A vehicle control method, device, vehicle and storage medium

Abstract

The application provides a vehicle control method and device, a vehicle and a storage medium, relates to the field of vehicles, is applied to a feel simulator in a steer-by-wire system, the steer-by-wire system includes a feel simulator and a steering actuator, and the feel simulator is in communication connection with the steering actuator;The method comprises the following steps: judging whether the vehicle meets the entering condition of a game mode and entering the game mode;In the case 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 from steering, so that the steering actuator is decoupled from the steering column in the feel simulator.The application can decouple the feel simulator from the steering actuator in the steer-by-wire system of the vehicle after the vehicle enters the game mode, so that the wheels will not steer due to the rotation of the steering wheel when a user plays and enjoys the game through the steering wheel, the wear of 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 particularly, to a vehicle control method and device, a vehicle and a computer readable storage medium. BACKGROUND

[0002] With the gradual improvement of the intelligence level of vehicles and the development of internal equipment technology of vehicles, vehicles are no longer just a means of transportation for users. Currently, some vehicles are equipped with game functions, and users can play some racing games through the steering wheel when waiting for people or parking. However, the traditional vehicle steering system is mainly mechanical structure, and the user playing the game through the steering wheel will cause the wheels to follow the steering wheel to turn and steer, causing wheel wear. Therefore, how to reduce the wear of the wheels during the user playing the game through the steering wheel has become a problem to be solved. SUMMARY

[0003] The present application provides a vehicle control method, device, vehicle and storage medium, which can control the hand feel simulator and the steering actuator in the steer-by-wire system of the vehicle to be decoupled after the vehicle enters the game mode, so that the wheels will not steer due to the rotation of the steering wheel when the user plays the game through the steering wheel, which can reduce the wear of the wheels and prolong the service life of the wheels.

[0004] In a first aspect, a vehicle control method is provided, which is applied to a hand feel simulator in a steer-by-wire system, the steer-by-wire system comprising the hand feel simulator and a steering actuator, and the hand feel simulator is in communication connection with the steering actuator. The method comprises: determining whether the vehicle meets the entering condition of a game mode and enters the game mode; and in the case that the vehicle meets the entering condition of the game mode and enters the game mode, controlling the steering actuator to keep the wheels from steering, so as to decouple the steering actuator from a steering column in the hand feel simulator.

[0005] In the above technical solution, by adopting the technical solution that the hand feel simulator controls the steering actuator to keep the wheels from steering in the case that the vehicle meets the entering condition 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, the hand feel simulator and the steering actuator in the steer-by-wire system of the vehicle can be decoupled after the vehicle enters the game mode, so that the wheels will not steer due to the rotation of the steering wheel when the user plays the game through the steering wheel, which can reduce the wear of the wheels and prolong the service life of the wheels.

[0006] In some possible implementation manners, in combination with the first aspect, the method further includes: obtaining the steering wheel steering angle, and obtaining an absolute value of the steering wheel steering angle; in a case where the absolute value is located in a first preset interval, controlling the steering actuator to keep the vehicle wheel from steering; and the method further includes: in a case where the absolute value is located in a second preset interval, limiting a maximum steering wheel steering angle to a preset angle; and the first preset interval is the same as the second preset interval, or the first preset interval is a subinterval of the second preset interval.

[0007] In the technical solution, when the game master controller controls the vehicle to enter the game mode, the hand feeling simulator obtains the absolute value of the steering wheel steering angle, and in a case where the absolute value of the steering wheel steering angle is located in the first preset interval, that is, the steering angle of the steering wheel is relatively small, on the one hand, the time required for the alignment of the steering wheel steering angle and the vehicle wheel steering angle in the subsequent coupling process of the steering actuator and the steering column can be reduced; on the other hand, it indicates that the steering wheel is in the return-to-zero state, that is, the vehicle wheel is also in the return-to-zero state, and when the user is in the game process or when the user directly locks the vehicle and leaves the vehicle without exiting the game mode, the vehicle will be in the parking state for a long time. If the vehicle wheel is not in the return-to-zero state, the vehicle suspension system will be affected, the vehicle tire will be damaged, and the vehicle steering system will be damaged due to the effect of the vehicle wheel inclination angle, the difference in the force point of the vehicle wheel, and the effect of the steering pull rod. At this time, the steering actuator is controlled to keep the vehicle wheel from steering, so that the vehicle wheel is kept at the current position, thereby realizing the decoupling of the steering actuator and the steering column in the hand feeling simulator. When it is detected that the absolute value of the steering wheel steering angle is located in the second preset interval, the maximum steering wheel steering angle is further limited to a preset angle, so that the user will not drive the vehicle wheel to steer when operating the steering wheel in the game process, and the wear of the vehicle wheel is reduced. By limiting the maximum steering angle, the heating of the steering column motor is further reduced.

