Vehicle control method, storage medium, program product, device, system and vehicle

Abstract

The invention relates to a vehicle control method, a storage medium, a program product, equipment, a system and a vehicle. The vehicle control method comprises the step of controlling operation of vehicle auxiliary equipment according to steering data of a steering wheel. The steering function of the steering wheel is expanded, and the functional diversity of the steering wheel is improved. In addition, function expansion can be achieved based on an existing vehicle, and diversified control functions can be improved without increasing cost.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, storage medium, program product, device, system and vehicle. Background Art

[0002] When driving a vehicle, the driver can turn the vehicle by turning the steering wheel. For example, the driver can turn the steering wheel to the right to turn right, and the driver can turn the steering wheel to the left to turn left. However, the steering wheel can only be used to achieve the steering function, with a single function and poor scalability. Summary of the invention

[0003] The embodiments of the present application provide a vehicle control method, storage medium, program product, device, system and vehicle, which expand the steering function of the steering wheel and enhance the diversity of the steering wheel functions, so as to at least partially solve the above-mentioned technical problems.

[0004] In order to achieve the above-mentioned objective, according to a first aspect of the present application, a vehicle control method is provided, comprising: controlling the operation of vehicle auxiliary equipment according to steering data of a steering wheel.

[0005] Optionally, the vehicle auxiliary equipment includes any one of the following: windows, radio, rearview mirrors, air conditioning, and media.

[0006] Optionally, controlling the operation of the vehicle auxiliary equipment according to the steering data of the steering wheel includes: after the vehicle enters a cockpit control mode, controlling the operation of the vehicle auxiliary equipment according to the steering data of the steering wheel.

[0007] Optionally, the method further includes: in response to the vehicle satisfying a cockpit control enabling condition, controlling the vehicle to enter a cockpit control mode.

[0008] Optionally, the cabin control enabling condition includes at least one of the following: the vehicle speed is zero, the gear position of the vehicle is neutral, the vehicle is in parking state, and the vehicle receives a cabin control enabling operation.

[0009] Optionally, in response to the vehicle satisfying a cabin control enable condition, controlling the vehicle to enter a cabin control mode includes: in response to the vehicle satisfying a cabin control enable condition and a target control module of the vehicle not failing, controlling the vehicle to enter a cabin control mode.

[0010] Optionally, the target control module includes a hand feeling module.

[0011] Optionally, after the vehicle enters the cockpit control mode, the operation of the vehicle auxiliary equipment is controlled according to the steering data of the steering wheel, including: after the vehicle enters the cockpit control mode, displaying a device selection interface; wherein the device selection interface includes a selection icon for at least one vehicle auxiliary equipment; in response to a selection operation for a first auxiliary equipment among at least one of the vehicle auxiliary equipment, controlling the operation of the first auxiliary equipment according to the steering data of the steering wheel.

[0012] Optionally, controlling the operation of the vehicle auxiliary device according to the steering data of the steering wheel includes: controlling the operation of the vehicle auxiliary device according to a current steering angle of the steering wheel and a current operating parameter of the vehicle auxiliary device.

[0013] Optionally, controlling the operation of the vehicle auxiliary equipment according to a current steering angle of the steering wheel and current operating parameters of the vehicle auxiliary equipment includes: determining a first motor torque according to the current steering angle of the steering wheel and current operating parameters of the vehicle auxiliary equipment; and controlling the operation of the vehicle auxiliary equipment according to the first motor torque.

[0014] Optionally, determining the first motor torque based on a current steering angle of the steering wheel and current operating parameters of the vehicle auxiliary equipment includes: determining target operating parameters of the vehicle auxiliary equipment based on the current steering angle and steering offset angle of the steering wheel; determining the first motor torque based on the target operating parameters and current operating parameters of the vehicle auxiliary equipment, and a first torque factor.

[0015] Optionally, the method further includes: adjusting the feel of the steering wheel according to a current steering angle of the steering wheel.

[0016] Optionally, adjusting the feel of the steering wheel according to the current steering angle of the steering wheel includes: determining a second motor torque according to the current steering angle and steering offset angle of the steering wheel, and a second torque factor; and adjusting the feel of the steering wheel according to the second motor torque.

[0017] Optionally, the method further comprises: determining a steering offset angle of the steering wheel according to current operating parameters of vehicle auxiliary equipment and an initial steering angle of the steering wheel.

[0018] Optionally, the vehicle auxiliary device comprises a vehicle window, and the current operating parameter of the vehicle auxiliary device comprises a percentage between a current position of the vehicle window and a reference position of the vehicle window.

[0019] Optionally, the vehicle auxiliary device comprises a rearview mirror, and the current operating parameter of the vehicle auxiliary device comprises a percentage between a current position of the rearview mirror and a reference position of the rearview mirror.

[0020] Optionally, the vehicle auxiliary device includes an air conditioner, and the current operating parameter of the vehicle auxiliary device includes a percentage between a current temperature of the air conditioner and a reference temperature of the air conditioner.

[0021] Optionally, the vehicle auxiliary device includes media, and the current operating parameter of the vehicle auxiliary device includes a percentage between a current volume of the media and a reference volume of the media.

[0022] Optionally, controlling the operation of the vehicle auxiliary equipment according to the steering data of the steering wheel includes: controlling the operation of the vehicle auxiliary equipment according to the change in the steering angle of the steering wheel.

[0023] Optionally, controlling the operation of a vehicle auxiliary device according to a change in the steering angle of a steering wheel comprises: determining a change in an operating parameter of the vehicle auxiliary device according to the change in the steering angle of the steering wheel and a first correlation factor; and controlling the operation of the vehicle auxiliary device according to the change in the operating parameter.

[0024] Optionally, the vehicle auxiliary device includes a radio, and the change in the operating parameter of the vehicle auxiliary device includes a change in a frequency modulation parameter of the radio.

