is a gear position and whether the switch state of the electronic brake is on, so as to determine whether the vehicle is in a parking state.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after controlling the steering actuator to keep the wheels from turning, the above-mentioned method also includes: upon receiving an exit command of the game mode sent by the game main controller, or upon detecting that the vehicle is not in a parking state, sending a coupling request signal and a steering wheel steering angle to the steering actuator; wherein, upon receiving the coupling request signal and the steering wheel steering angle, the steering actuator performs an alignment operation of the steering wheel steering angle with the wheel steering angle, and couples to the steering column when the alignment operation is completed.

[0014] In the above technical solution, the user sends a request to exit the game mode through the vehicle's central control screen, and the hand feel simulator receives the exit command sent by the game main controller to exit the game mode, indicating that the user does not want to play the game and may need to use the car, so the vehicle needs to be restored to normal driving mode. Alternatively, the hand feel simulator detects that the vehicle is not in a parking state, indicating that the user may have the intention to use the car or the vehicle has moved, etc., so the vehicle needs to be restored to normal driving mode. At this time, the hand feel simulator obtains the current steering wheel steering angle, and sends a coupling request signal and the steering wheel steering angle to the steering actuator. The steering actuator performs the alignment operation of the steering wheel steering angle and the wheel steering angle according to the received request and the steering wheel steering angle, couples with the steering column, and restores the normal driving mode of the vehicle.

[0015] In summary, when the user requests to enter the game mode through the vehicle's central control screen, the game main controller sends a pre-entry signal to the hand feel simulator after receiving the request. When the vehicle is in the parking state, the hand feel simulator sends a signal to allow entry to the game main controller, and the game main controller controls the vehicle to enter the game mode. In order to further avoid the wear of the wheels caused by the steering wheel turning to drive the wheels when the user plays games through the steering wheel, the hand feel simulator further obtains the absolute value of the steering wheel steering angle. If the absolute value of the steering wheel steering angle is large, decoupling is temporarily not performed. At this time, decoupling will cause the wheels to not return to the center, which is not conducive to subsequent alignment; after the steering wheel is turned, if the absolute value of the steering wheel steering angle is small, decoupling is performed, which can facilitate subsequent alignment operations on the one hand and keep the wheels from returning to the center on the other hand; and limiting the steering wheel steering angle is also convenient for subsequent alignment operations. Further, when the hand feel simulator receives a request to exit the game mode sent by the user through the central control screen, or when the hand feel simulator detects that the vehicle is not in the parking state, the steering actuator is controlled to couple with the steering column to restore the normal driving mode. The embodiment of the present application can achieve the goal of not driving the wheels to turn by decoupling the steering actuator and the steering column after the user enters the game mode, thereby reducing wheel wear, extending the service life of the wheels, and further improving the user's car experience.

[0016] In a second aspect, a vehicle control device is provided, which is configured in a feel simulator in a wire-controlled steering system, wherein the wire-controlled steering system includes a feel simulator and a steering actuator, and the feel simulator is communicatively connected with the steering actuator; the device includes:

[0017] A judgment module, used to judge whether the vehicle meets the entry conditions of the game mode and enters the game mode;

[0018] The control module is used to control the steering actuator to keep the wheels from turning when the vehicle meets the entry conditions of the game mode and enters the game mode, so as to decouple the steering actuator from the steering column in the hand feel simulator.

[0019] In combination with the second aspect and the foregoing implementations, in some implementations of the second aspect, the control module includes:

[0020] A first angle acquisition unit, used to acquire a steering wheel steering angle and obtain an absolute value of the steering wheel steering angle;

[0021] A first control unit is used to control the steering actuator to keep the wheel from turning when the absolute value is within a first preset interval;

[0022] The device also includes:

[0023] The first limiting unit is used to limit the maximum steering wheel steering angle to a preset angle when the absolute value is within a second preset interval; wherein the first preset interval is the same as the second preset interval, or the first preset interval is a sub-interval of the second preset interval.

[0024] In combination with the second aspect and the foregoing implementations, in some implementations of the second aspect, the control module includes:

[0025] A second angle acquisition unit is used to acquire a steering wheel steering angle to obtain a first absolute value of the steering wheel steering angle; when the first absolute value is within a third preset interval, the steering wheel steering angle is continuously acquired to obtain a second absolute value of the steering wheel steering angle;

[0026] A second control unit is used to control the steering actuator to keep the wheel from turning when the second absolute value is within a fourth preset interval; wherein the maximum value of the fourth preset interval is smaller than the minimum value of the third preset interval;

[0027] The device also includes:

[0028] The second limiting unit is used to limit the maximum steering wheel steering angle to a preset angle when the first absolute value is within a fifth preset interval; wherein the minimum value of the fifth preset interval is equal to the minimum value of the third preset interval, and the maximum value of the fifth preset interval is less than or equal to the maximum value of the third preset interval.

