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: receiving an electric adjusting column adjustment instruction, detecting a pressing operation and a key type corresponding to the pressing operation; in response to the pressing operation satisfying a preset electric adjusting column calibration condition, determining a corresponding electric adjusting column calibration type according to the key type; controlling the electric adjusting column to move from a current position to a preset limit position according to the electric adjusting column calibration type; and determining a target zero position of the electric adjusting column according to the preset limit position, wherein the target zero position is a position corresponding to a soft limit limit in a direction in which the electric adjusting column moves from the current position to the preset limit position. The position of the electric adjusting column is recalibrated after the electric adjusting column calibration condition is met by judging the user operation, thereby meeting the demand of the user for adjusting the electric adjusting column.

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-adjusted 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-adjusted 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-adjusted column has a zero drift phenomenon caused by mechanical clearance. If the user considers that there is a problem with the position of the electric-adjusted column, the position of the electric-adjusted column cannot be re-adjusted, and the user demand cannot be met. SUMMARY

[0004] Therefore, the purpose of the present disclosure is to provide a control method and device of an electric-adjusted column, an electronic device and a vehicle to solve the problem that the position of the electric-adjusted column cannot be re-adjusted and the user demand cannot be met if the user considers that there is a problem with the position of the electric-adjusted column.

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

[0006] receiving an electric-adjusted column adjustment instruction, detecting a pressing operation and a key type corresponding to the pressing operation;

[0007] in response to the pressing operation satisfying a preset electric-adjusted column calibration condition, determining a corresponding electric-adjusted column calibration type according to the key type;

[0008] controlling the electric-adjusted column to move from a current position to a preset limit position according to the electric-adjusted column calibration type;

[0009] determining a target zero position of the electric-adjusted column according to the preset limit position, wherein the target zero position is a position corresponding to a soft limit limit in a direction in which the electric-adjusted column moves from the current position to the preset limit position.

[0010] Based on the same inventive concept, the second aspect of the present disclosure provides a control device of an electric-adjusted column, which comprises the following steps.

[0011] The instruction receiving module is configured to receive an electric-adjusted column adjustment instruction, detect a pressing operation and a key type corresponding to the pressing operation;

[0012] The type determining module is configured to determine a corresponding electric adjusting tube column calibration type according to the key type in response to the press operation satisfying a preset electric adjusting tube column calibration condition.

[0013] The movement control module is configured to control the electric adjusting tube column to move from a current position to a preset limit position according to the electric adjusting tube column calibration type.

[0014] The electric adjusting tube column adjusting module is configured to determine a target zero position of the electric adjusting tube column according to the preset limit position, where the target zero position is a position corresponding to a soft limit limit in a direction in which the electric adjusting tube column moves from the current position to the preset limit position.

[0015] Based on the same inventive concept, the 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, wherein the processor implements the control method of the electric adjusting tube column when executing the computer program.

[0016] Based on the same inventive concept, the 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.

[0017] Based on the same inventive concept, the 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.

[0018] 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 control instruction of the electric adjusting tube column is received, it indicates that the user wants to adjust the electric adjusting tube column. The press operation and the key type corresponding to the press operation are detected. According to the key type and the press operation, it is determined that a preset electric adjusting tube column calibration condition is satisfied. That is, by judging the user operation, the position of the electric adjusting tube column is recalibrated when the electric adjusting tube column calibration condition is satisfied, thereby meeting the user's demand for adjusting the electric adjusting tube column. According to the key type, a corresponding electric adjusting tube column calibration type is determined. Different key types correspond to different electric adjusting tube column calibration types. Based on the key type actually triggered by the user, the corresponding electric adjusting tube column calibration type is determined, and the subsequent calibration of the electric adjusting tube column is more accurate. According to the electric adjusting tube column calibration type, the electric adjusting tube column is controlled to move from a current position to a preset limit position. According to the preset limit position, a target zero position of the electric adjusting tube column is determined, thereby realizing accurate positioning of the zero position, avoiding zero drift, and improving the accuracy of the electric adjusting tube column adjustment and the user's driving experience. BRIEF DESCRIPTION OF DRAWINGS

[0019] 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 only constitute the embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

[0020] Figure 1 A flow chart of a control method of an electrically adjustable pipe column according to an embodiment of the present disclosure;

[0021] Figure 2 A schematic diagram of a pipe column according to an embodiment of the present disclosure;

[0022] Figure 3 A flow chart of a control method of an electrically adjustable pipe column according to another embodiment of the present disclosure;

[0023] Figure 4 A structural block diagram of a control device of an electrically adjustable pipe column according to an embodiment of the present disclosure;

[0024] Figure 5 A structural schematic diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] In order to make the objects, 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.