[0025] Optionally, the method further includes: adjusting the feel of the steering wheel according to a current operating state of the vehicle auxiliary equipment.

[0026] Optionally, adjusting the feel of the steering wheel according to the current operating state of the vehicle auxiliary device includes: determining the second motor torque according to the current operating state of the vehicle auxiliary device and a first resistance torque factor; and adjusting the feel of the steering wheel according to the second motor torque.

[0027] Optionally, the vehicle auxiliary device includes a radio, and the current operating state of the vehicle auxiliary device includes a current signal-to-noise ratio of the radio.

[0028] According to a second aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned vehicle control method is implemented.

[0029] According to a third aspect of the present application, a computer program product is provided, comprising a computer program, wherein the computer program implements the above-mentioned vehicle control method when executed by a processor.

[0030] According to a fourth aspect of the present application, an electronic device is provided, comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory to implement the above-mentioned vehicle control method.

[0031] According to a fifth aspect of the present application, a vehicle control system is provided, the vehicle control system comprising a steering wheel, a vehicle auxiliary device and an electronic device, wherein the electronic device is used to control the operation of the vehicle auxiliary device according to the steering data of the steering wheel.

[0032] Optionally, the vehicle control system further comprises an angle sensor, wherein the angle sensor is used to send the steering angle of the steering wheel to the electronic device.

[0033] Optionally, the vehicle control system further comprises an equipment motor, wherein the electronic device is further used to: send a first motor torque to the equipment motor; and the equipment motor is used to: control the operation of the vehicle auxiliary equipment according to the first motor torque.

[0034] Optionally, the vehicle control system further comprises a hand-feeling motor, wherein the electronic device is further used to: send a second motor torque to the hand-feeling motor; and the hand-feeling motor is used to: control the steering wheel according to the second motor torque.

[0035] According to a sixth aspect of the present application, a vehicle is provided, comprising the above-mentioned electronic device or the above-mentioned vehicle control system.

[0036] The technical solution provided by the embodiment of the present application controls the operation of the vehicle auxiliary equipment according to the steering data of the steering wheel, thereby expanding the steering function of the steering wheel and improving the diversity of the steering wheel functions. Moreover, the embodiment of the present application can realize function expansion based on the existing vehicle, and can improve the diversified control functions without increasing the cost. In addition, the embodiment of the present application gives the driver more space to independently control the vehicle auxiliary equipment, and improves the human-computer interaction experience.

[0037] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0039] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0040] Figure 1 is a flow chart of a vehicle control method provided by an embodiment of the present application; Figure 2 is a schematic diagram of a vehicle control system provided in an embodiment of the present application; Figure 3 is a flow chart of another vehicle control method provided by an embodiment of the present application; Figure 4 is a schematic diagram of a vehicle control process provided by an embodiment of the present application; Figure 5 is a schematic diagram of another vehicle control process provided by an embodiment of the present application; Figure 6 is a schematic diagram of another vehicle control process provided by an embodiment of the present application; Figure 7 is a schematic diagram of another vehicle control process provided by an embodiment of the present application; Figure 8 is a schematic diagram of another vehicle control process provided by an embodiment of the present application; Fig. 9 is a schematic diagram of another vehicle control process provided by an embodiment of the present application; Fig.10 It is a schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0042] According to a first aspect of the present application, an embodiment of the present application provides a vehicle control method.

[0043] See also Figure 1 , Figure 1 : is a flow chart of a vehicle control method provided by an embodiment of the present application. Figure 1 As shown, the vehicle control method may include the following steps: Step S100: Controlling the operation of vehicle auxiliary equipment according to the steering data of the steering wheel.

[0044] Vehicle auxiliary equipment refers to equipment used to assist the driver in driving the vehicle, which can improve comfort and intelligence. In some embodiments, vehicle auxiliary equipment includes but is not limited to: windows, radio, rearview mirror, air conditioning, media.

[0045] The embodiment of the present application can control the operation of the vehicle auxiliary equipment according to the steering data of the steering wheel, for example, turn on or off the vehicle auxiliary equipment or adjust the operating parameters of the vehicle auxiliary equipment, etc. The steering data of the steering wheel includes but is not limited to the steering direction of the steering wheel or the steering angle of the steering wheel, etc.

[0046] For example, taking the case where the vehicle auxiliary equipment includes windows, the degree of opening and closing of the windows can be controlled according to the steering data of the steering wheel; taking the case where the vehicle auxiliary equipment includes a radio, the radio can be turned on or off, or the receiving channel of the radio can be adjusted according to the steering data of the steering wheel; taking the case where the vehicle auxiliary equipment includes air conditioning, the air conditioning can be turned on or off, or the temperature of the air conditioning can be adjusted according to the steering data of the steering wheel.

[0047] It should be understood that in the embodiment of the present application, the operation of one or more vehicle auxiliary devices can be controlled according to the steering data of the steering wheel. That is, according to the steering data of the steering wheel, one vehicle auxiliary device can be controlled at a time; or, according to the steering data of the steering wheel, multiple vehicle auxiliary devices can be controlled at a time. For example, according to the steering data of the steering wheel, you can choose to control the opening and closing degree of the window, or control the display position of the rearview mirror, etc. at a time. For another example, according to the steering data of the steering wheel, you can control the air conditioner and the radio to turn on at the same time.

[0048] In summary, the technical solution provided by the embodiment of the present application controls the operation of the vehicle auxiliary equipment according to the steering data of the steering wheel, thereby expanding the steering function of the steering wheel and improving the diversity of the steering wheel functions. Moreover, the embodiment of the present application can realize function expansion based on existing vehicles, and can improve the diversified control functions without increasing costs. In addition, the embodiment of the present application gives the driver more space to independently control the vehicle auxiliary equipment, which improves the human-computer interaction experience.