[0029] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the control module is specifically used to send a decoupling request signal to the steering actuator in controlling the steering actuator to keep the wheels from turning; wherein, when the steering actuator receives the decoupling request signal, it controls the rack to remain stationary so that the wheels stop turning.

[0030] In combination with the second aspect and the above implementations, in some implementations of the second aspect, the judgment module, in judging whether the vehicle meets the entry conditions of the game mode and enters the game mode, includes:

[0031] A first judgment unit is used to judge whether the vehicle is in a parking state when receiving a first signal sent by the game main controller for requesting to enter the game mode; wherein the game main controller sends the first signal to the hand feeling simulator when receiving a game entry instruction triggered by a user and sent by the central control screen of the vehicle;

[0032] A third control unit is used to send a second signal to the game main controller when the vehicle is in a parking state, so that the game main controller controls the vehicle to enter a game mode; wherein the second signal is used to instruct the game main controller to allow the vehicle to enter the game mode;

[0033] The first determination unit is used to determine that the vehicle meets the entry conditions of the game mode and enters the game mode when receiving a third signal sent by the game main controller regarding the vehicle entering the game mode.

[0034] In combination with the second aspect and the above implementations, in some implementations of the second aspect, the determination module determines whether the vehicle is in a parking state, including:

[0035] A first acquisition unit, used to acquire vehicle speed, gear position and switch status of an electronic brake;

[0036] The second judgment unit is used to judge whether the vehicle speed is less than or equal to the preset vehicle speed, whether the gear is the gear, and whether the switch state of the electronic brake is on, so as to judge whether the vehicle is in the parking state.

[0037] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the control module is also used to: upon receiving an exit command of the game mode sent by the game main controller, or upon detecting that the vehicle is not in a parking state, send a coupling request signal and a steering wheel steering angle to the steering actuator; wherein, upon receiving the coupling request signal and the steering wheel steering angle, the steering actuator performs an alignment operation of the steering wheel steering angle with the wheel steering angle, and couples to the steering column when the alignment operation is completed.

[0038] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0039] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0040] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic structural diagram of a vehicle steer-by-wire system provided in an embodiment of the present application is shown;

[0042] Figure 2 A schematic flow chart of a vehicle control method provided in an embodiment of the present application is shown;

[0043] Figure 3 A schematic diagram of a process for determining whether a vehicle meets the entry conditions of a game mode and enters the game mode in an embodiment of the present application is shown;

[0044] Figure 4 An exemplary schematic diagram of a process for controlling a steering actuator to keep a wheel from turning is shown in an embodiment of the present application;

[0045] Figure 5 Another exemplary flow chart of controlling the steering actuator to keep the wheels from turning is shown in an embodiment of the present application;

[0046] Figure 6 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application is shown;

[0047] Figure 7 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0048] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0049] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0050] In the prior art, some vehicles are equipped with game functions, and users can play some racing games through the steering wheel while waiting for someone or stopping for a rest. However, the traditional vehicle steering system is usually based on a mechanical structure. When users use the steering wheel to play games, the wheels will turn with the steering wheel, causing wheel wear, thereby shortening the life of the wheels and possibly causing unsafe accidents during driving.

[0051] Based on the above technical problems, the present application provides a vehicle control method, which is implemented based on a wire-controlled steering system. After the vehicle enters the game mode, the method can decouple the hand feel simulator and the steering actuator in the wire-controlled steering system of the vehicle, so that the user will not cause the wheels to turn during the operation of the steering wheel, which can reduce the wear on the wheels, help extend the service life of the wheels, and further improve the user's car experience.

[0052] Figure 1 It is a structural schematic diagram of a vehicle steer-by-wire system provided in an embodiment of the present application.

[0053] like Figure 1 As shown, the vehicle includes a steering-by-wire system (SBW), wherein the steering-by-wire system includes: a feel simulator and a steering actuator. The feel simulator includes: a feel controller 101, a steering wheel 102, a first angle sensor 103, a torque sensor 104, a steering column 105, and a road sense motor 106. Among them, the feel controller 101 is connected to the first angle sensor 103, the torque sensor 104, and the road sense motor 106. The steering actuator includes: a steering actuator controller 201, a steering motor 202, a second angle sensor 203, a gear 204, a rack 205, a linear displacement sensor 206, and a wheel 207. Among them, the steering actuator controller 201 is connected to the steering motor 202 and the second angle sensor 203. The feel controller 101 is connected to the steering actuator controller 201 in communication, and the two exchange information.