[0008] In some possible implementation manners, in combination with the first aspect and the foregoing implementation manners, the method further includes: obtaining the steering wheel steering angle, and obtaining a first absolute value of the steering wheel steering angle; in a case where the first absolute value is located in a third preset interval, continuously obtaining the steering wheel steering angle, and obtaining a second absolute value of the steering wheel steering angle; in a case where the second absolute value is located in a fourth preset interval, controlling the steering actuator to keep the vehicle wheel from steering; and a maximum value of the fourth preset interval is less than a minimum value of the third preset interval; and the method further includes: in a case where the first absolute value is located in a fifth preset interval, limiting the maximum steering wheel steering angle to a preset angle; and a minimum value of the fifth preset interval is equal to the minimum value of the third preset interval, and a maximum value of the fifth preset interval is less than or equal to the maximum value of the third preset interval.

[0009] In a possible implementation of the first aspect and the above implementation, in some possible implementation, the steering actuator comprises a rack; the control of the steering actuator to keep the wheels from steering comprises: sending a decoupling request signal to the steering actuator; and wherein the steering actuator keeps the rack stationary to keep the wheels from steering upon receiving the decoupling request signal.

[0010] In a possible implementation of the first aspect and the above implementation, in some possible implementation, the determination of whether the vehicle meets the entering condition of the game mode and the entering of the game mode comprises: determining whether the vehicle is in a parking state upon receiving a first signal sent by the game master about a request to enter the game mode; wherein the game master sends the first signal to the feel simulator upon receiving a game entering instruction triggered by a user from the central control screen of the vehicle; sending a second signal to the game master to make the game master control the vehicle to enter the game mode in the case that the vehicle is in the parking state; wherein the second signal is used to instruct the game master to allow the vehicle to enter the game mode; determining that the vehicle meets the entering condition of the game mode and enters the game mode upon receiving a third signal sent by the game master about the entering of the game mode by the vehicle.

[0011] In the above technical solution, the game master sends a first signal to the feel simulator upon receiving a game entering instruction triggered by a user from the central control screen of the vehicle. When the user wants to play the game, the user sends a request to enter the game mode through the central control screen of the vehicle, and the game master receives the request and sends a first signal to the feel simulator, which makes corresponding operations according to the first signal. After receiving the first signal, the feel simulator acquires 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 entering condition of the game mode, that is, the user has the intention to park for a long time, and a second signal that meets the entering condition of the game mode is sent to the game master, which is used to instruct the game master to allow the vehicle to enter the game mode; the game master controls the vehicle to enter the game mode after receiving the second signal. 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 entering condition of the game mode, and the user does not have the intention to park for a long time, and a signal that prohibits the entering of the game mode is sent to the game master, so that the user cannot play the game. After the game master controls the vehicle to enter the game mode, a third signal indicating that the vehicle enters the game mode is sent to the feel simulator, and the feel simulator determines that the vehicle meets the entering condition of the game mode and enters the game mode upon receiving the third signal sent by the game master.

[0012] In a possible implementation of the first aspect and the above implementation, to determine whether the vehicle is in the parking state, the vehicle speed, the gear position and the switch state of the electronic brake are obtained, and 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 open state are determined to determine whether the vehicle is in the parking state.

[0013] In a possible implementation of the first aspect and the above implementation, after the steering actuator is controlled to keep the wheels from steering, the method further includes: sending a coupling request signal and a steering wheel steering angle to the steering actuator when an exit instruction of the game mode is received from the game master or when it is detected that the vehicle is not in the parking state; and wherein the steering actuator performs an alignment operation of the steering wheel steering angle and the wheel steering angle when the coupling request signal and the steering wheel steering angle are received, and is coupled with 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 central control screen of the vehicle, the hand feeling simulator receives an exit instruction of the game mode sent by the game master, indicating that the user has an intention not to play the game and may need to use the vehicle, and the vehicle needs to return to the normal driving mode, or the hand feeling simulator detects that the vehicle is not in the parking state, indicating that the user may have an intention to use the vehicle or the vehicle moves, and the vehicle needs to return to the normal driving mode. At this time, the hand feeling simulator obtains the current steering wheel steering angle and sends a coupling request signal and the steering wheel steering angle to the steering actuator, and the steering actuator performs an alignment operation of the steering wheel steering angle and the wheel steering angle according to the received request and the steering wheel steering angle, and is coupled with the steering column to return the vehicle to the normal driving mode.