[0049] In some embodiments, the above step S100 may include: after the vehicle enters the cockpit control mode, according to the steering data of the steering wheel, controlling the operation of the vehicle auxiliary equipment. In order to avoid affecting driving safety, the embodiment of the present application sets a cockpit control mode, and after the vehicle enters the cockpit control mode, the vehicle auxiliary equipment is controlled according to the steering wheel, so as to avoid affecting the steering function of the steering wheel during driving.

[0050] In some embodiments, the vehicle control method may further include the following steps: Step S000: In response to the vehicle satisfying a cockpit control enabling condition, controlling the vehicle to enter a cockpit control mode.

[0051] The cockpit control enabling condition may be one or more preset judgment conditions. When the vehicle satisfies the cockpit control enabling condition, the vehicle enters the cockpit control mode, and the user can control the vehicle auxiliary equipment according to the steering wheel. The embodiment of the present application does not limit the specific content of the cockpit control enabling condition. In actual application, it can be flexibly set in combination with demand. In some embodiments, the cockpit control enabling condition includes at least one of the following: the vehicle speed is zero, the vehicle gear is neutral, the vehicle is in parking state, and the vehicle receives the cockpit control enabling operation. Among them, the cockpit control enabling operation can be initiated by the user. For example, the vehicle can display an interactive interface through a multimedia device. The interactive interface includes a selection icon of the cockpit control mode, such as a button, an image, a text, etc. The user clicks the selection icon of the cockpit control mode, and the vehicle can receive the cockpit control enabling operation. In addition, for safety considerations, one or more conditions can be set as necessary content of the cockpit control enabling condition, and the embodiment of the present application does not limit this. For example, the vehicle being in a parking state (ie, a stopped state) may be set as a necessary content of the cockpit control enabling condition, or the vehicle being in a parking state and the vehicle gear being in neutral may be set as a necessary content of the cockpit control enabling condition.

[0052] In some embodiments, the above step S000 may include: in response to the vehicle meeting the cockpit control enabling condition and the target control module of the vehicle not failing, controlling the vehicle to enter the cockpit control mode. In order to avoid cockpit control failure due to system failure, the embodiment of the present application first performs fault detection on the target control module of the vehicle when the vehicle meets the cockpit control enabling condition. If no fault occurs, the vehicle is controlled to enter the cockpit control mode. If a fault occurs, the user may be prompted that a fault has occurred, the cockpit control mode cannot be entered at present, and the fault needs to be repaired in time. Among them, the target control module may be all modules in the vehicle, or a module in the vehicle related to the functional implementation of the cockpit control mode. In some embodiments, the target control module may include a feel module, which includes but is not limited to: a steering wheel, an angle sensor on a steering shaft connected to the steering wheel, a feel motor, etc. It should be understood that the embodiment of the present application may be applicable to wire control steering, which means that the steering wheel and the steering shaft are connected by a wire harness, and the steering wheel can work independently without affecting the wheels. However, the embodiment of the present application does not exclude the possibility of mechanical steering, which means that the steering wheel and the steering shaft are mechanically connected, and the wheels follow the steering wheel when the steering wheel moves. For safety reasons, etc., the vehicle control method provided in the embodiments of the present application can be used in vehicles with wire-controlled steering.

[0053] In order to provide users with more autonomously selected controls, users can select the vehicle auxiliary devices they need to control. Based on this, in some embodiments, the above step S000 may include: after the vehicle enters the cockpit control mode, displaying a device selection interface; in response to a selection operation for a first auxiliary device among at least one vehicle auxiliary device, controlling the operation of the first auxiliary device according to the steering data of the steering wheel. Among them, the device selection interface includes a selection icon of at least one vehicle auxiliary device, such as a button, image, text, etc. When a user clicks on a selection icon of a vehicle auxiliary device, the vehicle can receive the user's selection operation for the vehicle auxiliary device. Taking the first auxiliary device among at least one vehicle auxiliary device as an example, in response to a selection operation for the first auxiliary device, the first auxiliary device is controlled according to the steering wheel.

[0054] It should be understood that the number of the first auxiliary devices in the embodiment of the present application is not limited. In actual applications, the first auxiliary device can be one vehicle auxiliary device or multiple vehicle auxiliary devices, that is, the user can select multiple vehicle auxiliary devices to perform control at the same time. In addition, in the case where the first auxiliary device includes multiple sub-devices, the vehicle can simultaneously control multiple sub-devices of the first auxiliary device according to the steering wheel; or, the user can further select one or more sub-devices to be controlled, so that the vehicle can control the sub-devices selected by the user according to the steering wheel. For example, taking the first auxiliary device as a window as an example, the vehicle can include a left front window, a right front window, a left rear window, and a right rear window. The user can select the specific window to be controlled, such as the left front window and the right rear window, so that the window controls the left front window and the right rear window according to the steering wheel.

[0055] In summary, the technical solution provided by the embodiment of the present application can avoid affecting the steering function of the steering wheel during driving and avoid affecting driving safety by setting the cockpit control mode, entering the cockpit control mode when the cockpit control enabling conditions are met, and then controlling the vehicle auxiliary equipment according to the steering wheel. In addition, in the embodiment of the present application, the user can independently select the vehicle auxiliary equipment to be controlled, which provides the user with more room for independent selection and further improves the human-computer interaction experience.

[0056] In some embodiments, the above step S100 may include the following steps: Step S110: Controlling the operation of the vehicle auxiliary equipment according to the current steering angle of the steering wheel and the current operating parameters of the vehicle auxiliary equipment.

[0057] The steering data of the steering wheel includes the current steering angle of the steering wheel. According to the current steering angle of the steering wheel and the current operating parameters of the vehicle auxiliary device, the operation of the vehicle auxiliary device is controlled so that the parameter adjustment of the vehicle auxiliary device is adapted to the current operating state.

