Method and device for controlling electrically adjustable tube column, electronic equipment and vehicle

Abstract

The present disclosure relates to the technical field of vehicles, and provides a control method and device of an electric adjusting column, electronic equipment and a vehicle. The method comprises the following steps: receiving a first hard stop trigger signal, determining a hard stop type corresponding to the first hard stop trigger signal, and determining a target zero Hall quantity according to the hard stop type; determining that a second hard stop trigger signal is received within a preset ignition period, determining a first hard stop corresponding to the first hard stop trigger signal and a second hard stop corresponding to the second hard stop trigger signal, and obtaining an interval Hall quantity between the first hard stop and the second hard stop; and determining a target zero position of the electric adjusting column according to the interval Hall quantity and the target zero Hall quantity. In the determination of the target zero position, the hard stop type and the positions of the two triggered hard stops are comprehensively considered, the accurate positioning of the zero position is realized, the zero drift phenomenon is avoided, and thus the accuracy of the electric adjusting column adjustment is improved, and the driving experience of the user is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicles, and particularly relates to a control method and device of an electric adjusting column, an electronic device and a vehicle. BACKGROUND

[0002] The column is used for connecting the steering wheel and the steering gear and is one of important components of the automobile steering system. In the field of vehicle engineering, the column can adjust the position of the steering wheel up and down within a certain range to adapt to the operation habit of the driver. The electric adjusting column can improve the driving comfort and operation convenience of the driver by adjusting the steering wheel in the angular direction and the axial direction through the controller.

[0003] During the use of the vehicle by the user, the electric adjusting column has a zero drift phenomenon due to the mechanical clearance, which further causes inaccurate adjustment of the column and affects the driving experience of the user. SUMMARY

[0004] Therefore, the purpose of the present disclosure is to provide a control method and device of an electric adjusting column, an electronic device and a vehicle, so as to solve the problem that the electric adjusting column has a zero drift phenomenon due to the mechanical clearance, which further causes inaccurate adjustment of the column and affects the driving experience of the user.

[0005] To achieve the above purpose, the first aspect of the present disclosure provides a control method of an electric adjusting column, which comprises the following steps.

[0006] receiving a first hard stop trigger signal, determining the hard stop type corresponding to the first hard stop trigger signal, and determining the target zero position hall number according to the hard stop type;

[0007] determining that a second hard stop trigger signal is received within a preset ignition period, determining a first hard stop corresponding to the first hard stop trigger signal and a second hard stop corresponding to the second hard stop trigger signal, and obtaining the interval hall number between the first hard stop and the second hard stop;

[0008] determining the target zero position of the electric adjusting column according to the interval hall number and the target zero position hall number, wherein the target zero position is the position corresponding to the limit of the soft limit in the direction of the first hard stop of the electric adjusting column.

[0009] Based on the same inventive concept, the second aspect of the present disclosure provides a control device of an electric adjusting column, which comprises the following steps.

[0010] The signal receiving module is configured to receive a first hard stop trigger signal, determine the hard stop type corresponding to the first hard stop trigger signal, and determine the target zero position hall number according to the hard stop type;

[0011] The interval Hall number determination module is configured to determine that the second hard stop trigger signal is received within a preset firing period, determine a first hard stop corresponding to the first hard stop trigger signal and a second hard stop corresponding to the second hard stop trigger signal, and obtain an interval Hall number between the first hard stop and the second hard stop.

[0012] The zero position determination module is configured to determine a target zero position of the electric adjusting tube column according to the interval Hall number and the target zero Hall number, where the target zero position is a position corresponding to a soft limit limit of the electric adjusting tube column in the first hard stop direction.

[0013] Based on the same inventive concept, a third aspect of the present disclosure provides an electronic device including a memory, a processor, and a computer program stored on the memory and executable by the processor, and the processor implements the control method of the electric adjusting tube column when executing the computer program.

[0014] Based on the same inventive concept, a fourth aspect of the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the control method of the electric adjusting tube column.

[0015] Based on the same inventive concept, a fifth aspect of the present disclosure provides a vehicle including the control device of the electric adjusting tube column of the second aspect, the electronic device of the third aspect, or the storage medium of the fourth aspect.

[0016] As can be seen from the above, the present disclosure provides a control method, device, electronic device, and vehicle of an electric adjusting tube column. When a first hard stop trigger signal is received, it indicates that a hard stop is triggered during tube column adjustment. The type of hard stop corresponding to the first hard stop trigger signal is determined, and the target zero Hall number is determined according to the type of hard stop, where the type of hard stop indicates the adjustment direction of the tube column adjustment, and the target zero Hall number corresponds to the type of hard stop one by one. If a second hard stop trigger signal is received within a preset firing period, a first hard stop corresponding to the first hard stop trigger signal and a second hard stop corresponding to the second hard stop signal are determined. Since the first hard stop and the second hard stop both correspond to a Hall number, the interval Hall number between the first hard stop and the second hard stop can be determined, so as to determine the zero position of the electric adjusting tube column corresponding to the preset firing period according to the interval Hall number in the subsequent process. The target zero position of the electric adjusting tube column is determined according to the interval Hall number and the target zero Hall number. In the determination of the target zero position, the type of hard stop and the positions of the two hard stops triggered are comprehensively considered, the zero position is accurately positioned, the zero drift phenomenon is avoided, and the accuracy of the electric adjusting tube column adjustment is improved, and the driving experience of the user is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present disclosure or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description are only embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0018] Figure 1 A flow chart of a control method of an electrically adjustable pipe column according to an embodiment of the present disclosure;

[0019] Figure 2 A schematic diagram of a pipe column according to an embodiment of the present disclosure;

[0020] Figure 3 A flow chart of a control method of an electrically adjustable pipe column according to another embodiment of the present disclosure;

[0021] Figure 4 A structural block diagram of a control device of an electrically adjustable pipe column according to an embodiment of the present disclosure;

[0022] Figure 5 A structural schematic diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the following will further describe the present disclosure in detail with specific embodiments and with reference to the drawings.