[0054] The principle of steering achieved by the steer-by-wire system includes: when the user turns the steering wheel 102, the first angle sensor 103 collects the steering wheel angle of the steering wheel 102, and sends the steering wheel angle to the hand feel controller 101, the hand feel controller 101 calculates the corresponding target rack position based on the received steering wheel angle, and sends the target rack position to the steering execution controller 201, the steering execution controller 201 controls the steering motor 202 to rotate according to the received target rack position, and the steering motor 202 drives the rack 205 to move to the target rack position, thereby driving the wheel 207 to steer.

[0055] Next, the vehicle control method provided in the embodiment of the present application is described in conjunction with the above-mentioned wire-controlled steering system.

[0056] Figure 2 FIG. 1 is a flow chart of a vehicle control method provided in an embodiment of the present application. Figure 2 As shown, the vehicle control method provided in the embodiment of the present application is applied to a hand feel simulator in a steer-by-wire system, and the vehicle control method 200 includes:

[0057] S210, determining whether the vehicle meets the entry conditions of the game mode and enters the game mode;

[0058] S220, when the vehicle meets the entry conditions of the game mode and enters the game mode, control the steering actuator to keep the wheels from turning, so that the steering actuator is decoupled from the steering column in the hand feel simulator.

[0059] In an exemplary embodiment, a user can usually use the steering wheel of the vehicle to simulate the steering wheel of the vehicle in the game during the in-car game, so as to improve the gaming experience. Since the traditional steering system is a mechanical transmission connection, when the user operates the steering wheel to play games, the rotation of the steering wheel will drive the wheels to turn, thereby causing wear on the wheels. Therefore, before the vehicle officially enters the game mode, the hand feel simulator needs to determine whether the vehicle meets the entry conditions of the game mode and enters the game mode.

[0060] Among them, judging whether the vehicle meets the entry conditions of the game mode is to judge whether the user has the intention to park for a long time and the intention to play games. If the entry conditions are not met, it means that the user does not have the intention to park for a long time and the intention to play games; if the entry conditions are met, it means that the user has the intention to park for a long time and the intention to play games. If it is determined that the vehicle meets the entry conditions of the game mode and enters the game mode, it means that the user has the intention to park for a long time and the intention to play games, and the user can play games with the steering wheel, then the steering actuator is controlled to keep the wheels from turning, so that the steering actuator is decoupled from the steering column in the hand feel simulator. After decoupling, when the user turns the steering wheel during the game, the wheels will not turn.

[0061] The vehicle control method provided in the embodiment of the present application is applied to a wire-controlled steer-by-wire system including a hand feel simulator and a steering actuator. The hand feel simulator controls the steering actuator to keep the wheels from turning when it determines that the vehicle meets the entry conditions of the game mode and enters the game mode, so as to decouple the steering actuator from the steering column in the hand feel simulator. After the vehicle enters the game mode, the hand feel simulator and the steering actuator in the wire-controlled steer-by-wire system of the vehicle can be decoupled. When the user plays games through the steering wheel, the wheels will not turn due to the rotation of the steering wheel, which can reduce the wear on the wheels and help extend the service life of the wheels.

[0062] Figure 3 The flowchart of the embodiment of the present application for judging whether the vehicle meets the entry conditions of the game mode and enters the game mode is shown as follows: Figure 3 As shown, the above-mentioned judgment of whether the vehicle meets the entry conditions of the game mode and enters the game mode includes the following schemes:

[0063] S301: upon receiving a first signal from the game main controller requesting to enter a game mode, determining whether the vehicle is in a parking state;

[0064] S302: When the vehicle is in a parking state, sending a second signal to the game main controller so that the game main controller controls the vehicle to enter a game mode;

[0065] S302: upon receiving a third signal sent by the game main controller regarding the vehicle entering the game mode, determining that the vehicle meets the entry conditions of the game mode and enters the game mode.

[0066] Specifically, when the game main controller receives the game entry instruction triggered by the user sent by the vehicle's central control screen, it sends a first signal to the hand feel simulator. When the user wants to play games, the central control screen of the vehicle sends a request to enter the game mode. After receiving the request, the game main controller sends a first signal to the hand feel simulator, and the hand feel simulator performs corresponding operations according to the first signal. After receiving the first signal, the hand feel simulator obtains the current state of the vehicle and determines whether the current state of the vehicle is a parking state, that is, whether the user has the intention to park for a long time. If the current state of the vehicle is a parking state, it means that the current state of the vehicle meets the entry conditions of the game mode, that is, the user has the intention to park for a long time, then the game main controller sends a second signal that meets the entry conditions of the game mode, and the second signal is used to instruct the game main controller to allow the vehicle to enter the game mode; after receiving the second signal, the game main controller controls the vehicle to enter the game mode. If the current state of the vehicle is not a parking state, it means that the current state of the vehicle does not meet the entry conditions of the game mode, and the user does not have the intention to park for a long time, then a signal prohibiting entry into the game mode is sent to the game main controller, and the user cannot play games. After the game main controller controls the vehicle to enter the game mode, it sends a third signal to the hand feel simulator indicating that the vehicle has entered the game mode. When the hand feel simulator receives the third signal sent by the game main controller, it determines that the vehicle meets the entry conditions of the game mode and enters the game mode.