[0026] 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 general 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 cover the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, 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 change, the relative positional relationships may also change accordingly.

[0027] 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 operation 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.

[0028] The zero position is the position of the nut when the column is at the soft limit limit near the starting point. The 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.

[0029] Currently, the adjustment of the electric adjustment column is passive adjustment, that is, when the adjustment condition is met, such as triggering the impact end, the electric adjustment column is automatically adjusted. However, during daily driving of the vehicle, the user may think that the position of the electric adjustment column is problematic and should be recalibrated. However, at this time, the impact end is not triggered, so recalibration cannot be performed, and the user's demand cannot be met.

[0030] 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:

[0031] Step 101, receiving an electric adjustment column adjustment instruction, detecting a pressing operation and a key type corresponding to the pressing operation;

[0032] Step 102, in response to the pressing operation satisfying a preset electric adjustment column calibration condition, determining a corresponding electric adjustment column calibration type according to the key type;

[0033] Step 103, controlling the electric adjustment column to move from the current position to the preset limit position according to the electric adjustment column calibration type;

[0034] Step 104, determining a target zero position of the electric adjustment column according to the preset limit position, wherein the target zero position is the position corresponding to the soft limit limit in the direction from the current position of the electric adjustment column to the preset limit position.

[0035] In specific implementation, the electric adjustment column adjustment instruction indicates that the user wants to adjust the electric adjustment column. The trigger generation mode of the electric adjustment column adjustment instruction includes at least one of the following: physical key trigger, virtual key trigger, voice trigger, etc.

[0036] Exemplarily, the user generates an electric adjustment column adjustment instruction by clicking an adjustment virtual key on the in-vehicle central control screen in the vehicle.

[0037] Another example, the user speaks the voice information of "I want to adjust the electric adjusting column" in the car, and the car machine receives the voice information, and can be considered as receiving the electric adjusting column adjustment instruction.

[0038] Detect a pressing operation, the pressing operation representing a pressing operation of a user on an in-vehicle button, the in-vehicle button including a virtual button and a physical button, the virtual button representing a button on an in-vehicle screen, such as a button on an in-vehicle central control screen. The physical button can be an air conditioner button, a steering wheel button, a seat adjustment button, etc. In this embodiment, the in-vehicle button is preferably a steering wheel button.

[0039] Determine the button type corresponding to the pressing operation, wherein the button type represents the function type corresponding to the button. For example, the function of the button type corresponding to the up button on the steering wheel represents increasing the volume, the function of the button type corresponding to the down button on the steering wheel represents decreasing the volume, the function of the button type corresponding to the left button on the steering wheel represents page up, and the function of the button type corresponding to the right button on the steering wheel represents page down.

[0040] Determine whether the preset electric adjusting column calibration condition is met according to the pressing operation and the button type. In this embodiment, the timing is started after detecting the pressing operation on the button of the preset button type, and if the timing duration is greater than the preset timing duration, it means that the preset electric adjusting column calibration condition is met, and the electric adjusting column calibration link is entered, meeting the user's demand for electric adjusting column adjustment.

[0041] For example, the preset button type is the up button and the down button on the steering wheel, and the preset timing duration is 10s, that is, if the user presses the up button and the down button on the steering wheel at the same time and lasts for 10s, the preset electric adjusting column calibration condition is met, and the electric adjusting column calibration link is entered.

[0042] Determine the corresponding electric adjusting column calibration type according to the button type. The corresponding electric adjusting column calibration type is different when the user presses different buttons. The electric adjusting column calibration type represents the moving direction of the electric adjusting column during calibration, that is, the adjustment direction of the electric adjusting column.

[0043] The electric adjusting column can be adjusted forward and backward and in angle, wherein the forward and backward adjustment corresponds to inward adjustment and outward adjustment, specifically, the motor drives the lead screw, and the lead screw drives the electric adjusting column to move along the column axis in the IN (short) and OUT (long) directions. The angle adjustment corresponds to upward adjustment and downward adjustment, specifically, the motor drives the lead screw, and the lead screw drives the electric adjusting column to move up and down along the column, and move in the DOWN (down) and UP (up) directions.

