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

Abstract

This application relates to a vehicle control method, storage medium, program product, device, system, and vehicle. The vehicle control method includes controlling the operation of vehicle auxiliary equipment based on steering wheel data. This application expands the steering function of the steering wheel, increasing the diversity of steering wheel functions. Furthermore, this application can implement functional expansion based on existing vehicles, providing a variety of control functions without increasing costs.

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 steer the vehicle by turning the steering wheel. For example, turning the steering wheel right turns right, and turning the steering wheel left turns left. However, steering wheels currently only function as steering, with limited functionality and limited 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 mirror, air conditioning, and media.

[0006] 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 steering data of the steering wheel after the vehicle enters the cockpit control mode.

[0007] Optionally, the method further includes: in response to the vehicle satisfying a cabin control enabling condition, controlling the vehicle to enter a cabin 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 a 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 the 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 based on the current steering angle of the steering wheel and the current operating parameters of the vehicle auxiliary equipment includes: determining a first motor torque based on the current steering angle of the steering wheel and the current operating parameters of the vehicle auxiliary equipment; and controlling the operation of the vehicle auxiliary equipment based on the first motor torque.

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

[0018] Optionally, 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.

[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 the vehicle auxiliary equipment according to the change in the steering angle of the steering wheel includes: determining the change in the operating parameters of the vehicle auxiliary equipment 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 equipment according to the change in the operating parameters.

[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 the 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. When the computer program is executed by a processor, the vehicle control method described above 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, comprising a steering wheel, a vehicle auxiliary device, and an electronic device, wherein the electronic device is configured to control the operation of the vehicle auxiliary device according to steering data of the steering wheel.

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

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

[0034] Optionally, the vehicle control system further includes a hand-feel motor, wherein the electronic device is further configured to: send a second motor torque to the hand-feel motor; and the hand-feel motor is configured 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 solutions provided by the embodiments of this application control the operation of vehicle auxiliary equipment based on steering wheel data, expanding the steering function of the steering wheel and increasing its functional diversity. Furthermore, the embodiments of this application can be used to expand functionality within existing vehicles, providing a variety of control functions without increasing costs. Furthermore, the embodiments of this application provide drivers with more autonomy in controlling vehicle auxiliary equipment, enhancing the human-machine interaction experience.

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

[0038] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[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 drawing 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;

[0041] Figure 2 is a schematic diagram of a vehicle control system provided in an embodiment of the present application;

[0042] Figure 3 is a flow chart of another vehicle control method provided by an embodiment of the present application;

[0043] Figure 4 is a schematic diagram of a vehicle control process provided by an embodiment of the present application;

[0044] Figure 5 is a schematic diagram of another vehicle control process provided by an embodiment of the present application;

[0045] Figure 6 is a schematic diagram of another vehicle control process provided by an embodiment of the present application;

[0046] Figure 7 is a schematic diagram of another vehicle control process provided by an embodiment of the present application;

[0047] Figure 8 is a schematic diagram of another vehicle control process provided by an embodiment of the present application;

[0048] Figure 9 is a schematic diagram of another vehicle control process provided by an embodiment of the present application;

[0049] Figure 10 It is a schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not 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.

[0051] According to a first aspect of the present application, an embodiment of the present application provides a vehicle control method.

[0052] See also Figure 1 , Figure 1 This 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:

[0053] Step S100: Controlling the operation of vehicle auxiliary equipment according to the steering data of the steering wheel.

[0054] 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, and media.

[0055] In embodiments of the present application, the operation of vehicle auxiliary equipment can be controlled based on steering wheel data, for example, turning the vehicle auxiliary equipment on or off or adjusting operating parameters of the vehicle auxiliary equipment. The steering wheel data includes, but is not limited to, the steering direction or the steering angle of the steering wheel.

[0056] For example, taking the vehicle auxiliary equipment including windows as an example, the opening and closing degree of the windows can be controlled according to the steering data of the steering wheel; taking the vehicle auxiliary equipment including a radio as an example, the radio can be turned on or off, or the radio receiving channel can be adjusted according to the steering data of the steering wheel; taking the vehicle auxiliary equipment including air conditioning as an example, 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.