[0067] In a possible implementation, the above-mentioned determination of whether the vehicle is in a parking state includes the following schemes:

[0068] Get vehicle speed, gear position and electronic brake switch status;

[0069] It is determined whether the vehicle speed is less than or equal to a preset vehicle speed, whether the gear is the parking gear, and whether the switch state of the electronic brake is on, so as to determine whether the vehicle is in a parking state.

[0070] Specifically, in the embodiment of the present application, the entry condition of the game mode is that the vehicle is in the parking state; the entry condition includes: the vehicle speed is less than or equal to the preset vehicle speed, the gear is the parking gear, and the switch state of the electronic brake is in the on state. When the switch state of the electronic brake is in the on state, it is equivalent to pulling up the handbrake of the vehicle, and the EPB (Electronic Park Brake) caliper of the wheel is in the clamping state.

[0071] Figure 4 FIG. 1 shows an exemplary flow chart of controlling a steering actuator to keep a wheel from turning according to an embodiment of the present application. Figure 4 As shown, the above-mentioned control of the steering actuator to keep the wheel from turning includes the following schemes:

[0072] S401: Acquire a steering wheel steering angle, and obtain an absolute value of the steering wheel steering angle;

[0073] S402: When the absolute value is within the first preset interval, control the steering actuator to keep the wheels from turning.

[0074] When the game main controller controls the vehicle to enter the game mode, the hand feeling simulator further obtains the steering wheel steering angle of the vehicle, obtains the absolute value of the steering wheel steering angle, and determines whether the absolute value is within the first preset interval. If the absolute value is within the first preset interval, it is considered that the steering angle of the steering wheel is small at this time and can be decoupled, so the steering actuator is controlled to keep the wheel from turning, and the steering actuator is decoupled from the steering column, so that the user will not drive the wheel to turn when operating the steering wheel during the game, thereby reducing the wear of the wheel.

[0075] Specifically, the purpose of judging whether the absolute value is within the first preset interval is: on the one hand, if the absolute value is within the first preset interval, it means that the steering wheel steering angle is small, and the time required for the alignment process of the steering wheel steering angle and the wheel steering angle can be reduced during the coupling process between the steering actuator and the steering column, so that the whole vehicle can quickly return to the normal driving mode, which is convenient for users to travel. On the other hand, if the absolute value is within the first preset interval, it means that the steering wheel is in the return state, that is, the wheel is also in the return state. When the user is in the game process, or when the user does not exit the game mode and directly locks the car and leaves the car, the vehicle will be in the parking state for a long time. If the wheel is not in the return state, at this time, due to the effect of the wheel inclination angle, the different wheel force points, and the effect of the steering rod, the vehicle suspension system will be attenuated, the internal air pressure of the vehicle tire will be unstable, the tire aging will be accelerated, and the vehicle steering system will be damaged.

[0076] In a possible implementation, when the absolute value is within the first preset interval, the vehicle control method further includes the following scheme:

[0077] When the absolute value is within the second preset interval, the maximum steering wheel steering angle is limited to a preset angle; wherein the first preset interval is the same as the second preset interval, or the first preset interval is a sub-interval of the second preset interval.

[0078] Specifically, after the hand feeling simulator obtains the absolute value of the steering wheel steering angle, it determines whether the absolute value is within the second preset interval. If the absolute value is within the second preset interval, the maximum steering wheel steering angle is limited to the preset angle. Since the first preset interval is the same as the second preset interval, or the first preset interval is a sub-interval of the second preset interval, when the absolute value is within the first preset interval, the maximum steering wheel steering angle is also limited to the preset angle.

[0079] Assuming that the first preset interval is [0°, 20°), the second preset interval is [0°, 40°), and the preset angle is 180°. When the absolute value of the steering wheel steering angle is 15°, the absolute value of the steering wheel steering angle is within the first preset interval and the second preset interval, and the maximum steering wheel steering angle is limited to 180°, and the steering actuator is controlled to keep the wheel from turning, thereby achieving decoupling of the steering actuator from the steering column.

[0080] In the embodiment of the present application, by limiting the maximum steering wheel steering angle, on the one hand, the heating of the steering column caused by the user turning the steering wheel at an excessively large angle during the game can be reduced, thereby reducing the wear of the steering column; on the other hand, during the coupling process of the steering actuator and the steering column, the time required for the alignment process of the steering wheel steering angle and the wheel steering angle can be reduced, so that the entire vehicle can quickly return to normal driving mode, making travel more convenient for users.