[0015] In summary, when the user requests to enter the game mode through the central control screen of the vehicle, the game master controller sends a pre-entry signal to the feel simulator after receiving the request. In the case that the vehicle is in the parking state, the feel simulator sends a signal allowing entry to the game master controller, and the game master controller controls the vehicle to enter the game mode. In order to further avoid the wear of the wheels caused by the rotation of the wheels due to the rotation of the steering wheel when the user plays games through the steering wheel, the feel simulator further acquires the absolute value of the steering angle of the steering wheel. If the absolute value of the steering angle of the steering wheel is large, decoupling is temporarily not performed. At this time, if decoupling is performed, the wheels will not be returned to the normal state, and it is not conducive to subsequent alignment. If the absolute value of the steering angle of the steering wheel is small after the steering wheel is rotated, decoupling is performed. On the one hand, it can facilitate subsequent alignment operation, and on the other hand, it can keep the wheels returned to the normal state. In addition, limiting the steering angle of the steering wheel also facilitates subsequent alignment operation. Further, when the feel simulator receives a request to exit the game mode sent by the user through the central control screen, or when the feel simulator monitors that the vehicle is not in the parking state, the feel simulator controls the steering actuator to be coupled with the steering column to restore the normal driving mode. The embodiments of the present application can decouple the steering actuator and the steering column after the user enters the game mode, so that the rotation of the steering wheel does not drive the rotation of the wheels, thereby reducing the wear of the wheels, prolonging the service life of the wheels, and further improving the user experience of using the vehicle.

[0016] In a second aspect, a vehicle control device is provided, configured as a feel simulator in a steer-by-wire system, the steer-by-wire system comprising the feel simulator and a steering actuator, and the feel simulator being in communication connection with the steering actuator; the device comprising:

[0017] A judging module is configured to judge whether the vehicle meets the entering condition of the game mode and enters the game mode.

[0018] A control module is configured to, in the case that the vehicle meets the entering condition of the game mode and enters the game mode, control the steering actuator to keep the wheels from steering, so as to decouple the steering actuator from the steering column in the feel simulator.

[0019] In combination with the second aspect and the above implementation manners, in some implementation manners of the second aspect, the control module comprises:

[0020] A first angle acquisition unit is configured to acquire the steering angle of the steering wheel to obtain the absolute value of the steering angle of the steering wheel.

[0021] A first control unit is configured to, in the case that the absolute value is located in a first preset interval, control the steering actuator to keep the wheels from steering.

[0022] The device further comprises:

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

[0024] In combination with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the control module includes:

[0025] The second angle acquisition unit is used to acquire the steering wheel angle and obtain the first absolute value of the steering wheel angle; if the first absolute value is within a third preset range, the steering wheel angle is continuously acquired to obtain the second absolute value of the steering wheel angle.

[0026] The second control unit is used to control the steering actuator to keep the wheels from turning when the second absolute value is within the fourth preset range; wherein the maximum value of the fourth preset range is less than the minimum value of the third preset range.

[0027] The device also includes:

[0028] The second limiting unit is used to limit the maximum steering wheel angle to a preset angle when the first absolute value is within the 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 implementation methods, in some implementation methods of the second aspect, the control module is specifically used to send a decoupling request signal to the steering actuator in order to keep the wheels from turning; wherein, upon receiving the decoupling request signal, the steering actuator controls the rack to remain stationary so that the wheels stop turning.

[0030] Combining the second aspect and the above implementation methods, in some implementation methods of the second aspect, the judgment module includes the following in determining whether the vehicle meets the entry conditions for game mode and enters game mode:

[0031] The first judgment unit is used to determine whether the vehicle is in a parked state when it receives a first signal from the game controller requesting to enter the game mode; wherein, when the game controller receives a game entry command triggered by the user from the vehicle's central control screen, it sends a first signal to the hand-feel simulator.

[0032] The third control unit is used to send a second signal to the game controller when the vehicle is in a parked state, so that the game controller can control the vehicle to enter game mode; wherein, the second signal is used to instruct the game controller to allow the vehicle to enter game mode.

[0033] The first determining unit is used to determine that the vehicle meets the entry conditions for the game mode and enters the game mode when it receives a third signal from the game controller regarding the vehicle entering the game mode.

[0034] Combining the second aspect and the above implementation methods, in some implementation methods of the second aspect, the determination module, in determining whether the vehicle is in a parked state, includes:

[0035] The first acquisition unit is used to acquire vehicle speed, gear position, and the on / off status of the electronic brake;

[0036] The second judgment unit is used to determine whether the vehicle speed is less than or equal to the preset vehicle speed, whether the gear is in gear, and whether the electronic brake switch is in the open state, so as to determine whether the vehicle is in a parked state.

[0037] In conjunction with the second aspect and the above implementation methods, in some implementation methods of the second aspect, the control module is further configured to: send a coupling request signal and a steering wheel angle to the steering actuator when receiving a game mode exit command sent by the game controller, or when detecting that the vehicle is not in a parked state; wherein, when the steering actuator receives the coupling request signal and the steering wheel angle, it performs an alignment operation between the steering wheel angle and the wheel steering angle, and couples with the steering column when the alignment operation is completed.

[0038] 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 of the first aspect or any possible implementation thereof.