[0057] It should be understood that in the embodiments of the present application, the operation of one or more vehicle auxiliary devices can be controlled based on the steering wheel data. That is, based on the steering wheel data, one vehicle auxiliary device can be controlled at a time; alternatively, based on the steering wheel data, multiple vehicle auxiliary devices can be controlled at a time. For example, based on the steering wheel data, the degree of opening and closing of the vehicle windows or the display position of the rearview mirror can be controlled at a single time. For another example, based on the steering wheel data, the air conditioning and radio can be turned on simultaneously.

[0058] In summary, the technical solutions provided by the embodiments of the present application control the operation of vehicle auxiliary equipment based on steering wheel data, thereby expanding the steering function of the steering wheel and increasing its functional diversity. Furthermore, the embodiments of the present application can be used to expand functionality within existing vehicles, providing a variety of control functions without increasing costs. Furthermore, the embodiments of the present application provide drivers with more autonomy in controlling vehicle auxiliary equipment, enhancing the human-machine interaction experience.

[0059] In some embodiments, step S100 may include: after the vehicle enters the cockpit control mode, controlling the operation of the vehicle auxiliary equipment based on the steering data of the steering wheel. To avoid affecting driving safety, the embodiments of the present application provide a cockpit control mode. After the vehicle enters the cockpit control mode, the vehicle auxiliary equipment is controlled based on the steering wheel, thereby avoiding affecting the steering function of the steering wheel during driving.

[0060] In some embodiments, the vehicle control method may further include the following steps:

[0061] Step S000: In response to the vehicle satisfying a cabin control enabling condition, controlling the vehicle to enter a cabin control mode.

[0062] The cabin control enabling condition can be one or more preset judgment conditions. When the vehicle meets the cabin control enabling conditions, the vehicle enters the cabin control mode, and the user can control the vehicle's auxiliary devices using the steering wheel. The embodiments of the present application do not limit the specific content of the cabin control enabling conditions. In actual application, they can be flexibly set according to needs. In some embodiments, the cabin control enabling condition includes at least one of the following: the vehicle speed is zero, the vehicle gear is in neutral, the vehicle is in park, and the vehicle receives a cabin control enabling operation. The cabin 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 cabin control mode selection icon, such as a button, image, or text. The user clicks the cabin control mode selection icon, and the vehicle receives the cabin control enabling operation. In addition, for safety reasons, one or more conditions can be set as necessary content of the cabin control enabling condition. This embodiment of the present application does not limit this. For example, the vehicle being in a parked state (i.e., a stopped state) can be set as a necessary content of the cockpit control enabling condition, or the vehicle being in a parked state and the vehicle gear position being neutral can be set as necessary content of the cockpit control enabling condition.

[0063] In some embodiments, step S000 may include: in response to the vehicle meeting the cabin control enablement conditions and the vehicle's target control module not experiencing a fault, controlling the vehicle to enter a cabin control mode. To avoid cabin control failures due to system faults, embodiments of the present application first perform a fault check on the vehicle's target control module when the vehicle meets the cabin control enablement conditions. If no fault is detected, the vehicle is controlled to enter the cabin control mode. If a fault is detected, the user may be notified that a fault has occurred, that the cabin control mode is currently inaccessible, and that the fault needs to be promptly repaired. The target control module may be any module in the vehicle, or a module related to the functionality of the cabin control mode. In some embodiments, the target control module may include a haptic module, including but not limited to a steering wheel, an angle sensor on a steering shaft connected to the steering wheel, a haptic motor, and the like. It should be understood that embodiments of the present application may be applicable to steer-by-wire, where the steering wheel and steering shaft are connected by a wiring harness, allowing the steering wheel to operate independently without affecting the wheels. However, embodiments of the present application do not exclude the possibility of mechanical steering, where the steering wheel and steering shaft are mechanically connected, and the wheels follow the steering wheel's movement. 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.

[0064] To provide users with more control options, users can select the vehicle auxiliary devices they want 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. The device selection interface includes a selection icon for at least one vehicle auxiliary device, such as a button, image, text, etc. When a user clicks the selection icon for a vehicle auxiliary device, the vehicle receives the user's selection operation for the vehicle auxiliary device. Taking the first auxiliary device among the at least one vehicle auxiliary device as an example, in response to the selection operation for the first auxiliary device, the first auxiliary device is controlled according to the steering wheel.