[0044] As shown in Figure 2 , the electric adjusting column calibration type is determined according to the button type, and the corresponding electric adjusting column calibration type is determined according to the button type. 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.

[0045] Exemplarily, the electric adjustment tube column calibration type is up-down direction calibration, indicating that the electric adjustment tube column performs angle adjustment, controls the electric adjustment tube column to move from the current position to the limit position in the UP direction or the limit position in the DOWN direction.

[0046] According to the preset limit position, the target zero position of the electric adjustment tube column is determined, i.e., the real-time adjustment of the zero position of the tube column is realized, and the zero position drift phenomenon is avoided. The target zero position is the position corresponding to the soft limit limit in the direction from the current position of the electric adjustment tube column to the preset limit position.

[0047] Through the above scheme, the electric adjustment tube column adjustment instruction is received, indicating that the user wants to adjust the electric adjustment tube column at this time. The pressing operation and the key type corresponding to the pressing operation are detected. According to the key type and the pressing operation, the preset electric adjustment tube column calibration condition is determined, i.e., the position of the electric adjustment tube column is recalibrated after the electric adjustment tube column calibration condition is met, which meets the user's demand for adjusting the electric adjustment tube column. According to the key type, the corresponding electric adjustment tube column calibration type is determined, different key types correspond to different electric adjustment tube column calibration types, and the corresponding electric adjustment tube column calibration type is determined based on the actual key type triggered by the user, and then the subsequent calibration of the electric adjustment tube column is more accurate. According to the electric adjustment tube column calibration type, the electric adjustment tube column is controlled to move from the current position to the preset limit position. According to the preset limit position, the target zero position of the electric adjustment tube column is determined, 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.

[0048] In some embodiments, the step 102 of determining the corresponding electric adjustment tube column calibration type according to the key type specifically includes:

[0049] In step 1021, in response to the key type being the first key group and the first key, it is determined that the electric adjusting tube column calibration type corresponding to the key type is the first direction calibration, wherein the first key group comprises the second key and the third key which are opposite in function; or,

[0050] In step 1022, in response to the key type being the second key group and the first key, it is determined that the electric adjusting tube column calibration type corresponding to the key type is the second direction calibration, wherein the second key group comprises the fourth key and the fifth key which are opposite in function, and the second direction corresponding to the second direction calibration is perpendicular to the first direction corresponding to the first direction calibration; or,

[0051] In step 1023, in response to the key type being the first key group, the second key group and the first key, it is determined that the electric adjusting tube column calibration type corresponding to the key type is the full direction calibration, wherein the full direction calibration is to calibrate the first direction and the second direction at the same time.

[0052] In the embodiment, the key type corresponding to the pressing operation is determined. If the key type is the first key group and the first key, it is determined that the electric adjusting tube column calibration type corresponding to the key type is the first direction calibration, wherein the first key group comprises the second key and the third key which are opposite in function.

[0053] If the key type is the second key group and the first key, it is determined that the electric adjusting tube column calibration type corresponding to the key type is the second direction calibration, wherein the second key group is different from the first key group, and the second key group comprises the fourth key and the fifth key which are opposite in function, and the second direction corresponding to the second direction calibration is perpendicular to the first direction corresponding to the first direction calibration.

[0054] If the key type is the first key group, the second key group and the first key, it is determined that the electric adjusting tube column calibration type corresponding to the key type is the full direction calibration, wherein the full direction calibration is to calibrate the first direction and the second direction at the same time.

[0055] Exemplarily, the key is a steering wheel key, the first key is an OK key, the first key group comprises the second key and the third key which are opposite in function, the second key is an up key, the third key is a down key, and the first direction calibration is the up-down direction calibration of the electric adjusting tube column. If the user presses the up key, the down key and the OK key at the same time, it indicates that the user wants to control the electric adjusting tube column to calibrate the up-down direction, and at this time, it is determined that the electric adjusting tube column calibration type is the up-down direction calibration, and then the electric adjusting tube column is calibrated in the up-down direction (i.e., the UP-DOWN direction).