[0039] 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.

[0040] 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

[0041] Figure 1 This paper shows a schematic diagram of the structure of a vehicle steer-by-wire system according to an embodiment of this application;

[0042] Figure 2 A schematic flowchart of a vehicle control method provided in an embodiment of this application is shown;

[0043] Figure 3 This illustration shows a flowchart of an embodiment of the present application determining that a vehicle meets the entry conditions for game mode and enters game mode;

[0044] Figure 4 This paper illustrates an exemplary process diagram of controlling a steering actuator to keep the wheels from turning, according to an embodiment of this application.

[0045] Figure 5 This illustration shows yet another exemplary process diagram of controlling the steering actuator to keep the wheels from turning, according to an embodiment of this application;

[0046] Figure 6 This paper shows a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0047] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of this application is shown. Detailed Implementation

[0048] 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.

[0049] 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.

[0050] In existing technology, some vehicles are equipped with gaming functions, allowing users to play racing games via the steering wheel while waiting or resting. However, traditional vehicle steering systems are typically mechanical, and when users play games using the steering wheel, the wheels follow the wheel's rotation, causing wheel wear and reducing wheel life. This can potentially lead to unsafe accidents during driving.

[0051] To address the aforementioned technical issues, this application provides a vehicle control method based on a steer-by-wire system. This method decouples the hand-feel simulator from the steering actuator in the steer-by-wire system after the vehicle enters game mode. This prevents the wheels from turning during the user's operation of the steering wheel, reducing wheel wear, extending wheel lifespan, and further improving the user's driving experience.

[0052] Figure 1 This is a schematic diagram of the structure of a vehicle steer-by-wire system provided in an embodiment of this application.

[0053] like Figure 1 As shown, the vehicle includes a steering-by-wire system (SBW), which comprises a hand-feel simulator and steering actuators. The hand-feel simulator includes a hand-feel controller 101, a steering wheel 102, a first angle sensor 103, a torque sensor 104, a steering column 105, and a road feel motor 106. The hand-feel controller 101 is connected to the first angle sensor 103, the torque sensor 104, and the road feel 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 wheels 207. The steering actuator controller 201 is connected to the steering motor 202 and the second angle sensor 203. The hand-feel controller 101 and the steering actuator controller 201 are communicatively connected and exchange information.

[0054] The principle of steering by 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 based on the received target rack position. The steering motor 202 drives the rack 205 to move to the target rack position, thereby turning the wheels 207.

[0055] The vehicle control method provided in the embodiments of this application will now be described in conjunction with the above-described steer-by-wire system.

[0056] Figure 2 This is a schematic flowchart of the vehicle control method provided in an embodiment of this application. For example, as shown... Figure 2 As shown, the vehicle control method provided in this application embodiment is applied to a hand feel simulator in a steer-by-wire system. The vehicle control method 200 includes:

[0057] S210, determine whether the vehicle meets the conditions for entering the game mode and enter the game mode;

[0058] S220, when the vehicle meets the conditions for entering the game mode and enters the game mode, controls the steering actuator to keep the wheels from turning, so as to decouple the steering actuator from the steering column in the feel simulator.

[0059] In one exemplary embodiment, users can typically simulate the steering wheel of a vehicle in a game by using the vehicle's steering wheel during in-car gaming, thereby enhancing the gaming experience. Since traditional steering systems are mechanically connected, the rotation of the steering wheel during gameplay causes wheel wear. Therefore, the motion simulator needs to determine whether the vehicle meets the entry conditions for game mode and enter game mode before the vehicle officially enters game mode.

[0060] The process of determining whether a vehicle meets the entry conditions for game mode is to assess whether the user intends to park for an extended period and play the game. If the entry conditions are not met, it indicates that the user does not intend to park for an extended period and play the game; if the entry conditions are met, it indicates that the user intends to park for an extended period and play the game. If the vehicle meets the entry conditions for game mode and enters game mode, it indicates that the user intends to park for an extended period and play the game. Furthermore, if the user can play the game using the steering wheel, the steering actuator will be controlled to keep the wheels from turning. This decouples the steering actuator from the steering column in the motion simulator. After decoupling, during gameplay, the wheels will not turn when the user turns the steering wheel.

[0061] The vehicle control method provided in this application is applied to a steer-by-wire system including a hand-feel simulator and a steering actuator. By using the hand-feel simulator to control the steering actuator to keep the wheels from turning when the vehicle meets the conditions for entering the game mode and enters the game mode, the technical solution of decoupling the steering actuator from the steering column in the hand-feel simulator can decouple the hand-feel simulator from the steering actuator in the steer-by-wire system after the vehicle enters the game mode. When the user plays games by turning 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 This illustration shows a flowchart of an embodiment of the present application determining that a vehicle meets the entry conditions for game mode and enters game mode. Figure 3 As shown, the above methods for determining whether a vehicle meets the entry conditions for game mode and entering game mode include the following:

[0063] S301: Upon receiving the first signal from the game controller requesting to enter game mode, determine whether the vehicle is in a parked state;

[0064] S302: When the vehicle is in a parked state, a second signal is sent to the game controller to enable the game controller to control the vehicle to enter game mode;

[0065] S302: Upon receiving a third signal from the game controller regarding the vehicle entering game mode, determine that the vehicle meets the entry conditions for game mode and enters game mode.