[0024] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood as the common meanings understood by those skilled in the art to which the present disclosure belongs. The terms "first", "second" and similar terms used in the embodiments of the present disclosure do not represent any order, number or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, without excluding other elements or objects. The terms "connect" or "connected" and similar terms do not mean physical or mechanical connection, but can include electrical connection, whether direct or indirect. The terms "upper", "lower", "left", "right" and the like only represent relative positional relationships, and when the absolute positions of the described objects are changed, the relative positional relationships can also be changed accordingly.

[0025] The column is used to connect the steering wheel and the steering gear, and is one of the important components of the automobile steering system. In the field of vehicle engineering, the column can adjust the position of the steering wheel up and down within a certain range to adapt to the operating habits of the driver. The electric adjustment column adjusts the steering wheel in the angular and axial directions through the controller, which can improve the driving comfort and operation convenience of the driver.

[0026] The zero position is the position of the nut when the column is at the soft limit limit near the starting point. Zero drift refers to the deviation of the zero position from the factory zero position due to various factors such as mechanical clearance during use. That is, during the use of the vehicle by the user, the electric adjustment column has a zero drift phenomenon due to mechanical clearance, which causes inaccurate adjustment of the column and affects the driving experience of the user.

[0027] Based on the above description, the present embodiment proposes a control method for an electric adjustment column, as shown in Figure 1 The method comprises the following steps:

[0028] In step 101, a first hard stop trigger signal is received, the hard stop type corresponding to the first hard stop trigger signal is determined, and the target zero Hall number is determined according to the hard stop type.

[0029] In specific implementation, the first hard stop trigger signal is received, indicating that a new hard stop is triggered during the adjustment of the electric adjustment column. The hard stop type corresponding to the first hard stop trigger signal is determined, wherein the hard stop type represents the adjustment direction of the electric adjustment column, and the hard stop type includes inward adjustment, outward adjustment, upward adjustment, and downward adjustment.

[0030] In the present embodiment, the hard stop type corresponds to the first hard stop trigger signal, and the hard stop type corresponds to the first hard stop. Exemplarily, the first hard stop is an IN point, and the corresponding hard stop type is inward adjustment. The first hard stop is an OUT point, and the corresponding hard stop type is outward adjustment. The first hard stop is an UP point, and the corresponding hard stop type is upward adjustment. The first hard stop is a DOWN point, and the corresponding hard stop type is downward adjustment.

[0031] In the present embodiment, the outward adjustment and the inward adjustment are a set of opposite direction adjustment modes, and the upward adjustment and the downward adjustment are a set of opposite direction adjustment modes.

[0032] The target zero Hall number is determined according to the hard stop type, and the database pre-stores the corresponding relationship between the hard stop type and the zero Hall number. The form of the corresponding relationship can include at least one of the following: a relationship table, a function relationship, a curve relationship, a key-value pair relationship, and a columnar graph relationship.

[0033] For example, if the hard stop type is inward adjustment or outward adjustment, the corresponding number of target zero-position Hall effect sensors is 55. If the hard stop type is upward adjustment or downward adjustment, the corresponding number of target zero-position Hall effect sensors is 79.

[0034] Step 102: Determine that a second hard stop trigger signal is received within a preset ignition cycle, determine the first hard stop corresponding to the first hard stop trigger signal and the second hard stop corresponding to the second hard stop trigger signal, and obtain the number of Hall effect intervals between the first hard stop and the second hard stop.

[0035] In specific implementation, after receiving the first hard stop trigger signal, it is determined whether a second hard stop trigger signal has been received within a preset ignition cycle. The preset ignition cycle can be the ignition cycle corresponding to the receipt of the first hard stop trigger signal, or it can be two adjacent ignition cycles.

[0036] If a second hard stop trigger signal is received within a preset ignition cycle, the first hard stop corresponding to the first hard stop trigger signal and the second hard stop corresponding to the second hard stop trigger signal are determined. Since both the first and second hard stops correspond to a number of Hall effect sensors, the number of Hall effect sensors between the first and second hard stops can be determined, specifically:

[0037] The difference between the number of Hall effect sensors corresponding to the first hard stop position and the number of Hall effect sensors corresponding to the second hard stop position is calculated to obtain the number of Hall effect sensors between the first hard stop position and the second hard stop position.

[0038] In this embodiment, the Hall effect count is the number of rotations of the electrically sizing transistor recorded by the Hall signal, meaning the number of rotations is numerically equal to the Hall effect count. Therefore, the first number of rotations when the electrically sizing transistor moves to the first hard stop and the second number of rotations when it moves to the second hard stop can be calculated separately. Based on the first and second number of rotations, the total number of rotations between the first and second hard stops can be calculated, and this total number of rotations is the interval Hall effect count.

[0039] Step 103: Determine the target zero position of the ESC column based on the number of interval Hall effect sensors and the number of target zero position Hall effect sensors, wherein the target zero position is the position of the ESC column corresponding to the soft limit limit in the first hard stop direction.

[0040] In practice, the target zero position of the ESC column is determined based on the number of interval Hall effect sensors and the target zero-position Hall effect sensors, thereby enabling real-time adjustment of the column's zero position and preventing zero-position drift. The target zero position is the position corresponding to the soft limit of the ESC column in the first hard stop direction.