[0056] In another example, the keys are steering wheel keys, the first key is an OK key, the second key group includes a fourth key and a fifth key which are opposite in function, the fourth key is a left key, the fifth key is a right key, and the second direction calibration is a front-rear direction calibration of the electric adjusting column. If the user simultaneously presses the left key, the right key and the OK key, it indicates that the user wants to control the electric adjusting column to calibrate in the front-rear direction, and at this time, it is determined that the electric adjusting column calibration type is the front-rear direction calibration, and then the subsequent calibration of the electric adjusting column in the front-rear direction (i.e., the IN-OUT direction) is performed.

[0057] In another example, the keys are steering wheel keys, the first key is an OK key, the second key group includes a fourth key and a fifth key which are opposite in function, the fourth key is a left key, the fifth key is a right key, and the second direction calibration is a front-rear direction calibration of the electric adjusting column. If the user simultaneously presses the left key, the right key and the OK key, it indicates that the user wants to control the electric adjusting column to calibrate in the front-rear direction, and at this time, it is determined that the electric adjusting column calibration type is the front-rear direction calibration, and then the subsequent calibration of the electric adjusting column in the front-rear direction (i.e., the IN-OUT direction) is performed.

[0058] In this embodiment, in addition to determining that the electric adjusting column calibration type is the full direction calibration, i.e., the user wants to control the electric adjusting column to calibrate in the full direction, calibration is only performed in the calibration direction selected by the user.

[0059] That is, when it is determined that the electric adjusting column calibration type is the up-down direction calibration, i.e., the user wants to control the electric adjusting column to calibrate in the up-down direction, at this time, only the up-down direction calibration is controlled, and the front-rear direction calibration of the electric adjusting column is not performed, so as to avoid additional calibration actions.

[0060] Similarly, when it is determined that the electric adjusting column calibration type is the front-rear direction calibration, i.e., the user wants to control the electric adjusting column to calibrate in the front-rear direction, at this time, only the front-rear direction calibration is controlled, and the up-down direction calibration of the electric adjusting column is not performed.

[0061] In some embodiments, step 103 specifically includes:

[0062] Step 1031, acquiring a first number of Halls corresponding to a current position of the electric adjusting column, and determining an initial total number of Halls according to the electric adjusting column calibration type;

[0063] Step 1032, determining a target adjustment direction according to the first number of Halls and the initial total number of Halls;

[0064] In step 1033, the control electric adjustment tube column moves from the current position to the target adjustment direction until the Hall number change value remains unchanged and lasts for a first preset time length, and it is determined that the electric adjustment tube column reaches a preset limit position.

[0065] In a specific implementation, a first Hall number corresponding to a current position of the electric adjustment tube column is acquired, a database is queried according to the determined electric adjustment tube column calibration type to obtain an initial Hall total number corresponding to the electric adjustment tube column calibration type, where the initial Hall total number represents a Hall total number of a calibration direction corresponding to the electric adjustment tube column calibration type in an ideal state. The database pre-stores a corresponding relationship between the electric adjustment tube column calibration type and the initial Hall total number. The corresponding relationship can include at least one of the following: a relationship table, a functional relationship, a curve relationship, a key-value pair relationship, and a histogram relationship.

[0066] For example, if the electric adjustment tube column calibration type is forward and backward adjustment, the corresponding initial Hall total number is 518. If the electric adjustment tube column calibration type is up and down adjustment, the corresponding initial Hall total number is 601.

[0067] In this embodiment, the Hall number is the number of rotations of the adjustment motor recorded by the Hall signal, that is, the number of rotations is equal to the Hall number in value. Because the rotation of the adjustment motor drives the movement of the electric adjustment tube column, the number of rotations of the electric adjustment tube column is equal to the number of rotations of the adjustment motor in value.

[0068] A target adjustment direction is determined according to the first Hall number and the initial Hall total number, and the target adjustment direction is the movement direction when the electric adjustment tube column starts to move. The specific determination process of the target adjustment direction includes:

[0069] In step a, the initial Hall total number is multiplied by a first preset multiple to obtain a first Hall total number.

[0070] In step b, in response to the first Hall number being greater than or equal to the first Hall total number, it is determined that the target adjustment direction is a first adjustment direction; or,

[0071] In step c, in response to the first Hall number being less than the first Hall total number, it is determined that the target adjustment direction is a second adjustment direction, where the first adjustment direction and the second adjustment direction are opposite.