[0065] It should be understood that the number of 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.

[0066] In summary, the technical solution provided by the embodiments of the present application, by setting a cockpit control mode and entering cockpit control mode when cockpit control enabling conditions are met, and then controlling vehicle auxiliary devices based on the steering wheel, can avoid affecting the steering function of the steering wheel during driving and thus prevent driving safety from being affected. Furthermore, in the embodiments of the present application, the user can independently select the vehicle auxiliary devices they want to control, providing users with more independent choices and further enhancing the human-computer interaction experience.

[0067] In some embodiments, the above step S100 may include the following steps:

[0068] 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.

[0069] 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.

[0070] In practical applications, the vehicle auxiliary device can be controlled by the device motor. The motor torque of the device motor can be determined based on the current steering angle of the steering wheel and the current operating parameters of the vehicle auxiliary device, thereby controlling the operation of the vehicle auxiliary device based on the motor torque. Based on this, in some embodiments, the above step S110 may include the following steps:

[0071] Step S111: determining a first motor torque according to a current steering angle of the steering wheel and current operating parameters of vehicle auxiliary equipment;

[0072] Step S112: Controlling the operation of the vehicle auxiliary equipment according to the first motor torque.

[0073] The first motor torque is the motor torque of the device motor of the vehicle auxiliary device. The device motor is controlled based on the first motor torque, thereby controlling the operation of the vehicle auxiliary device. The first motor torque may be the output torque of the device motor, which is not limited in this embodiment of the present application. In some embodiments, step S111 may include: determining target operating parameters of the vehicle auxiliary device based on the current steering angle and steering offset angle of the steering wheel; and determining the first motor torque based on the target operating parameters and current operating parameters of the vehicle auxiliary device and the first torque factor.

[0074] The steering offset angle refers to the offset of the steering wheel's steering angle before controlling the vehicle auxiliary equipment. In embodiments of the present application, the steering offset angle of the steering wheel can be corrected based on the current operating parameters of the vehicle auxiliary equipment. Based on this, in some embodiments, the vehicle control method further includes the following steps:

[0075] 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.

[0076] 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.

[0077] In some embodiments, the vehicle control method further includes the following steps:

[0078] Step S210: Adjust the feel of the steering wheel according to the current steering angle of the steering wheel.

[0079] The feel of the steering wheel is used to indicate the reaction force applied to the steering wheel by the feel motor. 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.

[0080] 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:

[0081] 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;

[0082] Step S212: Adjust the steering wheel feel according to the second motor torque.

[0083] The second motor torque is the torque of the tactile motor. The tactile motor is controlled based on the second motor torque, thereby controlling the steering wheel feel. The second motor torque may be the output torque of the tactile motor, which is not limited in this embodiment of the application. The steering wheel's steering offset angle used to determine the second motor torque can be determined in step S200 above, and is not further described in this embodiment of the application.

[0084] For example, if a vehicle auxiliary device includes a window, the current operating parameter of the vehicle auxiliary device includes the percentage between the current position of the window and a reference position of the window, hereinafter referred to as the window position percentage. The reference position of the window may refer to the position of the window when it is fully closed or when it is fully open, although this embodiment of the present application is not limited thereto.

[0085] 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.

[0086] 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.

[0087] Formula 2: First motor torque = [(current steering wheel angle + steering wheel offset angle) / 360° - window position percentage] × first torque factor.

[0088] Formula 3: Second motor torque = [(current steering wheel angle + steering offset angle) / 360°] × second torque factor

[0089] For example, if a vehicle auxiliary device includes a rearview mirror, the current operating parameter of the vehicle auxiliary device includes the percentage between the current position of the rearview mirror and the reference position of the rearview mirror, hereinafter referred to as the rearview mirror position percentage. 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 and / or right edge, which is not limited in this embodiment of the present application.

[0090] 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.

[0091] 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.