[0058] In practical applications, the vehicle auxiliary device can be controlled by the device motor, and the motor torque of the device motor can be determined according to the current steering angle of the steering wheel and the current operating parameters of the vehicle auxiliary device, so as to control the operation of the vehicle auxiliary device according to the motor torque. Based on this, in some embodiments, the above step S110 may include the following steps: Step S111: determining a first motor torque according to a current steering angle of the steering wheel and current operating parameters of the vehicle auxiliary equipment; Step S112: Controlling the operation of the vehicle auxiliary equipment according to the first motor torque.

[0059] The first motor torque is the motor torque of the device motor of the vehicle auxiliary device. The device motor is controlled according to the first motor torque, thereby controlling the operation of the vehicle auxiliary device. Among them, the first motor torque can be the output torque of the device motor, which is not limited in the embodiment of the present application. In some embodiments, the above step S111 may include: determining the target operating parameters of the vehicle auxiliary device according to the current steering angle and steering offset angle of the steering wheel; determining the first motor torque according to the target operating parameters and current operating parameters of the vehicle auxiliary device, and the first torque factor.

[0060] The steering offset angle refers to the offset of the steering angle of the steering wheel before controlling the vehicle auxiliary equipment. In the embodiment of the present application, the steering offset angle of the steering wheel can be corrected according to the current operating parameters of the vehicle auxiliary equipment. Based on this, in some embodiments, the above vehicle control method further includes the following steps: Step S200: Determine the steering offset angle of the steering wheel according to the current operating parameters of the vehicle auxiliary equipment and the initial steering angle of the steering wheel.

[0061] According to the current operating parameters of the vehicle auxiliary equipment, the equivalent steering angle of the steering wheel can be determined. The equivalent steering angle should be the sum of the initial steering angle of the steering wheel and the steering offset angle. Therefore, the steering offset angle of the steering wheel can be corrected according to the current operating parameters of the vehicle auxiliary equipment.

[0062] In some embodiments, the vehicle control method further includes the following steps: Step S210: adjusting the feel of the steering wheel according to the current steering angle of the steering wheel.

[0063] The feel of the steering wheel is used to indicate the reaction force applied by the feel motor to the steering wheel. The smaller the steering angle of the steering wheel, the lighter the feel of the steering wheel can be set; the larger the steering angle of the steering wheel, the heavier the feel of the steering wheel can be set. That is, there is a positive correlation between the feel of the steering wheel and the steering angle of the steering wheel. Of course, the embodiment of the present application does not rule out the possibility that there is a negative correlation between the feel of the steering wheel and the steering angle of the steering wheel, that is, the smaller the steering angle of the steering wheel, the heavier the feel of the steering wheel can be set; the larger the steering angle of the steering wheel, the lighter the feel of the steering wheel can be set. The embodiment of the present application adjusts the feel of the steering wheel according to the current steering angle of the steering wheel.

[0064] The feel of the steering wheel is provided by the feel motor, therefore, it is necessary to determine the motor torque of the feel motor according to the current steering angle of the steering wheel, and then control the feel of the steering wheel according to the motor torque. Based on this, in some embodiments, the above step S210 may include the following steps: Step S211: determining the second motor torque according to the current steering angle and steering offset angle of the steering wheel and the second torque factor; Step S212: Adjust the feel of the steering wheel according to the second motor torque.

[0065] The second motor torque is the torque of the feel motor, and the feel motor is controlled according to the second motor torque, thereby controlling the feel of the steering wheel. The second motor torque may be the output torque of the feel motor, which is not limited in the present embodiment. The steering offset angle of the steering wheel used in determining the second motor torque may be determined by the above step S200, which is not described in detail in the present embodiment.

[0066] Taking the vehicle auxiliary equipment including a vehicle window as an example, the current operating parameter of the vehicle auxiliary equipment includes the percentage between the current position of the vehicle window and the reference position of the vehicle window, which may be referred to as the vehicle window position percentage hereinafter. The reference position of the vehicle window may refer to the position of the vehicle window when it is fully closed or the position of the vehicle window when it is fully opened, which is not limited in the embodiments of the present application.

[0067] Based on this, the steering offset angle of the steering wheel can be calculated by the following formula 1, the first motor torque can be calculated by the following formula 2, and the second motor torque can be calculated by the following formula 3.

[0068] Formula 1: Equivalent steering angle of the steering wheel = window position percentage × 360° = initial steering angle of the steering wheel + steering offset angle of the steering wheel.

[0069] Formula 2: First motor torque = [(current steering angle of the steering wheel + steering offset angle of the steering wheel) / 360°-window position percentage] × first torque factor.

[0070] Formula 3: Second motor torque=[(current steering angle of the steering wheel+steering offset angle of the steering wheel) / 360°]×second torque factor.

[0071] Taking the vehicle auxiliary equipment including a rearview mirror as an example, the current operating parameter of the vehicle auxiliary equipment includes the percentage between the current position of the rearview mirror and the reference position of the rearview mirror, which may be referred to as the rearview mirror position percentage hereinafter. The reference position of the rearview mirror may refer to the position of the rearview mirror when it is centered or to the position of the rearview mirror when it is at the upper side and / or the right edge, which is not limited in the embodiments of the present application.

[0072] Based on this, the steering offset angle of the steering wheel can be calculated by the following formula 4, the first motor torque can be calculated by the following formula 5, and the second motor torque can be calculated by the following formula 6.

[0073] Formula 4: Equivalent steering angle of the steering wheel = rearview mirror position percentage × 360° = initial steering angle of the steering wheel + steering offset angle of the steering wheel.

[0074] Formula 5: First motor torque = [(current steering angle of the steering wheel + steering offset angle of the steering wheel) / 360°-rearview mirror position percentage] × first torque factor.

[0075] Formula 6: Second motor torque=[(current steering angle of the steering wheel+steering offset angle of the steering wheel) / 360°]×second torque factor.