[0072] Specifically, a first preset multiple is acquired, where the first preset multiple is a natural number less than 1, and the first preset multiple is set by a vehicle manufacturer staff before the vehicle is shipped or when the vehicle is maintained, to ensure driving safety. The initial Hall total number is multiplied by the first preset multiple to obtain a first Hall total number. The first Hall number is compared with the first Hall total number.

[0073] If the first Hall quantity is greater than or equal to the first Hall total number, it is determined that the target adjustment direction is the first adjustment direction. If the first Hall quantity is less than the first Hall total number, it is determined that the target adjustment direction is the second adjustment direction, wherein the first adjustment direction is opposite to the second adjustment direction.

[0074] Exemplarily, taking the up and down adjustment of the electrically adjustable tube column as an example, the first preset multiple is 1 / 2, the first adjustment direction is the UP direction, and the second adjustment direction is the DOWN direction. It is determined that the initial Hall total number is 100, and the first Hall total number is calculated to be 50. The first Hall quantity corresponding to the current position of the electrically adjustable tube column is obtained as 35. At this time, the first Hall quantity is less than the first Hall total number, and it is determined that the current position of the electrically adjustable tube column is closer to the lower limit. Therefore, it is determined that the target adjustment direction is the second adjustment direction, that is, the DOWN direction.

[0075] The electrically adjustable tube column is controlled to move from the current position to the target adjustment direction, and the Hall quantity change value is detected at all times. If it is detected that the Hall quantity change value remains unchanged and lasts for a first preset time length, at this time, it indicates that the electrically adjustable tube column reaches the preset limit position.

[0076] Through the above scheme, the target adjustment direction is determined according to the first Hall quantity and the initial Hall total number, and then the electrically adjustable tube column is first moved to the closer side, thereby reducing the moving distance of the electrically adjustable tube column, shortening the moving time, and further improving the calibration efficiency of the electrically adjustable tube column.

[0077] In some embodiments, the target zero position of the electrically adjustable tube column is determined according to the preset limit position in step 104, specifically including:

[0078] In step 1041, the preset limit position is taken as a first hard stop point, and a second Hall quantity corresponding to the first hard stop point is determined.

[0079] In step 1042, the electrically adjustable tube column is controlled to move away from the first hard stop point, until the Hall quantity change value remains unchanged and lasts for a second preset time length, and it is determined that the electrically adjustable tube column reaches a second hard stop point.

[0080] In step 1043, a third Hall quantity corresponding to the second hard stop point is determined, and a target Hall total number is determined according to the second Hall quantity and the third Hall quantity.

[0081] In step 1044, the target Hall total number is multiplied by a second preset multiple to obtain a fourth Hall quantity, and a position corresponding to the fourth Hall quantity is taken as the target zero position of the electrically adjustable tube column.

[0082] In specific implementation, the preset limit position is taken as a first hard stop point, and a second Hall quantity corresponding to the first hard stop point is determined.

[0083] The control electric adjustment tube column moves from the first hard stop in a direction away from the first hard stop, and the number of Hall changes is detected in real time until the number of Hall changes remains unchanged and lasts for a second preset time length, and it is determined that the electric adjustment tube column reaches the second hard stop.

[0084] A third number of Halls corresponding to the second hard stop is determined, and a target total number of Halls is calculated according to the second number of Halls and the third number of Halls, wherein the target total number of Halls represents an actual total number of Halls between two physical limit positions corresponding to the adjustment direction of the electric adjustment tube column calibration type. Specifically, the target total number of Halls can be obtained by difference processing the numbers of Halls corresponding to the two physical limit positions, that is, the target total number of Halls is the interval number of Halls between the two physical limit positions.

[0085] A second preset multiple is obtained, the target total number of Halls is multiplied by the second preset multiple to obtain a fourth number of Halls, and a position corresponding to the fourth number of Halls is taken as a target zero position of the electric adjustment tube column.

[0086] Exemplarily, the direction corresponding to the first hard stop is the UP direction, and the direction corresponding to the second hard stop is the DOWN direction, that is, the first hard stop is the physical limit position corresponding to the UP direction, and the second hard stop is the physical limit position corresponding to the DOWN direction. The second number of Halls corresponding to the first hard stop is 600, the electric adjustment tube column is controlled to move from the first hard stop in a direction away from the first hard stop, until it reaches the second hard stop, and the third number of Halls corresponding to the second hard stop is determined to be 150. Then the target total number of Halls between the physical limit position corresponding to the UP direction and the physical limit position corresponding to the DOWN direction is calculated to be 450. It is determined that the second preset multiple is 1 / 2, and the fourth number of Halls is determined to be 225, that is, the position corresponding to the number of Halls 225 is the target zero position of the electric adjustment tube column.