[0092] Formula 5: First motor torque = [(current steering wheel angle + steering wheel offset angle) / 360° - rearview mirror position percentage] × first torque factor

[0093] Formula 6: Second motor torque = [(current steering wheel angle + steering offset angle) / 360°] × second torque factor

[0094] For example, if a vehicle auxiliary device includes an air conditioner, the current operating parameter of the vehicle auxiliary device 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. The reference temperature of the air conditioner may refer to the maximum temperature of the air conditioner, which is not limited in this embodiment of the application.

[0095] 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.

[0096] 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.

[0097] Formula 8: Second motor torque = [(current steering wheel angle + steering offset angle) / 360°] × second torque factor

[0098] For example, if a vehicle auxiliary device includes media, 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, hereinafter referred to as the volume percentage. The reference volume of the media may refer to the maximum volume of the media, which is not limited in this embodiment of the application.

[0099] 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.

[0100] 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.

[0101] Formula 10: Second motor torque = [(current steering wheel angle + steering offset angle) / 360°] × second torque factor

[0102] It should be understood that existing software interfaces can be directly reused for air conditioning temperature control and media volume control without increasing costs.

[0103] In some embodiments, the above step S100 may include the following steps:

[0104] Step S120: Controlling the operation of vehicle auxiliary equipment according to the change in the steering angle of the steering wheel.

[0105] 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. In the embodiment of the present application, the operation of the vehicle auxiliary equipment can be controlled according to the steering angle change of the steering wheel.

[0106] In practical applications, a mapping relationship can be established between the steering wheel angle change and the operating parameter change of the vehicle auxiliary device, so that the operating parameter change can be determined based on 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:

[0107] 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;

[0108] Step S122: Control the operation of the vehicle auxiliary equipment according to the change in the operating parameter.

[0109] The first correlation factor may be a preset factor 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 steering angle change and a maximum operating parameter change. The steering angle change of the steering wheel may be multiplied by the first correlation factor to determine a change in the operating parameter of the vehicle auxiliary device. The operating parameters of the vehicle auxiliary device may be adjusted based on the change in the operating parameter 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 target operating parameters for the vehicle auxiliary device, and the vehicle auxiliary device may then be controlled to adjust to the target operating parameters.

[0110] In some embodiments, the vehicle control method may further include the following steps:

[0111] Step S220: Adjust the steering wheel feel according to the current operating status of the vehicle auxiliary equipment.

[0112] The current operating status of the vehicle auxiliary device indicates its current performance. For example, this status includes, but is not limited to, signal-to-noise ratio, memory usage, and air volume. The steering wheel's feel is adjusted based on the current operating status of the vehicle auxiliary device, ensuring the user's understanding of the device's current performance.

[0113] The feel of the steering wheel is used to indicate the reaction force applied by the tactile motor to the steering wheel. In order to make the user clear about 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 rule out 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 tactile motor. Therefore, it is necessary to determine the motor torque of the tactile 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-mentioned step S220 may include the following steps:

[0114] Step S221: determining the second motor torque according to the current operating state of the vehicle auxiliary device and the first resistance torque factor;

[0115] Step S222: Adjust the steering wheel feel according to the second motor torque.

[0116] 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 feeling motor. In practical applications, an appropriate resistance torque factor can be determined based on the torque range of the hand feeling motor and the operating state range of the vehicle auxiliary device.

[0117] For example, if a vehicle auxiliary device includes a radio, the change in the operating parameters of the vehicle auxiliary device includes the change in the radio's frequency modulation (FM) parameters. Based on this, the change in the radio's FM parameters can be calculated using the following formula 11.

[0118] Formula 11: FM parameter change = steering wheel angle change × first correlation factor

[0119] 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.

[0120] For example, if a vehicle auxiliary device includes a radio, the current operating status of the auxiliary device includes the radio's current signal-to-noise ratio. The radio's sound signal can be captured by a microphone in the vehicle, eliminating the need to modify internal circuitry or chips, and thus increasing costs. The current signal-to-noise ratio can be analyzed based on the sound signal captured by the microphone. Based on this, the torque of the second motor can be calculated using the following formula 12.