[0041] In this embodiment, as Figure 2 As shown, Figure 2A schematic diagram of each point of the tube column is shown. Figure 2 A is the starting point, the starting point is the nut position on the screw when the tube column reaches the physical limit in the DOWN or IN direction. B is the zero point, i.e., the zero position, which is the nut position on the screw when the tube column reaches the soft limit limit in the DOWN or IN direction. C is the design position, which is also the default position, and the design position is the nut position on the screw when the tube column is in the human-machine hard point design position state, i.e., the position of the electric adjustment tube column when diagnosing the electric adjustment tube column, which is generally in the middle position of the soft limit. D is the end point, which is the nut position on the screw when the tube column reaches the soft limit limit in the UP or OUT direction. E is the end point, which is the nut position on the screw when the tube column reaches the physical limit in the UP or OUT direction.

[0042] The electric adjustment tube column can be adjusted forward and backward, and the forward and backward adjustment corresponds to inward adjustment and outward adjustment. Specifically, the motor drives the screw, and the screw drives the electric adjustment tube column to move along the tube column axis in the IN (retracting) and OUT (extending) directions. The angle adjustment corresponds to upward adjustment and downward adjustment, and specifically, the motor drives the screw, and the screw drives the electric adjustment tube column to move along the tube column lower rotation point in the DOWN (down) and UP (up) directions.

[0043] Through the above scheme, the first hard stop trigger signal is received, which indicates that the hard stop is triggered during the adjustment of the tube column. The hard stop type corresponding to the first hard stop trigger signal is determined, and the target zero position Hall number is determined according to the hard stop type, wherein the hard stop type represents the adjustment direction of the electric adjustment tube column, and the target zero position Hall number corresponds to the hard stop type one by one. If the second hard stop trigger signal is received within the preset firing period, the first hard stop corresponding to the first hard stop trigger signal and the second hard stop corresponding to the second hard stop signal are determined, and the interval Hall number between the first hard stop and the second hard stop can be determined because the first hard stop and the second hard stop correspond to a Hall number. The zero position of the electric adjustment tube column corresponding to the preset firing period is determined according to the interval Hall number and the target zero position Hall number. When the target zero position is determined, the hard stop type and the positions of the two hard stops triggered are considered comprehensively, the zero position is accurately positioned, the zero position drift phenomenon is avoided, and the accuracy of the electric adjustment tube column adjustment is improved, and the user's driving experience is improved.

[0044] In some embodiments, step 103 specifically includes:

[0045] Step 1031, determining a first Hall number threshold corresponding to the hard stop type according to the hard stop type;

[0046] In step 1032, in response to the interval Hall number being less than or equal to the first Hall number threshold, a target start bit is determined according to the interval Hall number.

[0047] In step 1033, a position reached after rotating the target zero Hall number from the target start bit in a direction away from the first hard stop is taken as a target zero position.

[0048] In implementation, the first Hall number threshold corresponding to the hard stop type is determined according to the hard stop type, where a correspondence between the hard stop type and the Hall number threshold is pre-stored in a database, and the correspondence can include at least one of a relational table, a functional relationship, a curve relationship, a key-value pair relationship, and a histogram relationship.

[0049] The interval Hall number is compared with the first Hall number threshold. If it is determined that the interval Hall number is less than or equal to the first Hall number threshold, it means that the target start bit can be determined according to the interval Hall number, and the target start bit is a starting point when the electric adjustment tube column moves in a direction away from the first hard stop.

[0050] Starting from the target start bit, the electric adjustment tube column is rotated in a direction away from the first hard stop, and when the target zero Hall number is rotated, the position reached is the target zero position.

[0051] For example, the Hall number corresponding to the target start bit is 0, the target zero Hall number is 10, and the first hard stop direction is the IN inward direction. Then, the direction away from the first hard stop is the OUT outward direction. When the target zero Hall number is rotated from the target start bit in the OUT direction, the position reached corresponds to the Hall number 10, and this position is taken as the target zero position.

[0052] According to the above scheme, when the interval Hall number is less than or equal to the first Hall number threshold, the target zero position is determined according to the interval Hall number, and the target zero position is determined more accurately. At the same time, the position reached after rotating the target zero Hall number from the target start bit in a direction away from the first hard stop is taken as the target zero position, and the position corresponding to the target zero Hall number is taken as the target zero position, so that the interval between the target zero position and the target start bit is still the target zero Hall number, and the accuracy of the electric adjustment tube column adjustment is further ensured.

[0053] In some embodiments, step 1032 specifically includes:

[0054] In step 10321, the interval Hall number is compared with a second Hall number threshold, where the second Hall number threshold is less than the first Hall number threshold.

[0055] In step 10322, in response to the interval Hall number being greater than or equal to the second Hall number threshold, an initial start bit corresponding to the hard stop type is determined, and the initial start bit is taken as a target start bit. Alternatively,

[0056] In step 10323, in response to the interval Hall number being less than the second Hall number threshold, a position of the first hard stop is taken as a target start bit.

[0057] In implementation, a second Hall number threshold less than the first Hall number threshold is determined, and the interval Hall number is compared with the second Hall number threshold.

[0058] In this embodiment, a Hall number range corresponding to the hard stop type can be determined according to the hard stop type, a maximum value in the Hall number range is taken as the first Hall number threshold, and a minimum value in the Hall number range is taken as the second Hall number threshold.

[0059] For example, the hard stop type is determined to be up adjustment or down adjustment, the corresponding Hall number range is 499-535, the first Hall number threshold can be determined to be 535, and the second Hall number threshold can be determined to be 499.