[0081] Figure 5 FIG. 2 shows another exemplary flow chart of controlling the steering actuator to keep the wheel from turning according to an embodiment of the present application. Figure 5 As shown, the above-mentioned control of the steering actuator to keep the wheel from turning includes the following schemes:

[0082] S501: Acquire a steering wheel steering angle to obtain a first absolute value of the steering wheel steering angle;

[0083] S502: When the first absolute value is within a third preset interval, continuously acquiring the steering wheel steering angle to obtain a second absolute value of the steering wheel steering angle;

[0084] S503: When the second absolute value is within a fourth preset interval, control the steering actuator to keep the wheels from turning.

[0085] After the game main controller controls the vehicle to enter the game mode, the hand feel simulator further obtains the steering wheel steering angle of the vehicle, obtains the first absolute value of the steering wheel steering angle, and determines whether the first absolute value is within the third preset interval. When the first absolute value is within the third preset interval, it is considered that the steering wheel steering angle is large and the wheel steering angle is also large. In one case, when the steering wheel steering angle is large and the wheel steering angle is also large, if the steering actuator and the steering column are decoupled at this time, it will be detrimental to the subsequent execution of the coupling operation of the steering actuator and the steering column, and will prolong the coupling time; or, in another case, when the steering wheel steering angle is large and the wheel steering angle is also large, it means that the steering wheel and the wheel are not returned to the center. If the decoupling is performed at this time, the wheel will remain in the non-returned state for a long time, resulting in the attenuation of the vehicle suspension system, damage to the vehicle steering system, and damage to the vehicle tires. Therefore, when the first absolute value is within the third preset interval, the steering actuator is not decoupled temporarily, and at the same time, the hand feel simulator continues to obtain the steering wheel steering angle, obtains the second absolute value of the steering wheel steering angle, and determines whether the second absolute value is within the fourth preset interval. If the second absolute value is within the fourth preset interval, it indicates that decoupling is possible, and decoupling is performed. Specifically, the implementation process of whether the second absolute value is within the fourth preset interval is the same as the implementation process of the absolute value being within the first preset interval, and will not be elaborated here.

[0086] In a possible implementation, when the second absolute value is within the fourth preset interval, the vehicle control method further includes the following scheme:

[0087] When the first absolute value is in the fifth preset interval, the maximum steering wheel steering angle is limited to the preset angle; wherein the minimum value of the fifth preset interval is equal to the minimum value of the third preset interval, and the maximum value of the fifth preset interval is less than or equal to the maximum value of the third preset interval.

[0088] Specifically, after the hand feel simulator obtains the first absolute value of the steering wheel steering angle, it determines whether the first absolute value is within the fifth preset interval. When the first absolute value is within the fifth preset interval, the maximum steering wheel steering angle is limited to a preset angle. Since the minimum value of the fifth preset interval is equal to the minimum value of the third preset interval, the maximum value of the fifth preset interval is less than or equal to the maximum value of the third preset interval, and since the maximum value of the fourth preset interval is less than the minimum value of the third preset interval, it can be known that the minimum value of the fifth preset interval is greater than or equal to the maximum value of the fourth preset interval. When the absolute value of the steering wheel steering angle is within the fifth preset interval, the maximum steering wheel steering angle is limited to a preset angle. When the absolute value of the steering wheel steering angle is within the fourth preset interval, this limitation also exists.

[0089] Assume that the third preset interval is [20°, 540°), the fourth preset interval is [0°, 20°), the fifth preset interval is [20°, 90°), and the preset angle is 180°. When the first absolute value of the steering wheel steering angle obtained is 60°, the absolute value of the steering wheel steering angle is within the third preset interval and within the fifth preset interval at the same time, the maximum steering wheel steering angle is limited to 180°, and the steering wheel steering angle is continuously obtained. When the second absolute value of the steering wheel steering angle is 10°, the second absolute value is within the fourth preset interval, and the steering actuator is controlled to keep the wheel from turning, thereby achieving decoupling of the steering actuator from the steering column.

[0090] Optionally, the user can change the preset angle according to different game content, thereby further enhancing the user's experience during the game. The smaller the preset angle, the less time required for subsequent coupling.

[0091] Specifically, when the vehicle enters the game mode, when the user turns the steering wheel to play the game, the hand feel simulator continuously obtains the absolute value of the steering wheel steering angle. When it is detected that the user turns the steering wheel during the game so that the steering wheel steering angle satisfies the first preset interval and the fourth preset interval, the steering actuator and the steering column are decoupled.

[0092] In a possible implementation, the steering actuator includes a rack, and controlling the steering actuator to keep the wheel from turning includes the following solutions:

[0093] A decoupling request signal is sent to the steering actuator; wherein, upon receiving the decoupling request signal, the steering actuator controls the rack to remain stationary so that the wheels stop steering.