[0066] Specifically, when the game controller receives a user-triggered game entry command from the vehicle's central control screen, it sends a first signal to the motion simulator. When the user wants to play the game, they send a request to enter game mode via the vehicle's central control screen. Upon receiving this request, the game controller sends the first signal to the motion simulator, which then performs corresponding operations. Upon receiving the first signal, the motion simulator obtains the vehicle's current state and determines whether it is in a parked state, i.e., whether the user intends to park for an extended period. If the vehicle is in a parked state, it means the current state meets the entry conditions for game mode, indicating the user intends to park for an extended period. The simulator then sends a second signal to the game controller, instructing it to allow the vehicle to enter game mode. Upon receiving the second signal, the game controller controls the vehicle to enter game mode. If the vehicle is not in a parked state, it means the current state does not meet the entry conditions for game mode, indicating the user does not intend to park for an extended period. The simulator then sends a signal to the game controller prohibiting entry into game mode, preventing the user from playing the game. After the game controller puts the vehicle into game mode, it sends a third signal to the motion simulator indicating that the vehicle has entered game mode. When the motion simulator receives the third signal sent by the game controller, it determines that the vehicle meets the conditions for entering game mode and enters game mode.

[0067] One possible implementation method for determining whether a vehicle is in a parked state includes the following approaches:

[0068] Obtain vehicle speed, gear position, and the on / off status of the electronic brakes;

[0069] The system determines whether the vehicle is in a parked state by checking whether the vehicle speed is less than or equal to the preset speed, whether the gear is in the parking gear, and whether the electronic brake switch is in the on state.

[0070] Specifically, in this embodiment, the entry condition for the game mode is that the vehicle is in a parked state; the entry condition includes: simultaneously satisfying that the vehicle speed is less than or equal to a preset speed, the gear is in parking gear, and the electronic brake is in the open state. When the electronic brake is in the open state, it is equivalent to pulling up the vehicle's handbrake, and the EPB (Electronic Park Brake) calipers on the wheels are in a clamped state.

[0071] Figure 4 This application illustrates an exemplary process diagram of controlling a steering actuator to keep the wheels from turning, as shown in the embodiment of the present application. Figure 4 As shown, the above-mentioned control steering actuator to keep the wheels from turning includes the following schemes:

[0072] S401: Obtain the steering wheel angle and get its absolute value;

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

[0074] Once the game controller puts the vehicle into game mode, the motion simulator further acquires the vehicle's steering wheel angle, obtains its absolute value, and determines whether this absolute value falls within a first preset range. If the absolute value is within this range, the steering wheel angle is considered small enough to allow for decoupling. The steering actuator is then controlled to keep the wheels stationary, thus decoupling the steering actuator from the steering column. This prevents the wheels from turning when the user operates the steering wheel during gameplay, reducing wheel wear.

[0075] Specifically, the purpose of determining whether the absolute value is within the first preset range is twofold: Firstly, if the absolute value is within the first preset range, it indicates that the steering wheel angle is small. This reduces the time required for the steering wheel angle and wheel angle to align during the coupling process between the steering actuator and the steering column, allowing the vehicle to quickly return to normal driving mode and facilitating user travel. Secondly, if the absolute value is within the first preset range, it indicates that the steering wheel is in a centered state, meaning the wheels are also in a centered state. When the user is in a game or locks and leaves the vehicle without exiting game mode, the vehicle will remain in a parked state for an extended period. If the wheels are not in a centered state, the effects of wheel camber, different wheel stress points, and the steering tie rod will lead to reduced suspension performance, unstable tire pressure, accelerated tire aging, and damage to the steering system.

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

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

[0078] Specifically, after the steering simulator obtains the absolute value of the steering wheel angle, it determines whether the absolute value is within the second preset interval. If the absolute value is within the second preset interval, it limits the maximum steering wheel angle to a 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 angle is also limited to a preset angle.

[0079] Assuming 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 obtained steering wheel angle is 15°, the absolute value of the steering wheel angle is within both the first and second preset intervals. Therefore, the maximum steering wheel angle is limited to 180°, controlling the steering actuator to keep the wheels from turning, thereby decoupling the steering actuator from the steering column.