[0087] Through the above scheme, by controlling the electric adjustment tube column to move from the first hard stop in the opposite direction until it reaches the other hard stop, because the first hard stop and the second hard stop both correspond to a number of Halls, the target total number of Halls between the first hard stop and the second hard stop can be determined, and then the target zero position of the electric adjustment tube column is determined according to the target total number of Halls. At the same time, according to the target total number of Halls and the second preset multiple, the fourth number of Halls is determined, and then the position corresponding to the fourth number of Halls is taken as the target zero position. The determination of the target zero position is more simple.

[0088] In some embodiments, the target zero position of the electric adjustment tube column is determined according to the preset limit position in step 104, specifically including:

[0089] In step 104A, the preset limit position is taken as the first hard stop, and a target zero Hall number corresponding to the target adjustment direction is determined according to the target adjustment direction.

[0090] In step 104B, the control electric adjusting tube column is moved from the first hard stop point to the direction away from the first hard stop point until the Hall quantity change value remains unchanged and lasts for a second preset time length, and it is determined that the electric adjusting tube column reaches the second hard stop point.

[0091] In step 104C, a second Hall quantity corresponding to the first hard stop point and a third Hall quantity corresponding to the second hard stop point are determined, and a target Hall total number is determined according to the second Hall quantity and the third Hall quantity.

[0092] In step 104D, a target zero position of the electric adjusting tube column is determined according to the target Hall total number and a target zero Hall quantity.

[0093] In specific implementation, the preset limit position is taken as the first hard stop point, the target zero Hall quantity corresponding to the target adjusting direction is determined according to the target adjusting direction, and a corresponding relationship between the target adjusting direction and the target zero Hall quantity is pre-stored in the database. 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 histogram relationship.

[0094] The electric adjusting tube column is controlled to move from the first hard stop point to the direction away from the first hard stop point, and the Hall quantity change value is detected at all times. If the Hall quantity change value is detected to remain unchanged and lasts for a second preset time length, it indicates that the electric adjusting tube column reaches the second hard stop point.

[0095] The second Hall quantity corresponding to the first hard stop point and the third Hall quantity corresponding to the second hard stop point are determined, and the target Hall total number is determined according to the second Hall quantity and the third Hall quantity. The target zero position of the electric adjusting tube column is determined according to the target Hall total number and the target zero Hall quantity, so that the real-time adjustment of the tube column zero position is realized, and the zero drift phenomenon is avoided. The first target zero position is the position of the electric adjusting tube column corresponding to the limit position of the soft limit of the first adjusting direction.

[0096] According to the above scheme, the target zero position of the electric adjusting tube column is determined according to the target Hall total number and the target zero Hall quantity. In the determination of the target zero position, the positions of the adjusting direction and the two hard stop points triggered are comprehensively considered, the zero position is accurately positioned, the zero drift phenomenon is avoided, the accuracy of the electric adjusting tube column adjustment is improved, and the driving experience of the user is improved.

[0097] In some embodiments, step 101 specifically includes:

[0098] In step 1011, the vehicle speed, the vehicle steering wheel speed, the vehicle steering wheel torque, the vehicle gear, and the vehicle safety belt state are obtained.

[0099] In step 1012, in response to the vehicle speed being less than a preset vehicle speed threshold, the vehicle steering wheel rotation speed being less than a preset rotation speed threshold, the vehicle steering wheel torque being less than a preset torque threshold, the vehicle gear being a preset gear, and the vehicle safety belt state being an open state, a pressing operation and a key type corresponding to the pressing operation are detected.

[0100] In specific implementation, the vehicle speed, the vehicle steering wheel rotation speed, the vehicle steering wheel torque, the vehicle gear, and the vehicle safety belt state are acquired. If the vehicle speed is less than a preset vehicle speed threshold, the vehicle steering wheel rotation speed is less than a preset rotation speed threshold, the vehicle steering wheel torque is less than a preset torque threshold, the vehicle gear is a preset gear, and the vehicle safety belt state is an open state, a pressing operation and a key type corresponding to the pressing operation are detected.