[0094] Specifically, Figure 1 As shown, when the steering actuator and the steering column can be decoupled, the hand feel controller 101 sends a decoupling request signal to the steering actuator controller 201, and the decoupling request signal is used to instruct the steering actuator controller 201 to control the steering motor 202 not to rotate. After receiving the decoupling request signal, the steering actuator controller 201 controls the steering motor 202 to stop rotating. When the steering motor 202 does not rotate, the rack 205 will not move, thereby controlling the rack 205 to remain stationary. When the rack 205 remains stationary, the wheel 207 will not turn, thereby achieving the goal of stopping the steering of the wheel 207, i.e., completing the decoupling of the steering actuator and the steering column.

[0095] In a possible implementation, after the decoupling of the steering actuator and the steering column is completed, the hand feel simulator no longer controls the steering actuator according to the absolute value of the steering wheel steering angle when the vehicle is in the game mode.

[0096] Optionally, when the decoupling of the steering actuator and the steering column is completed, a prompt message about the completion of the decoupling is output. For example, the prompt message may be "the wire-controlled steering system has been decoupled, and the wheels will not follow the steering wheel when the steering wheel is turned", and the prompt message may be output by voice broadcast or by displaying the prompt message on the central control screen. The specific content and output method of the prompt message are not limited in the embodiment of the present application.

[0097] In a possible implementation, after controlling the steering actuator to keep the wheels from turning, the vehicle control method further includes the following solutions:

[0098] Upon receiving an exit command of the game mode sent by the game main controller, or / and detecting that the vehicle is not in a parking state, a coupling request signal and a steering wheel steering angle are sent to the steering actuator; wherein, upon receiving the coupling request signal and the steering wheel steering angle, the steering actuator performs an alignment operation of the steering wheel steering angle with the wheel steering angle, and couples with the steering column when the alignment operation is completed.

[0099] Specifically, the user sends a request to exit the game mode through the central control screen of the vehicle, and the hand-feel simulator receives the exit command of the game mode sent by the game main controller, indicating that the user does not want to play the game and may need to use the car, so the vehicle needs to be restored to normal driving mode, or the hand-feel simulator detects that the vehicle is not in a parking state, indicating that the user may have the intention to use the car or the vehicle moves, etc., so the vehicle needs to be restored to normal driving mode. At this time, the hand-feel simulator obtains the current steering wheel steering angle, and sends a coupling request signal and the steering wheel steering angle to the steering actuator. The steering actuator performs the alignment operation of the steering wheel steering angle and the wheel steering angle according to the received coupling request signal and the steering wheel steering angle. Since the steering wheel steering angle has a first mapping relationship with the rack position, and the wheel steering angle has a second mapping relationship with the rack position, the alignment operation between the steering wheel steering angle and the wheel steering angle is the alignment process of the steering wheel steering angle and the rack position and the wheel steering angle and the rack position. After performing the alignment operation of the steering wheel steering angle and the wheel steering angle, the steering actuator is controlled to couple with the steering column to restore the normal driving mode of the vehicle.

[0100] Specifically, the alignment process of the steering wheel steering angle and the wheel steering angle includes: the hand feel simulator obtains the first steering wheel steering angle, obtains the first rack position corresponding to the first steering wheel steering angle, sends the first rack position to the steering actuator, and the steering actuator controls the steering motor to rotate according to the first rack position to drive the rack to move to the first rack position, thereby realizing the alignment of the steering wheel steering angle and the wheel steering angle. After the alignment operation is completed, the steering actuator is coupled to the steering column.

[0101] Optionally, the alignment process may also include: the steering actuator obtains the decoupled second rack position, obtains the second steering wheel steering angle corresponding to the second rack position, sends the second steering wheel steering angle to the hand feel simulator, the hand feel simulator controls the road feel motor to rotate to rotate the steering wheel to the second steering wheel steering angle, thereby achieving alignment of the steering wheel steering angle with the wheel steering angle, and after the alignment operation is completed, the steering actuator is coupled to the steering column.

[0102] Optionally, the alignment process may also include: the hand feel simulator selects an angle within the steering angle range of the steering wheel to obtain a third steering wheel steering angle, the third steering wheel steering angle is not the actual steering angle of the steering wheel, after selecting the third steering wheel steering angle, the hand feel simulator controls the road feel motor to rotate, so as to control the steering wheel so that the actual steering angle of the steering wheel reaches the third steering wheel steering angle; at the same time, the hand feel simulator obtains the third rack position corresponding to the third steering wheel steering angle, and sends the third rack position to the steering actuator, the steering actuator controls the steering motor to rotate according to the third rack position, so as to drive the rack to move to the third rack position, thereby realizing the alignment of the steering wheel steering angle and the wheel steering angle, and after the alignment operation is completed, the steering actuator is coupled to the steering column.