[0060] If the interval Hall number is greater than or equal to the second Hall number threshold, and at the same time, the interval Hall number is less than or equal to the first Hall number threshold, that is, the interval Hall number is within the Hall number range, at this time, a new start bit does not need to be determined. At this time, the initial start bit corresponding to the hard stop type is found according to the hard stop type, the initial start bit corresponds to the hard stop type, and the corresponding relationship between the hard stop type and the initial start bit is stored in the database.

[0061] When the interval Hall number is within the Hall number range, the initial start bit is taken as a target start bit. At the same time, a position reached after rotating the target zero Hall number from the target start bit in a direction away from the first hard stop is taken as a target zero position, that is, the initial zero position corresponding to the hard stop type is the target zero position.

[0062] In this embodiment, when the interval Hall number is within the Hall number range, all point positions on the electric adjustment tube column do not need to be changed, that is, they do not need to be determined again. That is, the initial end point position corresponding to the hard stop type is the target end point position, the initial end point position corresponding to the hard stop type is the target end point position, and the initial default position corresponding to the hard stop type is the target default position.

[0063] If the interval hall number is less than the second hall number threshold, it indicates that there is a jam in the electric adjustment tube column adjustment process, which causes the movable stroke to be shortened and unable to move the full stroke, and the zero position needs to be re-determined. The first hard stop position is taken as the target starting position.

[0064] Exemplarily, the interval hall number is 80, and the second hall number threshold is 100, and the zero position is re-determined. The hall number corresponding to the first hard stop position is determined to be 20, the target zero hall number is 10, and the target zero position is determined to be a position reached after rotating 10 from the first hard stop position in the direction away from the first hard stop position, that is, the hall number corresponding to the target zero position is 30.

[0065] Through the above scheme, when the interval hall number is less than the second hall number threshold, it indicates that there is a jam in the electric adjustment tube column adjustment process, which causes the movable stroke to be shortened and unable to move the full stroke, and the zero position needs to be re-determined. The first hard stop position is taken as the starting position, and the zero position determined after rotating the target zero hall number subsequently is more accurate.

[0066] In some embodiments, after step 10323, further comprising:

[0067] Step 10A, taking a position reached after rotating the interval hall number from the target starting position in the direction away from the first hard stop position as the target end stop position, wherein the target end stop position is a position corresponding to the physical limit of the electric adjustment tube column in the direction away from the first hard stop position.

[0068] In specific implementation, at this time, the interval hall number is less than the second hall number threshold, which indicates that there is a jam in the electric adjustment tube column adjustment process, which causes the movable stroke to be shortened and unable to move the full stroke, and the target end stop position needs to be re-determined, which is a position corresponding to the physical limit of the electric adjustment tube column in the direction away from the first hard stop position.

[0069] Taking a position reached after rotating the interval hall number from the target starting position in the direction away from the first hard stop position as the target end stop position.

[0070] Exemplarily, the interval hall number is 80, and the second hall number threshold is 90, and the end stop position is re-determined. The hall number corresponding to the first hard stop position is determined to be 20, and the target end stop position is determined to be a position reached after rotating the interval hall number from the target starting position in the direction away from the first hard stop position, that is, the hall number corresponding to the target end stop position is 100.

[0071] By the above scheme, because there is a jam in the electric adjusting tube column adjustment process, the farthest position of the electric adjusting tube column to the direction away from the first hard stop point is determined again to avoid the problem that the electric adjusting tube column moves beyond the movable position and affects the normal driving of the vehicle.

[0072] In some embodiments, after step 10323, further comprising:

[0073] Step 10a, determining the initial end point and the initial terminal point corresponding to the hard stop type according to the hard stop type;

[0074] Step 10b, subtracting the Hall number corresponding to the initial end point from the Hall number corresponding to the target end point position to obtain a first Hall difference value;

[0075] Step 10c, subtracting the Hall number corresponding to the initial terminal point from the first Hall difference value to obtain a second Hall difference value;

[0076] Step 10d, taking the position reached after rotating the second Hall difference value from the target starting position in the direction away from the first hard stop point as the target terminal point position, wherein the target terminal point position is the position corresponding to the soft limit limit of the electric adjusting tube column in the direction away from the first hard stop point.

[0077] In specific implementation, the database pre-stores the corresponding relationship between the hard stop type and the initial end point and the initial terminal point, and the initial end point and the initial terminal point corresponding to the hard stop type are obtained by searching the database according to the hard stop type.

[0078] Therefore, when the interval Hall number is less than the second Hall number threshold, it indicates that there may be a jam in the electric adjusting tube column adjustment process, which shortens the movable stroke and cannot move the full stroke, so the soft limit limit position of the electric adjusting tube column to the direction away from the first hard stop point is determined again.

[0079] Subtracting the Hall number corresponding to the initial end point from the Hall number corresponding to the target end point position to obtain a first Hall difference value. Subtracting the Hall number corresponding to the initial terminal point from the first Hall difference value to obtain a second Hall difference value.

[0080] Taking the position reached after rotating the second Hall difference value from the target starting position in the direction away from the first hard stop point as the target terminal point position, and the target terminal point position is represented by the formula:

[0081] d ′ =d-(e-x ′ )

[0082] Wherein, d ′d-(e-x ′ ) is a second Hall difference value, d is a Hall number corresponding to an initial end point, e-x ′ is a first Hall difference value, e is a Hall number corresponding to an initial end point, x ′ is a Hall number corresponding to a target end point, x ′ is a sum value between a Hall number corresponding to a target start point and an interval Hall number.