[0080] In this embodiment, by limiting the maximum steering wheel angle, on the one hand, the heat generated by the steering column due to excessive steering wheel rotation during gameplay can be reduced, thus reducing wear on the steering column; on the other hand, during the coupling process between the steering actuator and the steering column, the time required for the alignment of the steering wheel angle and the wheel angle can be reduced, allowing the vehicle to quickly return to normal driving mode and facilitating user travel.

[0081] Figure 5 This illustration shows another exemplary process diagram of controlling the steering actuator to keep the wheels from turning, as per an embodiment of this application. Figure 5 As shown, the above-mentioned control steering actuator to keep the wheels from turning includes the following schemes:

[0082] S501: Obtain the steering wheel angle and get the first absolute value of the steering wheel angle;

[0083] S502: If the first absolute value is within the third preset range, continuously acquire the steering wheel angle to obtain the second absolute value of the steering wheel angle;

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

[0085] Once the game controller puts the vehicle into game mode, the motion simulator further acquires the vehicle's steering wheel angle, obtaining its first absolute value, and determines whether this first absolute value falls within a third preset range. If the first absolute value is within the third preset range, it is considered that both the steering wheel angle and the wheel angle are large. One possibility is that if both the steering wheel and wheel angles are large, decoupling the steering actuator from the steering column at this point would hinder subsequent coupling operations, prolonging the coupling time. Alternatively, a large steering wheel and wheel angle indicates that neither the steering wheel nor the wheels have returned to center. Decoupling at this point would leave the wheels in an uncentered state for an extended period, leading to reduced suspension performance, damage to the steering system, and tire wear. Therefore, if the first absolute value is within the third preset interval, the steering actuator is not decoupled temporarily. Simultaneously, the hand feel simulator continuously acquires the steering wheel angle, obtaining the second absolute value of the steering wheel angle. It then determines whether the second absolute value is within the fourth preset interval. If the second absolute value is within the fourth preset interval, decoupling can proceed, and decoupling is then performed. Specifically, the process for determining whether the second absolute value is within the fourth preset interval is the same as the process described above for the case where the absolute value is within the first preset interval, and will not be elaborated upon here.

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

[0087] When the first absolute value is within the fifth preset interval, the maximum steering wheel 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.

[0088] Specifically, after the steering simulator obtains the first absolute value of the steering wheel angle, it determines whether the first absolute value is within the fifth preset interval. If the first absolute value is within the fifth preset interval, the preset angle of the maximum steering wheel angle is limited. Since 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, and since the maximum value of the fourth preset interval is less than the minimum value of the third preset interval, it can be deduced 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 angle is within the fifth preset interval, the maximum steering wheel angle is limited to the preset angle. This limitation also applies when the absolute value of the steering wheel angle is within the fourth preset interval.

[0089] Assuming the third preset interval is [20°, 540°), the fourth preset interval is [0°, 20°), and the fifth preset interval is [20°, 90°), with a preset angle of 180°, when the first absolute value of the obtained steering wheel angle is 60°, this absolute value falls within both the third and fifth preset intervals. Therefore, the maximum steering wheel angle is limited to 180°, and the steering wheel angle is continuously acquired. When the second absolute value of the obtained steering wheel angle is 10°, this second absolute value falls within the fourth preset interval. The steering actuator is then controlled to keep the wheels from turning, thus decoupling the steering actuator from the steering column.

[0090] Optionally, users 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 is required for subsequent coupling.

[0091] Specifically, when the vehicle enters game mode, the steering simulator continuously acquires the absolute value of the steering wheel angle while the user is turning the steering wheel to play the game. When it is detected that the user is turning the steering wheel during the game so that the steering wheel angle meets the first preset range and the fourth preset range mentioned above, the steering actuator and the steering column are decoupled.

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

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

[0094] Specifically, such as Figure 1 As shown, when the steering actuator and steering column can be decoupled, the feel controller 101 sends a decoupling request signal to the steering actuator controller 201. 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 steer, thus stopping the wheel 207 from steering, which completes the decoupling of the steering actuator and steering column.

[0095] In one possible implementation, once the steering actuator is decoupled from the steering column, the feel simulator no longer controls the steering actuator based on the absolute value of the steering wheel angle when the vehicle is in game mode.

[0096] Optionally, once the decoupling between the steering actuator and the steering column is complete, a notification message indicating the completion of decoupling is output. For example, the notification message could be "The steer-by-wire system has been decoupled; turning the steering wheel will not cause the wheels to turn." This notification message can be output via voice announcement or displayed on the central control screen. This application embodiment does not limit the specific content or output method of the notification message.

[0097] In one possible implementation, after controlling the steering actuator to keep the wheels from turning, the vehicle control method also includes the following schemes:

[0098] Upon receiving a game mode exit command from the game controller, or / or detecting that the vehicle is not in a parked state, the system sends a coupling request signal and a steering wheel angle to the steering actuator. Upon receiving the coupling request signal and the steering wheel angle, the steering actuator performs an alignment operation between the steering wheel angle and the wheel steering angle, and couples with the steering column upon completion of the alignment operation.