[0121] Formula 12: Second motor torque = current signal-to-noise ratio × first resistance torque factor

[0122] In summary, the technical solutions provided by the embodiments of the present application control the operation of vehicle auxiliary devices based on steering wheel data. For example, the operating parameters of the vehicle auxiliary devices are adjusted based on the current steering wheel angle or the amount of change in the steering angle, thus achieving real-time control of the operation of the vehicle auxiliary devices based on the steering wheel steering data. Furthermore, the embodiments of the present application can adjust the steering wheel feel based on the steering wheel steering data or the current operating state of the vehicle auxiliary devices, thereby providing the user with adjustment feedback.

[0123] According to a second aspect of the present application, embodiments of the present application further provide a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described vehicle control method. This non-transitory computer-readable storage medium has all the beneficial effects of the above-described vehicle control method, and this application will not further elaborate on them.

[0124] 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.

[0125] According to a fourth aspect of the present application, an embodiment of the present application further provides an electronic device comprising: a memory and a processor, wherein the memory stores a computer program; the processor is configured to execute the computer program in the memory to implement the steps of the above-described vehicle control method. This electronic device has all the beneficial effects of the above-described vehicle control method, and this application will not further elaborate on them.

[0126] The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof, and this application does not specifically limit this. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having 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.

[0127] In some embodiments of the present application, a computer-readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0128] The computer-readable storage medium may be included in the electronic device or may exist independently without being incorporated into 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:

[0129] Controls the operation of vehicle auxiliary equipment based on steering wheel steering data.

[0130] 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 stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through 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., through the Internet using an Internet service provider).

[0131] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, 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, program segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function.

[0132] 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.

[0133] For example, two blocks shown in succession may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flow charts, and combinations of blocks in the block diagrams and / or flow charts, may be implemented using a dedicated hardware-based system that performs the specified functions or operations, or may be implemented using a combination of dedicated hardware and computer instructions.

[0134] The units described in some embodiments of the present application may be implemented in software or hardware, and may also be provided in a processor.

[0135] The functions described above may be at least partially performed by one or more hardware logic components. For example, and 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), and the like.

[0136] According to the fifth aspect of this 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-mentioned vehicle control method and has all the beneficial effects of the above-mentioned vehicle control method, which will not be described in detail in this application.

[0137] 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 can be the central control system of the vehicle.

[0138] In some embodiments, the vehicle control system further includes an angle sensor 110 , wherein the angle sensor 110 is configured to transmit the steering angle of the steering wheel 100 to the electronic device 300 .

[0139] 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.

[0140] In some embodiments, the vehicle control system further includes a tactile motor 120. The electronic device 300 is further configured to send a second motor torque to the tactile motor 120; and the tactile motor 120 is configured to control the steering wheel 100 according to the second motor torque.

[0141] The vehicle control system may include a tactile module for simulating tactile feel. The tactile module includes the steering wheel 100 , the angle sensor 110 , and the tactile motor 120 .

[0142] According to the sixth aspect of this application, Figure 10As shown, the embodiment of the present application further provides a vehicle 10, which includes the above-mentioned electronic device. The vehicle has all the beneficial effects of the above-mentioned electronic device, etc., which will not be described in detail in this application.

[0143] 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 restrictions on this.

[0144] Below, the vehicle control method and vehicle control system provided in the embodiments of the present application are introduced and explained with several examples.

[0145] like Figure 3 As shown, the vehicle control method may include the following steps:

[0146] 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.

[0147] Step S302: Determine whether the vehicle's hand-feeling module has failed. If not, proceed to step S303; if a failure has occurred, terminate. It should be understood that if a hand-feeling module fails, fault alerts and repairs can be performed.

[0148] 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 conditioning, radio, and media.

[0149] Step S304: In response to the selection operation for the first auxiliary device, the operation of the vehicle auxiliary device and the steering wheel feel are controlled based on the steering wheel steering data. The steering wheel steering data can be obtained by an angle sensor, the operation of the vehicle auxiliary device can be controlled by the device motor, and the steering wheel feel adjustment can be achieved by the feel motor.