[0076] Taking the vehicle auxiliary equipment including an air conditioner as an example, the current operating parameter of the vehicle auxiliary equipment includes the percentage between the current temperature of the air conditioner and the reference temperature of the air conditioner, which may be referred to as the temperature percentage hereinafter. The reference temperature of the air conditioner may refer to the maximum temperature of the air conditioner, which is not limited in the embodiments of the present application.

[0077] Based on this, the steering offset angle of the steering wheel can be calculated by the following formula 7, and the second motor torque can be calculated by the following formula 8.

[0078] Formula 7: Equivalent steering angle of the steering wheel = temperature percentage × 360° = initial steering angle of the steering wheel + steering offset angle of the steering wheel.

[0079] Formula 8: Second motor torque=[(current steering angle of the steering wheel+steering offset angle of the steering wheel) / 360°]×second torque factor.

[0080] Taking the vehicle auxiliary device including media as an example, the current operating parameter of the vehicle auxiliary device includes the percentage between the current volume of the media and the reference volume of the media, which may be referred to as the volume percentage hereinafter. The reference volume of the media may refer to the maximum volume of the media, which is not limited in the embodiments of the present application.

[0081] Based on this, the steering offset angle of the steering wheel can be calculated by the following formula 9, and the second motor torque can be calculated by the following formula 10.

[0082] Formula 9: Equivalent steering angle of the steering wheel = volume percentage × 360° = initial steering angle of the steering wheel + steering offset angle of the steering wheel.

[0083] Formula 10: Second motor torque=[(current steering angle of the steering wheel+steering offset angle of the steering wheel) / 360°]×second torque factor.

[0084] It should be understood that the existing software interfaces can be directly reused for the temperature control of the air conditioner and the volume control of the media without increasing the cost.

[0085] In some embodiments, the above step S100 may include the following steps: Step S120: Controlling the operation of vehicle auxiliary equipment according to the change in the steering angle of the steering wheel.

[0086] The steering angle change of the steering wheel may refer to the difference between the current steering angle of the steering wheel and the initial steering angle. The embodiment of the present application may control the operation of the vehicle auxiliary equipment according to the steering angle change of the steering wheel.

[0087] In practical applications, a mapping relationship may be established between the steering angle change of the steering wheel and the operating parameter change of the vehicle auxiliary device, so that the operating parameter change may be determined according to the steering angle change to adjust the operating parameter of the vehicle auxiliary device. Based on this, in some embodiments, the above step S120 may include the following steps: Step S121: determining a change in an operating parameter of a vehicle auxiliary device according to a change in a steering angle of the steering wheel and a first correlation factor; Step S122: Control the operation of the vehicle auxiliary equipment according to the change in the operating parameter.

[0088] The first correlation factor may be a preset factor for indicating a mapping relationship between a steering angle change and an operating parameter change. For example, the first correlation factor may be determined based on a maximum value of a steering angle change and a maximum value of an operating parameter change. The steering angle change of the steering wheel may be multiplied by the first correlation factor to determine an operating parameter change of the vehicle auxiliary device. The operating parameters of the vehicle auxiliary device may be adjusted based on the operating parameter change to control the operation of the vehicle auxiliary device. For example, the current operating parameters of the vehicle auxiliary device may be added to the operating parameter change to obtain a target operating parameter of the vehicle auxiliary device, and then the vehicle auxiliary device may be controlled to adjust to the target operating parameter.

[0089] In some embodiments, the vehicle control method may further include the following steps: Step S220: Adjust the feel of the steering wheel according to the current operating status of the vehicle auxiliary equipment.

[0090] The current operating state of the vehicle auxiliary device is used to indicate the current operating performance of the vehicle auxiliary device. For example, the current operating state includes but is not limited to: signal-to-noise ratio, memory occupancy, air volume, etc. According to the current operating state of the vehicle auxiliary device, the feel of the steering wheel is adjusted so that the user can clearly understand the current operating performance of the vehicle auxiliary device.

[0091] The feel of the steering wheel is used to indicate the reaction force applied by the hand-feel motor to the steering wheel. In order to allow the user to clearly understand the current operating performance of the vehicle auxiliary equipment, the feel of the steering wheel may be negatively correlated with the current operating state of the vehicle auxiliary equipment, that is, the better the current operating state of the vehicle auxiliary equipment, the lighter the feel of the steering wheel; the worse the current operating state of the vehicle auxiliary equipment, the heavier the feel of the steering wheel. Of course, the embodiment of the present application does not exclude the possibility that the feel of the steering wheel is positively correlated with the current operating state of the vehicle auxiliary equipment, that is, the worse the current operating state of the vehicle auxiliary equipment, the lighter the feel of the steering wheel; the better the current operating state of the vehicle auxiliary equipment, the heavier the feel of the steering wheel. The feel of the steering wheel is provided by the hand-feel motor. Therefore, it is necessary to determine the motor torque of the hand-feel motor according to the current operating state of the vehicle auxiliary equipment, and then control the feel of the steering wheel according to the motor torque. Based on this, in some embodiments, the above step S220 may include the following steps: Step S221: determining the second motor torque according to the current operating state of the vehicle auxiliary device and the first resistance torque factor; Step S222: Adjust the feel of the steering wheel according to the second motor torque.

[0092] The first resistance torque factor is a conversion factor between the current operating state of the vehicle auxiliary device and the motor torque of the hand-feel motor. In practical applications, a suitable resistance torque factor can be determined according to the torque range of the hand-feel motor and the operating state range of the vehicle auxiliary device.

[0093] Taking the vehicle auxiliary equipment including a radio as an example, the operating parameter change of the vehicle auxiliary equipment includes the frequency modulation (FM) parameter change of the radio. Based on this, the FM parameter change of the radio can be calculated by the following formula 11.

[0094] Formula 11: FM parameter change = steering wheel steering angle change × first correlation factor.