[0099] Specifically, the user sends a request to exit game mode via the vehicle's central control screen. The motion simulator receives this exit command from the game controller, indicating the user intends to stop playing and may need to use the vehicle; in this case, the vehicle needs to return to normal driving mode. Alternatively, the motion simulator detects the vehicle is not parked, indicating the user may intend to use the vehicle or the vehicle may be moving; in this case, the vehicle needs to return to normal driving mode. At this time, the motion simulator acquires the current steering wheel angle and sends a coupling request signal along with this steering wheel angle to the steering actuator. Based on the received coupling request signal and steering wheel angle, the steering actuator performs an alignment operation between the steering wheel angle and the wheel steering angle. Since there is a first mapping relationship between the steering wheel angle and the rack position, and a second mapping relationship between the wheel steering angle and the rack position, the alignment operation between the steering wheel angle and the wheel steering angle is essentially the alignment process between the steering wheel angle and the rack position, and vice versa. After performing the alignment operation, the steering actuator couples with the steering column, restoring the vehicle's normal driving mode.

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

[0101] Optionally, the alignment process may further include: the steering actuator obtaining the decoupled second rack position, obtaining the second steering wheel angle corresponding to the second rack position, sending the second steering wheel angle to the hand feel simulator, the hand feel simulator controlling the road feel motor to rotate, so as to rotate the steering wheel to the second steering wheel angle, thereby aligning the steering wheel 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 further include: the hand feel simulator selects an angle within the steering angle range of the steering wheel to obtain a third steering wheel angle, which is not the actual steering angle of the steering wheel. After selecting the third steering wheel 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 angle; at the same time, the hand feel simulator obtains the third rack position corresponding to the third steering wheel 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 aligning the steering wheel angle with the wheel steering angle. After the alignment operation is completed, the steering actuator is coupled to the steering column.

[0103] Optionally, after the steering actuator and steering column are coupled, a prompt message indicating the completion of coupling is output. For example, the prompt message could be "The steer-by-wire system has been coupled, and the vehicle has returned to normal driving mode." This prompt message can be output via voice broadcast or displayed on the central control screen. This application embodiment does not limit the specific content or output method of the prompt message.

[0104] Through the above appendix Figure 1 To be continued Figure 5 This application specifically describes the vehicle control method provided in its embodiments, wherein the vehicle has Figure 6 All or part of the structure shown.

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

[0106] For example, such as Figure 6 As shown, the vehicle control device 600 is configured in the hand-feel simulator of the steer-by-wire system. The steer-by-wire system includes a hand-feel simulator and a steering actuator. The hand-feel simulator is communicatively connected to the steering actuator. The vehicle control device 600 includes:

[0107] The judgment module 601 is used to determine whether the vehicle meets the entry conditions for 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 conditions for entering the game mode and enters the game mode, so as to decouple the steering actuator from the steering column in the feel simulator.

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

[0110] The first angle acquisition unit is used to acquire the steering wheel angle and obtain the absolute value of the steering wheel angle;

[0111] The first control unit is used to control the steering actuator to keep the wheels from turning when the absolute value is within a first preset range;

[0112] The vehicle control unit 600 also includes:

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

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

[0115] The second angle acquisition unit is used to acquire the steering wheel angle and obtain the first absolute value of the steering wheel angle; if the first absolute value is within a third preset range, the steering wheel angle is continuously acquired to obtain the second absolute value of the steering wheel angle.

[0116] The second control unit is used to control the steering actuator to keep the wheels from turning when the second absolute value is within the fourth preset range; wherein the maximum value of the fourth preset range is less than the minimum value of the third preset range.

[0117] The vehicle control unit 600 also includes:

[0118] The second limiting unit is used to limit the maximum steering wheel angle to a preset angle when the first absolute value is within the 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, in controlling the steering actuator to keep the wheels from turning, specifically sends a decoupling request signal 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 turning.

[0120] In one possible implementation, the judgment module 601 includes the following steps in determining whether the vehicle meets the entry conditions for game mode and enters game mode:

[0121] The first judgment unit is used to determine whether the vehicle is in a parked state when it receives a first signal from the game controller requesting to enter the game mode; wherein, when the game controller receives a game entry command triggered by the user from the vehicle's central control screen, it sends a first signal to the hand-feel simulator.

[0122] The third control unit is used to send a second signal to the game controller when the vehicle is in a parked state, so that the game controller can control the vehicle to enter game mode; wherein, the second signal is used to instruct the game controller to allow the vehicle to enter game mode.

[0123] The first determining unit is used to determine that the vehicle meets the entry conditions for the game mode and enters the game mode when it receives a third signal from the game controller regarding the vehicle entering the game mode.