[0103] Optionally, when the steering actuator is coupled to the steering column, a prompt message about the completion of the coupling is output. For example, the prompt message may be "The wire-controlled steering system has completed the coupling, and the vehicle has returned to the normal driving mode". The prompt message may be output by voice broadcast or by displaying the prompt message on the central control screen. The specific content and output method of the prompt message are not limited in the embodiment of the present application.

[0104] Through the above-mentioned Figure 1 To Attachment Figure 5 , specifically introduces the vehicle control method provided by the embodiment of the present application, wherein the above-mentioned vehicle has Figure 6 All or part of the structure shown.

[0105] Figure 6 A schematic structural diagram of a vehicle control device provided in an embodiment of the present application is shown.

[0106] For example, Figure 6 As shown, the vehicle control device 600 is configured in a feel simulator in a wire-controlled steering system. The wire-controlled steering system includes a feel simulator and a steering actuator. The feel simulator is communicatively connected with the steering actuator. The vehicle control device 600 includes:

[0107] A determination module 601 is used to determine whether the vehicle meets the entry conditions of the game mode and enters the game mode;

[0108] The control module 602 is used to control the steering actuator to keep the wheels from turning when the vehicle meets the entry conditions of the game mode and enters the game mode, so as to decouple the steering actuator from the steering column in the hand feel simulator.

[0109] In a possible implementation, the control module 602 includes:

[0110] A first angle acquisition unit, used to acquire a steering wheel steering angle and obtain an absolute value of the steering wheel steering angle;

[0111] A first control unit is used to control the steering actuator to keep the wheel from turning when the absolute value is within a first preset interval;

[0112] The vehicle control device 600 further includes:

[0113] The first limiting unit is used to limit the maximum steering wheel steering angle to a preset angle when the absolute value is within a second preset interval; wherein the first preset interval is the same as the second preset interval, or the first preset interval is a sub-interval of the second preset interval.

[0114] In a possible implementation, the control module 602 includes:

[0115] A second angle acquisition unit is used to acquire a steering wheel steering angle to obtain a first absolute value of the steering wheel steering angle; when the first absolute value is within a third preset interval, the steering wheel steering angle is continuously acquired to obtain a second absolute value of the steering wheel steering angle;

[0116] A second control unit is used to control the steering actuator to keep the wheel from turning when the second absolute value is within a fourth preset interval; wherein the maximum value of the fourth preset interval is smaller than the minimum value of the third preset interval;

[0117] The vehicle control device 600 further includes:

[0118] The second limiting unit is used to limit the maximum steering wheel steering angle to a preset angle when the first absolute value is within a fifth preset interval; wherein the minimum value of the fifth preset interval is equal to the minimum value of the third preset interval, and the maximum value of the fifth preset interval is less than or equal to the maximum value of the third preset interval.

[0119] In one possible implementation, the control module 602 is specifically used to send a decoupling request signal to the steering actuator in controlling the steering actuator to keep the wheels from turning; wherein, upon receiving the decoupling request signal, the steering actuator controls the rack to remain stationary to stop the wheels from turning.

[0120] In a possible implementation, the judgment module 601 judges whether the vehicle meets the entry conditions of the game mode and enters the game mode by:

[0121] A first judgment unit is used to judge whether the vehicle is in a parking state when receiving a first signal sent by the game main controller for requesting to enter the game mode; wherein the game main controller sends the first signal to the hand feeling simulator when receiving a game entry instruction triggered by a user and sent by the central control screen of the vehicle;

[0122] A third control unit is used to send a second signal to the game main controller when the vehicle is in a parking state, so that the game main controller controls the vehicle to enter a game mode; wherein the second signal is used to instruct the game main controller to allow the vehicle to enter the game mode;

[0123] The first determination unit is used to determine that the vehicle meets the entry conditions of the game mode and enters the game mode when receiving a third signal sent by the game main controller regarding the vehicle entering the game mode.

[0124] In a possible implementation, the determination module 601 determines whether the vehicle is in a parking state by:

[0125] A first acquisition unit, used to acquire vehicle speed, gear position and switch status of an electronic brake;

[0126] The second judgment unit is used to judge whether the vehicle speed is less than or equal to the preset vehicle speed, whether the gear is the gear, and whether the switch state of the electronic brake is on, so as to judge whether the vehicle is in the parking state.

[0127] In one possible implementation, the control module 602 is also used to: upon receiving an exit command of the game mode sent by the game main controller, or upon detecting that the vehicle is not in a parking state, send a coupling request signal and a steering wheel steering angle to the steering actuator; wherein the steering actuator, upon receiving the coupling request signal and the steering wheel steering angle, performs an alignment operation of the steering wheel steering angle with the wheel steering angle, and couples to the steering column when the alignment operation is completed.

[0128] Figure 7 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown.

[0129] For example, Figure 7 As shown, the vehicle 700 includes: a memory 701, a processor 702 and a wire-controlled steering system 703, wherein the memory 701 stores an executable program code 7011, and the processor 702 is used to call and execute the executable program code 7011 to perform a vehicle control method.