[0083] Exemplarily, the Hall number corresponding to the position of the first hard stop is determined to be 20, the interval Hall number is 80, and the Hall number corresponding to the target end point is 100. The second Hall number threshold is 90, and the end point position is re-determined at this time. The Hall number corresponding to the initial end point is 120, and the Hall number corresponding to the initial end point is 80. The first Hall difference value is calculated to be 20, and the second Hall difference value is 60. It is determined that the target end point position is a position reached by rotating in a direction away from the first hard stop by the second Hall difference value from the target start point, that is, the Hall number corresponding to the target end point position is 80.

[0084] Through the above scheme, since there is a jam in the electric adjusting pipe column adjustment process, the target end point position can be determined according to the Hall number corresponding to the initial end point, the Hall number corresponding to the initial end point and the interval Hall number, that is, the position corresponding to the soft limit limit of the electric adjusting pipe column in the direction away from the first hard stop is determined, thereby avoiding the problem that the end point position remains unchanged, causing the end point position to coincide with the end point position, or even exceed the end point position, affecting the normal driving of the vehicle.

[0085] In some embodiments, after step 10323, the method further comprises:

[0086] Step A, determining an initial default position corresponding to the hard stop type according to the hard stop type;

[0087] Step B, performing difference processing on the Hall number corresponding to the initial default position and the target zero Hall number to obtain a third Hall difference value;

[0088] Step C, performing difference processing on the Hall number corresponding to the initial end point and the target zero Hall number to obtain a fourth Hall difference value;

[0089] Step D, performing ratio processing on the third Hall difference value and the fourth Hall difference value to obtain a target Hall ratio value;

[0090] Step E, performing difference processing on the second Hall difference value and the target zero Hall number to obtain a fifth Hall difference value;

[0091] Step F, multiplying the fifth Hall difference value with the target Hall ratio value to obtain a target Hall product value;

[0092] Step G, adding the target Hall product value with the target zero Hall number to obtain a Hall sum value;

[0093] Step H, taking the position reached after rotating the Hall sum value from the target starting bit in the direction away from the first hard stop as a target default position, wherein the target default position is the position of the electrically adjustable tube column when diagnosing the electrically adjustable tube column.

[0094] In particular implementation, the initial terminal point corresponding Hall number is subtracted from the target terminal point position corresponding Hall number to obtain a first Hall difference value. The initial terminal point corresponding Hall number is subtracted from the first Hall difference value to obtain a second Hall difference value.

[0095] The database pre-stores the corresponding relationship between the hard stop type and the initial terminal point and the initial default position, and the initial default position corresponding to the hard stop type is obtained by searching the database according to the hard stop type.

[0096] The initial default position corresponding Hall number is subtracted from the target zero Hall number to obtain a third Hall difference value. The initial terminal point corresponding Hall number is subtracted from the target zero Hall number to obtain a fourth Hall difference value.

[0097] The ratio of the third Hall difference value and the fourth Hall difference value is calculated to obtain a target Hall ratio value. The difference between the second Hall difference value and the target zero Hall number is calculated to obtain a fifth Hall difference value. The product of the target Hall ratio value and the fifth Hall difference value is calculated to obtain a target Hall product value. The target Hall product value is added with the target zero Hall number to obtain a Hall sum value.

[0098] The position reached after rotating the Hall sum value from the target starting bit in the direction away from the first hard stop is taken as a target default position, and the electrically adjustable tube column returns to the target default position when actively calibrating the electrically adjustable tube column by using the diagnostic instrument.

[0099] In the embodiment, the Hall number corresponding to the target default position is represented by the formula:

[0100]

[0101] Wherein, c ′c-b is a third hall difference value, c is a hall number corresponding to an initial default position, b is a target zero position hall number, d-b is a fourth hall difference value, d is a hall number corresponding to an initial end point, is a target hall ratio value, d-(e-x ′ )-b is a fifth hall difference value, e is a hall number corresponding to an initial end point, x ′ is a hall number corresponding to a target end point position, x ′ is a sum value between a hall number corresponding to a target starting point and an interval hall number, is a target hall product value, is a hall sum value.

[0102] Exemplarily, the hall number corresponding to the position of the first hard stop is determined to be 20, and the interval hall number is 80, and then the hall number corresponding to the target end point is 100. The second hall number threshold is 90, and the end point position is re-determined at this time. The target zero position hall number is 10, the hall number corresponding to the initial end point is 120, and the hall number corresponding to the initial end point is 80, and then the first hall difference value is calculated to be 20, the second hall difference value is 60, the third hall difference value is 40, the fourth hall difference value is 70, and the fifth hall difference value is 50. The target hall ratio value is calculated to be 0.57, the product between the target hall ratio value and the fifth hall difference value is calculated to be 28.5. The target hall product value is added to the target zero position hall number to obtain a hall sum value of 38.5. The target default position is determined to be a position reached by rotating the hall sum value from the target starting position in a direction away from the first hard stop, that is, the hall number corresponding to the target default position is 58.5.

[0103] Through the above scheme, by determining the hall sum value, the position reached by rotating the hall sum value from the target starting position in a direction away from the first hard stop is taken as the target default position, and the electric adjusting tube column returns to the target default position when the electric adjusting tube column is diagnosed and actively calibrated by using the diagnostic instrument.

[0104] In some embodiments, the method further comprises:

[0105] Step a, in response to the interval hall number being greater than the first hall number threshold, determining that the electric adjusting tube column has a fault;

[0106] Step b, outputting a fault prompt information, determining a target adjusting direction corresponding to the hard stop type, and controlling the electric adjusting tube column adjusting function in the target adjusting direction to be invalid.