[0101] Exemplarily, the preset vehicle speed threshold is 3 km / h, the preset rotation speed threshold is 30° / s, the preset torque threshold is 3 N.m, and the preset gear is a parking gear (P gear).

[0102] By the above scheme, the running information of the vehicle is limited to avoid the interference of the movement when the steering column is calibrated to the zero position, and the driving safety is improved.

[0103] In some embodiments, in step 104D, a target zero position of the electrically adjusted steering column is determined according to the target total number of Halls and the target number of zero position Halls, and the target zero position is determined in the manner as shown in Figure 3 The method comprises:

[0104] In this embodiment, the interval Hall number is the target total number of Halls in the above embodiment.

[0105] In step 201, a hard stop type corresponding to a first hard stop is determined, and a first Hall number threshold corresponding to the hard stop type is determined according to the hard stop type.

[0106] In step 202, in response to the interval Hall number being less than or equal to the first Hall number threshold, a target starting position is determined according to the interval Hall number.

[0107] In step 203, a position reached after moving the target number of zero position Halls from the target starting position in a direction away from the first hard stop is taken as a target zero position.

[0108] In specific implementation, the first Hall number threshold corresponding to the hard stop type is determined according to the hard stop type, and a corresponding relationship between the hard stop type and the Hall number threshold is pre-stored in a database, and the form of the corresponding relationship can include at least one of the following: a relationship table, a functional relationship, a curve relationship, a key-value pair relationship, and a histogram relationship.

[0109] The interval hall number is compared with a 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 is indicated that the target starting position can be determined according to the interval hall number, and the target starting position is a starting position when the electric adjusting tube column moves away from the first hard stop.

[0110] The electric adjusting tube column moves away from the first hard stop in the direction from the target starting position. When the target zero position hall number is moved, the position reached is the target zero position.

[0111] Exemplarily, the hall number corresponding to the target starting position is 0, the target zero position hall number is 10, the first hard stop direction is an IN inward direction, and the direction away from the first hard stop is an OUT outward direction. At this time, the target zero position hall number is moved from the target starting position to the OUT direction, and the position reached corresponds to a hall number of 10. The position is taken as the target zero position.

[0112] 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 the target zero position hall number is moved from the target starting position in the direction away from the first hard stop is taken as the target zero position, and the position corresponding to the target zero position hall number is taken as the target zero position, so that the interval between the target zero position and the target starting position is still the target zero position hall number, and the accuracy of the electric adjusting tube column is further ensured.

[0113] In some embodiments, step 202 specifically includes:

[0114] Step 2021, compare the interval hall number with a second hall number threshold, wherein the second hall number threshold is less than the first hall number threshold.

[0115] Step 2022, in response to the interval hall number being greater than or equal to the second hall number threshold, determining an initial starting position corresponding to the hard stop type, and taking the initial starting position as the target starting position. Alternatively,

[0116] Step 2023, in response to the interval hall number being less than the second hall number threshold, taking the position of the first hard stop as the target starting position.

[0117] In specific implementation, the 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.

[0118] In the embodiment, the range of the number of Halls corresponding to the hard stop type is determined according to the hard stop type, the maximum value in the range of the number of Halls is taken as the first Hall number threshold, and the minimum value in the range of the number of Halls is taken as the second Hall number threshold.

[0119] For example, it is determined that the hard stop type is upward adjustment or downward adjustment, the range of the number of Halls corresponding to the hard stop type is 499-535, the first Hall number threshold is 535, and the second Hall number threshold is 499.

[0120] If the interval Hall number is greater than or equal to the second Hall number threshold and the interval Hall number is less than or equal to the first Hall number threshold, that is, the interval Hall number is in the range of the number of Halls, the new starting bit does not need to be determined. At this time, the initial starting bit corresponding to the hard stop type is found according to the hard stop type, that is, the initial starting bit corresponds to the hard stop type, and the corresponding relationship between the hard stop type and the initial starting bit is stored in the database.

[0121] When the interval Hall number is in the range of the number of Halls, the initial starting bit is taken as the target starting bit. At the same time, the position reached after moving the target zero Hall number from the target starting bit in the direction away from the first hard stop is taken as the target zero position, that is, the initial zero position corresponding to the hard stop type is the target zero position.