[0095] Among them, if the FM parameter variation range of the radio is 87.5 to 108, the FM parameter variation range is 20.5, and the steering wheel rotates 360°, that is, the steering angle variation range of the steering wheel is 360°, so the first correlation factor can be set to 0.1.

[0096] Taking the vehicle auxiliary equipment including a radio as an example, the current operating state of the vehicle auxiliary equipment includes the current signal-to-noise ratio of the radio. The sound signal of the radio can be obtained by picking up the sound from the microphone in the vehicle, without changing the internal circuit or chip, and without increasing the cost. The current signal-to-noise ratio can be analyzed based on the sound signal picked up by the microphone. Based on this, the second motor torque can be calculated by the following formula 12.

[0097] Formula 12: Second motor torque = current signal-to-noise ratio × first resistance torque factor.

[0098] In summary, the technical solution provided by the embodiment of the present application controls the operation of the vehicle auxiliary equipment according to the steering data of the steering wheel. For example, the operating parameters of the vehicle auxiliary equipment are adjusted according to the current steering angle of the steering wheel or the steering angle change, thereby achieving real-time control of the operation of the vehicle auxiliary equipment according to the steering data of the steering wheel. In addition, the embodiment of the present application can adjust the feel of the steering wheel according to the steering data of the steering wheel or the current operating state of the vehicle auxiliary equipment, thereby giving the user adjustment feedback.

[0099] According to the second aspect of the present application, the embodiment of the present application further provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above-mentioned vehicle control method are implemented. The non-transitory computer-readable storage medium has all the beneficial effects of the above-mentioned vehicle control method, and the present application will not repeat them here.

[0100] According to the third aspect of the present application, an embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the above-mentioned vehicle control method and has all the beneficial effects of the above-mentioned vehicle control method. This application will not go into details here.

[0101] According to the fourth aspect of the present application, an embodiment of the present application further provides an electronic device, comprising: a memory and a processor, wherein a computer program is stored in the memory; and the processor is used to execute the computer program in the memory to implement the steps of the above-mentioned vehicle control method. The electronic device has all the beneficial effects of the above-mentioned vehicle control method, which will not be described in detail in this application.

[0102] The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof, which is not specifically limited in the present application. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0103] In some embodiments of the present application, computer-readable storage media may be any tangible media that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0104] The computer-readable storage medium may be included in the electronic device or may exist independently without being installed in the electronic device. The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: Control the operation of vehicle auxiliary equipment based on the steering data of the steering wheel.

[0105] Computer program code for performing the operations of some embodiments of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network (including a local area network (LAN) or a wide area network (WAN)), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0106] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a portion of a code, which contains one or more executable instructions for implementing a specified logical function.

[0107] It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.

[0108] For example, two boxes shown in succession may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of boxes in the block diagram and / or flow chart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0109] The units described in some embodiments of the present application may be implemented in software or hardware, and the units described may also be arranged in a processor.

[0110] The functions described above in this article may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), Application Specific Standard Parts (ASSP), System on Chip (SOC), Complex Programmable Logic Device (CPLD), etc.

[0111] According to a fifth aspect of the present application, Figure 2 As shown, the embodiment of the present application further provides a vehicle control system. The vehicle control system is used to execute the above vehicle control method and has all the beneficial effects of the above vehicle control method, which will not be described in detail in the present application.

[0112] like Figure 2 As shown, the vehicle control system includes a steering wheel 100, a vehicle auxiliary device 200 and an electronic device 300. The electronic device 300 is used to control the operation of the vehicle auxiliary device 200 according to the steering data of the steering wheel 100. The electronic device 300 may be a central control system of the vehicle.

[0113] In some embodiments, the vehicle control system further includes an angle sensor 110 , wherein the angle sensor 110 is used to send the steering angle of the steering wheel 100 to the electronic device 300 .

[0114] In some embodiments, the vehicle control system further includes a device motor, wherein the electronic device 300 is further configured to: send a first motor torque to the device motor; and the device motor is configured to: control the operation of the vehicle auxiliary device 200 according to the first motor torque.

[0115] In some embodiments, the vehicle control system further includes a hand-feeling motor 120. The electronic device 300 is further configured to send a second motor torque to the hand-feeling motor 120; and the hand-feeling motor 120 is configured to control the steering wheel 100 according to the second motor torque.

[0116] The vehicle control system may include a hand feeling module for hand feeling simulation, and the hand feeling module includes the above-mentioned steering wheel 100 , angle sensor 110 and hand feeling motor 120 .

[0117] According to the sixth aspect of the present application, Fig.10As shown, the embodiment of the present application further provides a vehicle 10, which includes the above electronic device. The vehicle has all the beneficial effects of the above electronic device, etc., which will not be described in detail in the present application.

[0118] The vehicle may be a fuel vehicle, a plug-in hybrid vehicle or a new energy vehicle, etc., and this application does not make any specific limitation on this.

[0119] Below, the vehicle control method and vehicle control system provided in the embodiments of the present application are introduced and explained with several examples.

[0120] like Figure 3 As shown, the vehicle control method may include the following steps: Step S301: Control the vehicle to enter the cockpit control mode. Figure 3 As shown, when the vehicle speed is zero, the gear position of the vehicle is neutral, the vehicle is in a parking state, and the vehicle receives a cockpit control enabling operation, the vehicle enters the cockpit control mode.

[0121] Step S302: Determine whether the hand feeling module of the vehicle fails. If no failure occurs, continue to step S303; if a failure occurs, end. It should be understood that in the case of a failure of the hand feeling module, operations such as fault reminder and fault repair can be performed.

[0122] Step S303: Displaying a device selection interface, wherein the device selection interface includes at least one selection icon for vehicle auxiliary equipment, such as selection icons for windows, rearview mirrors, air conditioners, radios, and media.