[0107] In a specific implementation, the number of interval Halls is compared with a first Hall number threshold value. If it is determined that the number of interval Halls is greater than the first Hall number threshold value, it indicates that the actual stroke is greater than the stroke of the electric adjusting tube column, and the hardware has a fault, i.e., the electric adjusting tube column has a fault.

[0108] The fault prompt information is output, and the fault prompt information is used to prompt the hardware fault. At the same time, a target adjusting direction corresponding to the hard stop type is determined, and the electric adjusting tube column adjusting function in the target adjusting direction is controlled to be disabled. The prompt mode of the fault prompt information includes at least one of the following: voice broadcast, HUD display, instrument display, central screen display, vehicle window display, and vehicle equipment linkage.

[0109] Exemplarily, the target adjusting direction is inward adjusting or outward adjusting, and if the number of interval Halls is greater than the first Hall number threshold value, the angle adjusting and position adjusting functions in the IN / OUT direction are controlled to be disabled.

[0110] In another example, the target adjusting direction is upward adjusting or downward adjusting, and if the number of interval Halls is greater than the first Hall number threshold value, the angle adjusting and position adjusting functions in the UP / DOWN direction are controlled to be disabled.

[0111] Through the above scheme, whether the hardware has a fault is determined according to the number of interval Halls and the first Hall number threshold value, so that prompt information is output to the user in a timely manner when there is a fault, and normal use of the vehicle is ensured.

[0112] Based on the same inventive concept, another embodiment of the disclosure provides a control method of an electric adjusting tube column, as shown in Figure 3 The control method specifically includes the following steps.

[0113] In step 301, it is determined whether a hard stop OUT (or IN) trigger signal is received. If yes, the process jumps to step 302, and if no, the process jumps to step 307.

[0114] In step 302, zero setting is performed.

[0115] In step 303, it is determined whether a new hard stop IN (or OUT) trigger signal is received within a preset ignition period. If yes, the process jumps to step 304, and if no, the process jumps to step 307.

[0116] In step 304, the number of interval Halls between the hard stop IN and the hard stop OUT is calculated.

[0117] In step 305, it is determined whether the number of interval Halls is greater than or equal to a tube column parameter. If yes, the process jumps to step 307, and if no, the process jumps to step 306.

[0118] In step 306, the process returns to step 301.

[0119] Step 30a, determine whether a hard stop DOWN (or UP) trigger signal is received. If yes, jump to step 30b, if no, jump to step 307.

[0120] Step 30b, perform zero position setting.

[0121] Step 30c, determine whether a new hard stop UP (or DOWN) trigger signal is received within a preset ignition period. If yes, jump to step 30d, if no, jump to step 307.

[0122] Step 30d, calculate the interval hall number between the hard stop UP and the hard stop DOWN.

[0123] Step 30e, determine whether the interval hall number is greater than or equal to the column parameter. If yes, jump to step 307, if no, jump to step 30f.

[0124] Step 30f, perform zero position setting according to the hall number corresponding to the target end point.

[0125] Step 307, end.

[0126] In this embodiment, the column parameter in step 305 and step 30e can be obtained by calling a vehicle column parameter table, wherein the vehicle column parameter table is shown in Table 1,

[0127] Table 1

[0128]

[0129]

[0130] When the vehicle is shipped, the positions of the hard stop IN or OUT, DOWN or UP, the column zero position, the soft stop, and the hard stop can be initially set, as shown in Table 2,

[0131]

[0132]

[0133] In this embodiment, when the interval hall number is greater than the column parameter in step 305, the actual stroke is greater than the stroke of the column, and the hardware fails, and the angle adjustment and position adjustment functions in the IN / OUT direction are disabled.

[0134] In this embodiment, when the interval hall number is greater than the column parameter in step 30e, the actual stroke is greater than the stroke of the column, and the hardware fails, and the angle adjustment and position adjustment functions in the UP / DOWN direction are disabled.

[0135] In this embodiment, step 305 or step 30e determines that the interval Hall number is within the range of the column parameters, and then the learning of the 0 position function ends.

[0136] In this embodiment, step 306 and step 30f set the 0 position according to the Hall number corresponding to the target end point, and the setting mode of each point is shown in Table 3.

[0137] Table 3

[0138]

[0139] In this embodiment, the column is stuck at a certain place and cannot move the full stroke. Because the collision and field of view are considered when designing the column, and it cannot be known where the column is stuck, the adjustment stroke is directly reduced, and the design position of the new hard stop is set in proportion to the percentage.

[0140] It should be noted that the method of the embodiment of the present disclosure can be executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scenario, and completed by multiple devices cooperating with each other. In this distributed scenario, one of the multiple devices can only execute one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the method.

[0141] It should be noted that some embodiments of the present disclosure have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than that described above and still achieve desirable results. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0142] Based on the same inventive concept, the present disclosure also provides a control device of an electrically adjustable column corresponding to any of the above-mentioned method embodiments.

[0143] Reference Figure 4 , Figure 4 The control device of the electrically adjustable column of the embodiment comprises:

[0144] The signal receiving module 401 is configured to receive a first hard stop trigger signal, determine the hard stop type corresponding to the first hard stop trigger signal, and determine the target 0 position Hall number according to the hard stop type.

[0145] The interval hall number determination module 402 is configured to determine a second hard stop trigger signal received in a preset ignition period, determine a first hard stop corresponding to the first hard stop trigger signal and a second hard stop corresponding to the second hard stop trigger signal, and obtain an interval hall number between the first hard stop and the second hard stop.

[0146] The zero position determination module 403 is configured to determine a target zero position of the electric adjustment tube column according to the interval hall number and the target zero hall number, where the target zero position is a position corresponding to a soft limit limit of the electric adjustment tube column in the first hard stop direction.