[0150] Take the first auxiliary device as a car window as an example, Figure 4 As shown, electronic device 300 can obtain the steering angle of the steering wheel and the window position percentage of window 201 through angle sensor 110. Electronic device 300 can then calculate the torque of the first motor to control the operation of window 201. Furthermore, electronic device 300 can also calculate the torque of the second motor to control the tactile motor 120, thereby achieving tactile control of the steering wheel.

[0151] 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 wheel steering angle + steering wheel steering offset angle) / 360°|>1. Figure 5 As shown, the window position percentage of window 201 and the steering angle of 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 constraint conditions are met. If so, the process ends. If not, the first motor torque and the second motor torque are calculated, and the device motor 210 is controlled based on the first motor torque, and the feel motor 120 is controlled based on the second motor torque.

[0152] 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 also obtain the rearview mirror position percentage of the rearview mirror 202. The electronic device 300 can then 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 tactile motor 120 to achieve tactile control of the steering wheel. In this embodiment of the present application, restriction conditions can also be set for the operation control of the rearview mirror 202. Before controlling the rearview mirror 202, it can be determined whether the restriction conditions are met. Based on the above formulas 4 to 6, the restriction conditions can be set to |(steering wheel steering angle + steering wheel steering offset angle) / 360°|>1. If the restriction conditions are met, the process ends; if the restriction conditions are not met, the first motor torque and the second motor torque are calculated.

[0153] Take the air conditioner as an example, Figure 7 As shown, electronic device 300 can obtain the steering wheel angle and the temperature percentage of air conditioner 203 through angle sensor 110. Electronic device 300 can then control the air conditioner temperature. Furthermore, electronic device 300 can calculate the second motor torque to control the feel motor 120. The higher the temperature, the greater the second motor torque, resulting in a heavier steering wheel feel.

[0154] Take the first auxiliary device as media as an example, Figure 8 As shown, electronic device 300 can obtain the steering wheel angle and the volume percentage of media 204 through angle sensor 110. Electronic device 300 can then control the volume of the media. Furthermore, electronic device 300 can calculate the torque of the second motor to control the feel motor 120. The higher the volume, the greater the second motor torque, resulting in a heavier steering wheel feel.

[0155] Take the first auxiliary device as a radio as an example, Figure 9As shown, the electronic device 300 can obtain the steering wheel steering angle via the angle sensor 110. The electronic device 300 then multiplies the change in the steering wheel steering angle by the first correlation factor to obtain the change in the FM parameter of the radio 205, thereby controlling the operation of the radio 205. Furthermore, the electronic device 300 can determine the current signal-to-noise ratio of the radio 205 based on 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, thereby controlling the tactile motor 120 and achieving tactile control of the steering wheel.

[0156] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0157] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0158] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0159] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of each embodiment 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: In response to a vehicle satisfying a cabin control enabling condition, controlling the vehicle to enter a cabin control mode; wherein the cabin control enabling condition includes: the vehicle speed is zero, the gear position of the vehicle is neutral, the vehicle is in a parked state, and the vehicle receives a cabin control enabling operation; After the vehicle enters the cockpit control mode, controlling the operation of vehicle auxiliary devices according to steering wheel steering data; wherein controlling the operation of the vehicle auxiliary devices according to the steering wheel steering data includes: displaying a device selection interface, the device selection interface including a selection icon for at least one of the vehicle auxiliary devices; and in response to a selection operation for a first auxiliary device among the at least one vehicle auxiliary device, controlling the operation of the first auxiliary device according to the steering wheel steering data; adjusting the feel of the steering wheel according to the current operating state of the vehicle auxiliary equipment; Wherein, the vehicle auxiliary equipment includes any one of the following: windows, radio, rearview mirror, air conditioning, media; In the case where the vehicle auxiliary device includes the vehicle window, the current operating parameter of the vehicle auxiliary device includes a percentage between the current position of the vehicle window and a reference position of the vehicle window; In the case where the vehicle auxiliary device includes the rearview mirror, the current operating parameter of the vehicle auxiliary device includes a percentage between the current position of the rearview mirror and a reference position of the rearview mirror; In a case where the vehicle auxiliary device includes the air conditioner, 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; In a case where the vehicle auxiliary device includes the media, 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; In a case where the vehicle auxiliary device includes the radio, the current operating state of the vehicle auxiliary device includes a current signal-to-noise ratio of the radio.