[0123] Step S304: In response to the selection operation for the first auxiliary device, the operation of the vehicle auxiliary device and the feel of the steering wheel are controlled according to the steering data of the steering wheel. The steering data of the steering wheel can be obtained by an angle sensor, the operation control of the vehicle auxiliary device can be achieved by a device motor, and the feel adjustment of the steering wheel can be achieved by a feel motor.

[0124] Take the first auxiliary device as a car window as an example. Figure 4 As shown, the electronic device 300 can obtain the steering angle of the steering wheel through the angle sensor 110, and can obtain the window position percentage of the window 201. Then the electronic device 300 can calculate the first motor torque to control the operation of the window 201. In addition, the electronic device 300 can also calculate the second motor torque to control the hand feel motor 120 to achieve hand feel control of the steering wheel.

[0125] In the embodiment of the present application, a restriction condition can be set for the operation control of the vehicle window 201, and whether the restriction condition is satisfied can be determined before controlling the vehicle window 201. Based on the above formulas 1 to 3, the restriction condition can be set to |(steering angle of the steering wheel + steering offset angle of the steering wheel) / 360°|>1. Figure 5 As shown, the window position percentage of the window 201 and the steering angle of the steering wheel 100 can be obtained, and the steering offset angle of the steering wheel can be corrected by combining the two. Then, it is determined whether the restriction condition is met. If it is met, the process ends. If it is not met, the first motor torque and the second motor torque are calculated, and the device motor 210 is controlled according to the first motor torque, and the hand feeling motor 120 is controlled according to the second motor torque.

[0126] Take the first auxiliary device as a rearview mirror as an example. Figure 6 As shown, the electronic device 300 can obtain the steering angle of the steering wheel through the angle sensor 110, and can obtain the rearview mirror position percentage of the rearview mirror 202. Then the electronic device 300 can calculate the first motor torque to control the operation of the rearview mirror 202. In addition, the electronic device 300 can also calculate the second motor torque to control the hand feel motor 120 to achieve hand feel control of the steering wheel. In the embodiment of the present application, restriction conditions can also be set for the operation control of the rearview mirror 202, and it can be determined whether the restriction conditions are met before controlling the rearview mirror 202. Among them, based on the above formulas 4 to 6, the restriction conditions can be set to | (steering angle of the steering wheel + steering offset angle of the steering wheel) / 360° |> 1. If the restriction conditions are met, it ends, and if the restriction conditions are not met, the first motor torque and the second motor torque are calculated.

[0127] Take the air conditioner as the first auxiliary equipment as an example. Figure 7 As shown, the electronic device 300 can obtain the steering angle of the steering wheel through the angle sensor 110, and can obtain the temperature percentage of the air conditioner 203. Then the electronic device 300 can control the temperature of the air conditioner. In addition, the electronic device 300 can also calculate the second motor torque to control the hand feel motor 120. The higher the temperature, the greater the second motor torque can be, and the heavier the hand feel of the steering wheel.

[0128] Take the first auxiliary device as media as an example. Figure 8 As shown, the electronic device 300 can obtain the steering angle of the steering wheel through the angle sensor 110, and can obtain the volume percentage of the media 204. Then the electronic device 300 can control the volume of the media. In addition, the electronic device 300 can also calculate the second motor torque to control the hand feel motor 120. The larger the volume, the larger the second motor torque can be, and the heavier the hand feel of the steering wheel.

[0129] Take the first auxiliary device as a radio as an example. Fig. 9As shown, the electronic device 300 can obtain the steering angle of the steering wheel through the angle sensor 110. Then the electronic device 300 multiplies the steering angle change of the steering wheel by the first correlation factor to obtain the FM parameter change of the radio 205 to control the operation of the radio 205. In addition, the electronic device 300 can also determine the current signal-to-noise ratio of the radio 205 according to the collected sound signal of the radio 205, and then multiply the current signal-to-noise ratio by the first resistance torque factor to obtain the second motor torque to control the hand feel motor 120 to achieve hand feel control of the steering wheel.

[0130] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating 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 features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0131] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0132] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0133] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of various embodiments in the embodiments of the present application have different focuses, for parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Control the operation of vehicle auxiliary equipment based on the steering data of the steering wheel.

2. The vehicle control method according to claim 1, characterized in that: The vehicle auxiliary equipment includes any one of the following: windows, radio, rearview mirrors, air conditioning, and media.

3. The vehicle control method according to claim 1, characterized in that: The method of controlling the operation of the vehicle auxiliary equipment according to the steering data of the steering wheel includes: After the vehicle enters the cockpit control mode, the operation of the vehicle auxiliary equipment is controlled according to the steering data of the steering wheel.

4. The vehicle control method according to claim 3, characterized in that: The method further comprises: In response to the vehicle satisfying a cabin control enabling condition, the vehicle is controlled to enter a cabin control mode.

5. The vehicle control method according to claim 4, characterized in that: The cockpit control enabling condition includes at least one of the following: the vehicle speed is zero, the gear position of the vehicle is neutral, the vehicle is in a parking state, and the vehicle receives a cockpit control enabling operation.

6. The vehicle control method according to claim 4, characterized in that: In response to the vehicle satisfying a cockpit control enabling condition, controlling the vehicle to enter a cockpit control mode includes: In response to a vehicle satisfying a cabin control enabling condition and a target control module of the vehicle not failing, the vehicle is controlled to enter a cabin control mode.

7. The vehicle control method according to claim 6, characterized in that: The target control module includes a hand feeling module.

8. The vehicle control method according to claim 3, characterized in that: After the vehicle enters the cockpit control mode, the operation of the vehicle auxiliary equipment is controlled according to the steering data of the steering wheel, including: After the vehicle enters the cockpit control mode, a device selection interface is displayed; wherein the device selection interface includes a selection icon for at least one vehicle auxiliary device; In response to a selection operation on a first auxiliary device among the at least one vehicle auxiliary device, operation of the first auxiliary device is controlled according to steering data of the steering wheel.