[0124] In one possible implementation, the determination module 601, in determining whether the vehicle is in a parked state, includes:

[0125] The first acquisition unit is used to acquire vehicle speed, gear position, and the on / off status of the electronic brake;

[0126] The second judgment unit is used to determine whether the vehicle speed is less than or equal to the preset vehicle speed, whether the gear is in gear, and whether the electronic brake switch is in the open state, so as to determine whether the vehicle is in a parked state.

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

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

[0129] For example, such as Figure 7 As shown, the vehicle 700 includes: a memory 701, a processor 702, and a steer-by-wire system 703. The memory 701 stores 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] 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 control method provided in embodiments of this application.

[0131] 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.

[0132] When each functional module is divided according to its corresponding function, the device may also include a judgment module, a control module, etc. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

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

[0134] 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.

[0135] 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.

[0136] 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 control method provided in the above embodiments.

[0137] 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 control method provided in the above embodiment.

[0138] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method provided in the above embodiment.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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 control method applied to a hand-feel simulator in a steer-by-wire system, the steer-by-wire system comprising the hand-feel simulator and a steering actuator, the hand-feel simulator being communicatively connected to the steering actuator, characterized in that, The method includes: Determine whether the vehicle meets the entry conditions for the game mode and enter the game mode accordingly; When the vehicle meets the entry conditions for the game mode and enters the game mode, the steering actuator is controlled to keep the wheels from turning, so as to decouple the steering actuator from the steering column in the feel simulator; The control of the steering actuator to keep the wheels from turning includes: Obtain the steering wheel angle and get the first absolute value of the steering wheel angle; If the first absolute value is within the third preset interval, the steering wheel angle is continuously acquired to obtain the second absolute value of the steering wheel angle. When the second absolute value is within the fourth preset interval, the steering actuator is controlled to keep the wheel from turning; wherein the maximum value of the fourth preset interval is less than the minimum value of the third preset interval.

2. The method according to claim 1, characterized in that, The control of the steering actuator to keep the wheels from turning includes: Obtain the steering wheel angle and get its absolute value; When the absolute value is within a first preset range, the steering actuator is controlled to keep the wheels from turning. The method further includes: When the absolute value is within the second preset interval, the maximum steering wheel 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 method further includes: When the first absolute value is within the fifth preset interval, the maximum steering wheel 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 1-3, characterized in that, The steering actuator includes a rack; The control of the steering actuator to keep the wheels from turning includes: 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 determination of whether the vehicle meets the entry conditions for the game mode and enters the game mode includes: Upon receiving a first signal from the game controller requesting entry into the game mode, the system determines whether the vehicle is in a parked state; wherein, when the game controller receives a user-triggered game entry command from the vehicle's central control screen, it sends the first signal to the motion simulator. When the vehicle is in the parked state, a second signal is sent to the game controller to cause the game controller to control the vehicle to enter the game mode; wherein, the second signal is used to instruct the game controller to allow the vehicle to enter the game mode; Upon receiving a third signal from the game controller indicating that the vehicle has entered the game mode, the system determines that the vehicle meets the entry conditions for the game mode and has entered the game mode.

6. The method according to claim 5, characterized in that, The determination of whether the vehicle is in a parked state includes: Obtain vehicle speed, gear position, and the on / off status of the electronic brakes; The system determines whether the vehicle is in the parking state by checking whether the vehicle speed is less than or equal to a preset speed, whether the gear is in the parking gear, and whether the electronic brake is in the on state.

7. The method according to any one of claims 1-3, characterized in that, After controlling the steering actuator to keep the wheels from turning, the method further includes: Upon receiving an exit command for the game mode from the game controller, or upon detecting that the vehicle is not in a parked state, the system sends a coupling request signal and a steering wheel angle to the steering actuator. Upon receiving the coupling request signal and the steering wheel angle, the steering actuator performs an alignment operation between the steering wheel angle and the wheel steering angle, and couples with the steering column upon completion of the alignment operation.

8. A vehicle control device, comprising a hand-feel simulator configured in a steer-by-wire system, the steer-by-wire system including the hand-feel simulator and a steering actuator, the hand-feel simulator being communicatively connected to the steering actuator, characterized in that, The device includes: The judgment module is used to determine whether the vehicle meets the entry conditions for 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 feel simulator; The control of the steering actuator to keep the wheels from turning includes: Obtain the steering wheel angle and get the first absolute value of the steering wheel angle; If the first absolute value is within the third preset interval, the steering wheel angle is continuously acquired to obtain the second absolute value of the steering wheel angle. When the second absolute value is within the fourth preset interval, the steering actuator is controlled to keep the wheel from turning; wherein the maximum value of the fourth preset interval is less than the minimum value of the third preset interval.

9. A vehicle, characterized in that, The vehicles include: Steer-by-wire system; 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.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1 to 7.

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