[0130] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a vehicle control method provided by an embodiment of the present application.

[0131] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0132] In the case of dividing each functional module according to each function, the device may further include a judgment module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0133] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0134] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing mutual program codes, etc.

[0135] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0136] In addition, the device provided in the embodiments of the present application may specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiments.

[0137] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0138] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0139] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0140] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0141] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0142] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, applied to a hand feel simulator in a wire-controlled steering system, wherein the wire-controlled steering system comprises the hand feel simulator and a steering actuator, wherein the hand feel simulator is communicatively connected to the steering actuator, and wherein: The method comprises: Determining whether the vehicle meets the entry conditions of the game mode and enters the game mode; When the vehicle meets the entry condition of the game mode and enters the game mode, the steering actuator is controlled to keep the wheels from turning, so that the steering actuator is decoupled from the steering column in the hand feel simulator.

2. The method according to claim 1, characterized in that The controlling the steering actuator to keep the wheel from turning comprises: Obtaining a steering wheel steering angle, and obtaining an absolute value of the steering wheel steering angle; When the absolute value is within a first preset interval, controlling the steering actuator to keep the wheel from turning; The method further comprises: When the absolute value is within a second preset interval, the maximum steering wheel steering angle is limited to a preset angle; wherein the first preset interval is the same as the second preset interval, or the first preset interval is a sub-interval of the second preset interval.

3. The method according to claim 1, characterized in that: The controlling the steering actuator to keep the wheel from turning comprises: Acquire a steering wheel steering angle to obtain a first absolute value of the steering wheel steering angle; When the first absolute value is within a third preset interval, continuously acquiring the steering wheel steering angle to obtain a second absolute value of the steering wheel steering angle; When the second absolute value is within a fourth preset interval, controlling the steering actuator to keep the wheel from turning; wherein the maximum value of the fourth preset interval is smaller than the minimum value of the third preset interval; The method further comprises: When the first absolute value is within the fifth preset interval, the maximum steering wheel steering angle is limited to a preset angle; wherein the minimum value of the fifth preset interval is equal to the minimum value of the third preset interval, and the maximum value of the fifth preset interval is less than or equal to the maximum value of the third preset interval.

4. The method according to any one of claims 1 to 3, characterized in that: The steering actuator includes a rack; The controlling the steering actuator to keep the wheel from turning comprises: A decoupling request signal is sent to the steering actuator; wherein, upon receiving the decoupling request signal, the steering actuator controls the rack to remain stationary so that the wheel stops steering.

5. The method according to claim 1, characterized in that The determining whether the vehicle meets the entry conditions of the game mode and enters the game mode includes: Upon receiving a first signal from a game main controller requesting to enter the game mode, determining whether the vehicle is in a parking state; wherein upon receiving a game entry instruction triggered by a user and sent by a central control screen of the vehicle, the game main controller sends the first signal to the hand feel simulator; When the vehicle is in the parking state, sending a second signal to the game main controller so that the game main controller controls the vehicle to enter the game mode; wherein the second signal is used to instruct the game main controller to allow the vehicle to enter the game mode; When receiving a third signal sent by the game main controller regarding the vehicle entering the game mode, it is determined that the vehicle meets the entry condition of the game mode and enters the game mode.

6. The method according to claim 5, characterized in that The determining whether the vehicle is in a parking state comprises: Get the vehicle speed, gear position and electronic brake switch status; It is determined whether the vehicle speed is less than or equal to a preset vehicle speed, whether the gear position is a parking gear position, and whether the switch state of the electronic brake is an on state, so as to determine whether the vehicle is in the parking state.

7. The method according to any one of claims 1 to 3, characterized in that: After controlling the steering actuator to keep the wheel from turning, the method further includes: Upon receiving an exit command of the game mode sent by the game main controller, or upon detecting that the vehicle is not in a parking state, a coupling request signal and a steering wheel steering angle are sent to the steering actuator; wherein, upon receiving the coupling request signal and the steering wheel steering angle, the steering actuator performs an alignment operation of the steering wheel steering angle with the wheel steering angle, and couples with the steering column when the alignment operation is completed.

8. A vehicle control device, configured in a feel simulator in a wire-controlled steering system, wherein the wire-controlled steering system comprises the feel simulator and a steering actuator, wherein the feel simulator is communicatively connected to the steering actuator, and wherein: The device comprises: A determination module, used to determine whether the vehicle meets the entry conditions of the game mode and enters the game mode; The control module is used to control the steering actuator to keep the wheels from turning when the vehicle meets the entry conditions of the game mode and enters the game mode, so as to decouple the steering actuator from the steering column in the hand feel simulator.

9. A vehicle, characterized in that: The vehicle comprises: Steer-by-wire system; A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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