2. The vehicle control method according to claim 1, characterized in that: In response to the vehicle satisfying a cabin control enabling condition, controlling the vehicle to enter a cabin 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.

3. The vehicle control method according to claim 2, characterized in that: The target control module includes a hand feeling module.

4. The vehicle control method according to claim 1, wherein: The controlling of 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.

5. The vehicle control method according to claim 4, 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 includes: determining a first motor torque based on a current steering angle of the steering wheel and current operating parameters of vehicle auxiliary equipment; The operation of the vehicle auxiliary device is controlled based on the first motor torque.

6. The vehicle control method according to claim 5, characterized in that: The determining 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 based on a current steering angle and a steering offset angle of the steering wheel; A first motor torque is determined based on the target operating parameter and current operating parameter of the vehicle auxiliary device and a first torque factor.

7. The vehicle control method according to claim 6, 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 device and the initial steering angle of the steering wheel.

8. The vehicle control method according to claim 1, wherein: The method further comprises: The feel of the steering wheel is adjusted according to the current steering angle of the steering wheel.

9. The vehicle control method according to claim 8, characterized in that: The 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 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.

10. The vehicle control method according to claim 9, 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 device and the initial steering angle of the steering wheel.

11. The vehicle control method according to claim 1, wherein: The controlling of the operation of the vehicle auxiliary equipment according to the steering data of the steering wheel includes: Controls the operation of vehicle auxiliary equipment based on the amount of change in the steering wheel steering angle.

12. The vehicle control method according to claim 11, 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 includes: determining a change in an operating parameter of a vehicle auxiliary device based on 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 in the operating parameter.

13. The vehicle control method according to claim 12, characterized in that: The vehicle auxiliary device includes a radio, and the change in the operating parameter of the vehicle auxiliary device includes a change in the frequency modulation parameter of the radio.

14. The vehicle control method according to claim 1, 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.

15. 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 14 is implemented.

16. 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 14 is implemented.

17. 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 according to any one of claims 1 to 14.

18. 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: In response to a vehicle satisfying a cabin control enabling condition, controlling the vehicle to enter a cabin control mode; wherein the cabin control enabling condition includes: the vehicle speed is zero, the gear position of the vehicle is neutral, the vehicle is in a parked state, and the vehicle receives a cabin control enabling operation; After the vehicle enters the cockpit control mode, the operation of the vehicle auxiliary device (200) is controlled according to the steering data of the steering wheel (100); wherein the electronic device (300) is further used to: display a device selection interface, the device selection interface including a selection icon of at least one of the vehicle auxiliary devices (200); in response to a selection operation for a first auxiliary device among the at least one vehicle auxiliary device (200), control the operation of the first auxiliary device according to the steering data of the steering wheel (100); adjusting the feel of the steering wheel (100) according to the current operating state of the vehicle auxiliary device (200); Wherein, the vehicle auxiliary equipment includes any one of the following: windows, radio, rearview mirror, air conditioning, media; In the case where the vehicle auxiliary device includes the vehicle window, the current operating parameter of the vehicle auxiliary device includes a percentage between the current position of the vehicle window and a reference position of the vehicle window; In the case where the vehicle auxiliary device includes the rearview mirror, the current operating parameter of the vehicle auxiliary device includes a percentage between the current position of the rearview mirror and a reference position of the rearview mirror; In a case where the vehicle auxiliary device includes the air conditioner, 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; In a case where the vehicle auxiliary device includes the media, 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; In a case where the vehicle auxiliary device includes the radio, the current operating state of the vehicle auxiliary device includes a current signal-to-noise ratio of the radio.

19. The vehicle control system according to claim 18, characterized in that: 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).

20. The vehicle control system according to claim 18, wherein: The vehicle control system further includes an equipment motor; wherein, The electronic device (300) is further configured 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.

21. The vehicle control system according to claim 18, wherein: 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 tactile motor (120) is used to control the steering wheel (100) according to the second motor torque.

22. A vehicle, characterized in that: The electronic device according to claim 17 or the vehicle control system according to any one of claims 18 to 21 is included.

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