9. The vehicle control method according to claim 1, characterized in that: The method of controlling the operation of the vehicle auxiliary equipment according to the steering data of the steering wheel includes: The operation of the vehicle auxiliary device is controlled according to the current steering angle of the steering wheel and the current operating parameters of the vehicle auxiliary device.

10. The vehicle control method according to claim 9, characterized in that: The controlling the operation of the vehicle auxiliary device according to the current steering angle of the steering wheel and the current operating parameters of the vehicle auxiliary device comprises: determining a first motor torque according to a current steering angle of the steering wheel and current operating parameters of the vehicle auxiliary equipment; The operation of the vehicle auxiliary device is controlled based on the first motor torque.

11. The vehicle control method according to claim 10, characterized in that: The determining of the first motor torque according to the current steering angle of the steering wheel and the current operating parameters of the vehicle auxiliary equipment includes: determining target operating parameters of vehicle auxiliary equipment according to a current steering angle and a steering offset angle of the steering wheel; A first motor torque is determined based on the target operating parameters and current operating parameters of the vehicle auxiliary device and a first torque factor.

12. The vehicle control method according to claim 11, characterized in that: The method further comprises: The steering offset angle of the steering wheel is determined according to current operating parameters of the vehicle auxiliary equipment and an initial steering angle of the steering wheel.

13. The vehicle control method according to claim 1, characterized in that: The method further comprises: The feel of the steering wheel is adjusted according to the current steering angle of the steering wheel.

14. The vehicle control method according to claim 13, characterized in that: The step of adjusting the feel of the steering wheel according to the current steering angle of the steering wheel comprises: determining a second motor torque according to a current steering angle and a steering offset angle of the steering wheel and a second torque factor; The feel of the steering wheel is adjusted according to the second motor torque.

15. The vehicle control method according to claim 14, characterized in that: The method further comprises: The steering offset angle of the steering wheel is determined according to current operating parameters of the vehicle auxiliary equipment and an initial steering angle of the steering wheel.

16. The vehicle control method according to claim 9, 10, 11, 12 or 15, characterized in that: The vehicle auxiliary device includes a vehicle window, and the current operating parameter of the vehicle auxiliary device includes a percentage between a current position of the vehicle window and a reference position of the vehicle window.

17. The vehicle control method according to claim 9, 10, 11, 12 or 15, characterized in that: The vehicle auxiliary device includes a rearview mirror, and the current operating parameter of the vehicle auxiliary device includes a percentage between a current position of the rearview mirror and a reference position of the rearview mirror.

18. The vehicle control method according to claim 15, characterized in that: The vehicle auxiliary device includes an air conditioner, and the current operation parameter of the vehicle auxiliary device includes a percentage between a current temperature of the air conditioner and a reference temperature of the air conditioner.

19. The vehicle control method according to claim 15, characterized in that: The vehicle auxiliary device includes a medium, and the current operating parameter of the vehicle auxiliary device includes a percentage between a current volume of the medium and a reference volume of the medium.

20. The vehicle control method according to claim 1, characterized in that: The method of controlling the operation of the vehicle auxiliary equipment according to the steering data of the steering wheel includes: The operation of the vehicle auxiliary equipment is controlled according to the change in the steering angle of the steering wheel.

21. The vehicle control method according to claim 20, characterized in that: The method of controlling the operation of the vehicle auxiliary equipment according to the change in the steering angle of the steering wheel comprises: Determining a change in an operating parameter of a vehicle auxiliary device according to a change in a steering angle of the steering wheel and a first correlation factor; The operation of the vehicle auxiliary device is controlled according to the change amount of the operating parameter.

22. The vehicle control method according to claim 21, characterized in that: The vehicle auxiliary device includes a radio, and the change in the operating parameter of the vehicle auxiliary device includes the change in the frequency modulation parameter of the radio.

23. The vehicle control method according to claim 1, characterized in that: The method further comprises: The feel of the steering wheel is adjusted according to the current operating state of the vehicle auxiliary device.

24. The vehicle control method according to claim 23, characterized in that: The adjusting the feel of the steering wheel according to the current operating state of the vehicle auxiliary device includes: determining a second motor torque according to a current operating state of the vehicle auxiliary device and a first resistance torque factor; The feel of the steering wheel is adjusted according to the second motor torque.

25. The vehicle control method according to claim 23 or 24, characterized in that: The vehicle auxiliary device includes a radio, and the current operating state of the vehicle auxiliary device includes a current signal-to-noise ratio of the radio.

26. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 25 is implemented.

27. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 25 is implemented.

28. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the vehicle control method described in any one of claims 1 to 25.

29. A vehicle control system, characterized in that: The vehicle control system comprises a steering wheel (100), a vehicle auxiliary device (200) and an electronic device (300); wherein: The electronic device (300) is used to control the operation of the vehicle auxiliary device (200) according to the steering data of the steering wheel (100).

30. The vehicle control system according to claim 29, characterized in that: The vehicle control system further comprises an angle sensor (110); wherein, The angle sensor (110) is used to send the steering angle of the steering wheel (100) to the electronic device (300).

31. The vehicle control system according to claim 29, characterized in that: The vehicle control system also includes an equipment motor; wherein, The electronic device (300) is further used to: send a first motor torque to the device motor; The device motor is used to control the operation of the vehicle auxiliary device (200) according to the first motor torque.

32. The vehicle control system according to claim 29, characterized in that: The vehicle control system further includes a hand-feel motor (120); wherein, The electronic device (300) is further used to: send a second motor torque to the hand-feel motor (120); The hand-feel motor (120) is used to control the steering wheel (100) according to the second motor torque.

33. A vehicle, characterized in that: Includes the electronic device as claimed in claim 28, or the vehicle control system as claimed in any one of claims 29 to 32.

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