[0147] In some embodiments, the zero position determination module 403 specifically includes:

[0148] A threshold determination unit configured to determine a first hall number threshold corresponding to the hard stop type according to the hard stop type;

[0149] A target starting position determination unit configured to, in response to the interval hall number being less than or equal to the first hall number threshold, determine a target starting position according to the interval hall number;

[0150] A zero position determination unit configured to take a position reached after rotating the target zero hall number in a direction away from the first hard stop from the target starting position as the target zero position.

[0151] In some embodiments, the target starting position determination unit is specifically configured to:

[0152] Compare the interval hall number with a second hall number threshold, where the second hall number threshold is less than the first hall number threshold;

[0153] In response to the interval hall number being greater than or equal to the second hall number threshold, determine an initial starting position corresponding to the hard stop type, and take the initial starting position as the target starting position; or,

[0154] In response to the interval hall number being less than the second hall number threshold, take a position where the first hard stop is located as the target starting position.

[0155] In some embodiments, the zero position determination module 403 specifically further includes a termination point determination module, which is specifically configured to:

[0156] Take a position reached after rotating the interval hall number in a direction away from the first hard stop from the target starting position as a target termination point position, where the target termination point position is a position corresponding to a physical limit of the electric adjustment tube column in the direction away from the first hard stop.

[0157] In some embodiments, the zero position determining module 403 further comprises an end point determining module, which is specifically configured to:

[0158] determine an initial end point and an initial end point corresponding to the hard stop type according to the hard stop type;

[0159] differentially process the Hall number corresponding to the initial end point and the Hall number corresponding to the target end point position to obtain a first Hall difference value;

[0160] differentially process the Hall number corresponding to the initial end point and the first Hall difference value to obtain a second Hall difference value;

[0161] take the position reached after rotating the second Hall difference value from the target starting bit in the direction away from the first hard stop as the target end point position, wherein the target end point position is the position corresponding to the soft limit limit of the electric adjusting tube column in the direction away from the first hard stop.

[0162] In some embodiments, the zero position determining module 403 further comprises a default position determining module, which is specifically configured to:

[0163] determine an initial default position corresponding to the hard stop type according to the hard stop type;

[0164] differentially process the Hall number corresponding to the initial default position and the target zero Hall number to obtain a third Hall difference value;

[0165] differentially process the Hall number corresponding to the initial end point and the target zero Hall number to obtain a fourth Hall difference value;

[0166] process the third Hall difference value and the fourth Hall difference value to obtain a target Hall ratio value;

[0167] differentially process the second Hall difference value and the target zero Hall number to obtain a fifth Hall difference value;

[0168] multiply the fifth Hall difference value and the target Hall ratio value to obtain a target Hall product value;

[0169] sum the target Hall product value and the target zero Hall number to obtain a Hall sum value;

[0170] take the position reached after rotating the Hall sum value from the target starting bit in the direction away from the first hard stop as the target default position, wherein the target default position is the position of the electric adjusting tube column when diagnosing the electric adjusting tube column.

[0171] In some embodiments, the apparatus further comprises a fault prompting module, which is specifically configured to:

[0172] determining that the electric adjustment tube column has a fault in response to the interval Hall number being greater than the first Hall number threshold;

[0173] outputting fault prompting information, determining a target adjustment direction corresponding to the hard stop type, and controlling the electric adjustment tube column adjustment function in the target adjustment direction to fail.

[0174] For the convenience of description, the above apparatus is described in various modules in terms of functions. Of course, the functions of each module can be implemented in one or more software and / or hardware when implementing the present disclosure.

[0175] The apparatus of the above embodiments is used to implement the control method of the corresponding electric adjustment tube column in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here again.

[0176] Based on the same inventive concept, the present disclosure also provides an electronic device corresponding to the method of any of the above embodiments, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the control method of the electric adjustment tube column according to any of the above embodiments.

[0177] Figure 5 A more specific hardware structure of an electronic device is shown, which can include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 for communication within the device.

[0178] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, etc., for executing related programs to implement the technical solutions provided by the embodiments of the present disclosure.

[0179] The memory 1020 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs, and when the technical solutions provided in the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0180] The input / output interface 1030 is configured to connect an input / output module to realize information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0181] The communication interface 1040 is configured to connect a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or through a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0182] The bus 1050 includes a channel for transmitting information between various components (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.

[0183] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain components necessary for implementing the embodiments of the present specification, and does not necessarily contain all the components shown in the figure.

[0184] The electronic device of the above embodiments is used to implement the control method of the electrically adjustable pipe column corresponding to any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here.

[0185] Based on the same inventive concept, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the control method of the electrically adjustable pipe column according to any of the above embodiments.

[0186] The computer readable medium of the embodiments includes permanent and non-permanent, removable and non-removable media, which can realize information storage by any method or technology. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0187] The storage medium of the above-mentioned embodiments stores computer instructions for causing the computer to execute the control method of the electric adjusting column as described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0188] Based on the same inventive concept, the present application also provides a vehicle comprising the control device of the electric adjusting column in the above-mentioned embodiments, the electronic device in the above-mentioned embodiments, the computer readable storage medium in the above-mentioned embodiments, and the vehicle device realizes the control method of the electric adjusting column as described in any of the above embodiments.

[0189] The vehicle of the above-mentioned embodiments is used to realize the control method of the electric adjusting column as described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0190] It can be understood that before using the technical solutions of various embodiments in the present disclosure, the type of personal information involved, the scope of use, the scene of use, etc. will be informed to the user in a proper way, and the authorization of the user will be obtained.

[0191] For example, in response to receiving the user's active request, the user is sent prompt information to explicitly prompt the user that the operation requested to be performed will require the acquisition and use of the user's personal information. Thus, the user can voluntarily choose whether to provide personal information to the software or hardware such as electronic devices, application programs, servers or storage media that perform the technical solutions of the present disclosure according to the prompt information.

[0192] As an optional but not limited implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0193] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0194] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0195] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this disclosure, the provided drawings may or may not show well-known power / ground connections to integrated circuit (IC) chips and other components. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this disclosure, and this also takes into account the fact that the details of implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this disclosure will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuitry) have been set forth to describe exemplary embodiments of this disclosure, it will be apparent to those skilled in the art that the embodiments of this disclosure may be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0196] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0197] This disclosure is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A control method for an electrically controlled tube column, characterized in that, include: Upon receiving a first hard stop trigger signal, determine the hard stop type corresponding to the first hard stop trigger signal, and determine the target zero-position Hall effect number based on the hard stop type; It is determined that a second hard stop trigger signal is received within a preset ignition cycle, the first hard stop corresponding to the first hard stop trigger signal and the second hard stop corresponding to the second hard stop trigger signal are determined, and the number of Hall effect intervals between the first hard stop and the second hard stop is obtained. The target zero position of the ESC is determined based on the number of interval Hall effect sensors and the number of target zero position Hall effect sensors, wherein the target zero position is the position of the ESC corresponding to the soft limit limit in the first hard stop direction.

2. The method according to claim 1, characterized in that, Determining the target zero position of the electrically controlled column based on the number of interval Hall effect sensors and the number of target zero-position Hall effect sensors includes: Determine the first Hall number threshold corresponding to the hard stop type based on the hard stop type; In response to the number of interval Hall sensors being less than or equal to the first Hall sensor number threshold, a target start position is determined based on the number of interval Hall sensors. The target zero position is defined as the position reached after rotating the target zero position Hall effect number of times in a direction away from the first hard stop point from the target starting position.

3. The method according to claim 2, characterized in that, The step of determining the target start position based on the number of Hall effect intervals includes: The number of interval Halls is compared with a second Hall number threshold, wherein the second Hall number threshold is less than a first Hall number threshold; In response to the number of interval Hall sensors being greater than or equal to the second Hall sensor number threshold, an initial start bit corresponding to the hard stop type is determined, and the initial start bit is used as the target start bit; or... In response to the number of Hall effect intervals being less than the second Hall effect number threshold, the position of the first hard stop point is taken as the target start position.

4. The method according to claim 3, characterized in that, After setting the location of the first hard stop point as the target start position, the method further includes: The target termination point is the position reached after rotating a certain number of Hall effect intervals from the target starting position along the direction away from the first hard stop point. The target termination point is the position corresponding to the physical limit of the ESC column in the direction away from the first hard stop point.

5. The method according to claim 4, characterized in that, After setting the location of the first hard stop point as the target start position, the method further includes: Determine the initial termination point and initial end point corresponding to the hard stop type based on the hard stop type; The difference between the number of Hall sensors corresponding to the initial termination point and the number of Hall sensors corresponding to the target termination point is calculated to obtain the first Hall difference value. The difference between the number of Halls corresponding to the initial terminal point and the first Hall difference is calculated to obtain the second Hall difference. The position reached after rotating the second Hall difference from the target starting position along the direction away from the first hard stop is taken as the target end point position, where the target end point position is the position corresponding to the soft limit limit of the ESC column in the direction away from the first hard stop.

6. The method according to claim 5, characterized in that, After setting the location of the first hard stop point as the target start position, the method further includes: Determine the initial default position corresponding to the hard stop type based on the hard stop type; The difference between the number of Hall sensors corresponding to the initial default position and the number of Hall sensors at the target zero position is processed to obtain the third Hall difference value; The difference between the number of Halls corresponding to the initial termination point and the number of Halls at the target zero position is processed to obtain the fourth Hall difference value; The target Hall ratio is obtained by comparing the third Hall difference with the fourth Hall difference. The second Hall difference value is compared with the target zero-position Hall number to obtain the fifth Hall difference value. The fifth Hall difference value is multiplied by the target Hall ratio value to obtain the target Hall product value. The target Hall product value is summed with the target zero-position Hall quantity to obtain the Hall sum value; The target default position is the position reached after rotating the Hall sum value from the target starting position in a direction away from the first hard stop point, where the target default position is the position of the ESC column when diagnosing the ESC column.

7. The method according to claim 2, characterized in that, Also includes: In response to the number of interval Hall effect sensors being greater than the first Hall effect sensor number threshold, it is determined that there is a fault in the electrically adjustable column; Output fault message, determine the target adjustment direction corresponding to the hard stop type, and control the ESC column adjustment function of the target adjustment direction to fail.

8. A control device for an electrically adjustable tube column, characterized in that, include: The signal receiving module is configured to receive a first hard stop trigger signal, determine the hard stop type corresponding to the first hard stop trigger signal, and determine the target zero-position Hall effect number based on the hard stop type. The interval Hall number determination module is configured to determine that a second hard stop trigger signal is received within a preset ignition cycle, determine the first hard stop corresponding to the first hard stop trigger signal, and the second hard stop corresponding to the second hard stop trigger signal, and obtain the interval Hall number between the first hard stop and the second hard stop. The zero-position determination module is configured to determine the target zero-position of the ESC based on the number of interval Hall effect sensors and the number of target zero-position Hall effect sensors, wherein the target zero-position is the position of the ESC corresponding to the soft limit limit in the first hard stop direction.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method as described in any one of claims 1 to 7.

10. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 9.

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