[0122] In the embodiment, when the interval Hall number is in the range of the number of Halls, all the point positions on the electric adjustment tube 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.

[0123] If the interval Hall number is less than the second Hall number threshold, it indicates that there may be a jam in the electric adjustment tube during the adjustment process, which shortens the movable stroke and cannot move the full stroke, so the zero position needs to be determined again. The position of the first hard stop is taken as the target starting bit.

[0124] For example, the interval Hall number is 80, and the second Hall number threshold is 100, so the zero position needs to be determined again. It is determined that the Hall number corresponding to the position of the first hard stop is 20, the target zero Hall number is 10, and the target zero position is the position reached after moving 10 from the position of the first hard stop in the direction away from the first hard stop, that is, the Hall number corresponding to the target zero position is 30.

[0125] By the above scheme, when the interval Hall number is less than the second Hall number threshold, at this time, it indicates that there may be a jam in the electric adjustment tube column adjustment process, causing the movable stroke to be shortened and unable to move the full stroke. The zero position is re-determined, and the position where the first hard stop point is located is taken as the starting position, and the zero position determined after the subsequent movement of the target zero Hall number is more accurate.

[0126] In some embodiments, after step 2023, further comprising:

[0127] Step 20A, taking the position reached after moving the interval Hall number from the target starting position in the direction away from the first hard stop point as the target end point position, wherein the target end point position is the position corresponding to the physical limit of the electric adjustment tube column in the direction away from the first hard stop point.

[0128] In specific implementation, at this time, the interval Hall number is less than the second Hall number threshold, which indicates that there may be a jam in the electric adjustment tube column adjustment process, causing the movable stroke to be shortened and unable to move the full stroke. Therefore, the target end point position needs to be re-determined, which is the position corresponding to the physical limit of the electric adjustment tube column in the direction away from the first hard stop point.

[0129] The position reached after moving the interval Hall number from the target starting position in the direction away from the first hard stop point is taken as the target end point position.

[0130] Exemplarily, the interval Hall number is 80, and the second Hall number threshold is 90, at which time the end point position is re-determined. The Hall number corresponding to the position of the first hard stop point is determined to be 20, and the target end point position is determined to be the position reached after moving the interval Hall number from the target starting position in the direction away from the first hard stop point, that is, the Hall number corresponding to the target end point position is 100.

[0131] By the above scheme, because there is a jam in the electric adjustment tube column adjustment process, the farthest position that the electric adjustment tube column can move in the direction away from the first hard stop point needs to be re-determined to avoid the problem that the electric adjustment tube column moves beyond the movable position, affecting the normal driving of the vehicle.

[0132] In some embodiments, after step 2023, further comprising:

[0133] Step 20a, determining the initial end point and the initial end point corresponding to the hard stop point type according to the hard stop point type;

[0134] Step 20b, 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;

[0135] Step 20c, the initial end point corresponding to the Hall number and the first Hall difference value are subtracted to obtain the second Hall difference value;

[0136] Step 20d, the position reached by moving the second Hall difference value from the target starting position in the direction away from the first hard stop is taken 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.

[0137] In specific implementation, the database pre-stores the corresponding relationship between the hard stop type and the initial termination point and the initial end point, and the initial termination point and the initial end point corresponding to the hard stop type are obtained by searching the database according to the hard stop type.

[0138] 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, resulting in a shorter movable stroke and unable to move the full stroke, and the soft limit limit position to which the electric adjusting tube column can move in the direction away from the first hard stop needs to be determined again.

[0139] The Hall number corresponding to the initial termination point is subtracted from the Hall number corresponding to the target termination point position to obtain the first Hall difference value. The Hall number corresponding to the initial end point is subtracted from the first Hall difference value to obtain the second Hall difference value.

[0140] The position reached by moving the second Hall difference value from the target starting position in the direction away from the first hard stop is taken as the target end point position, and the target end point position is represented by the formula:

[0141] The target end point position is represented by the formula:

[0142] d ′ =d-(e-x ′ )

[0143] Wherein, d ′ is the target end point position, d-(e-x ′ ) is the second Hall difference value, d is the Hall number corresponding to the initial end point, e-x ′ is the first Hall difference value, e is the Hall number corresponding to the initial termination point, x ′ is the Hall number corresponding to the target termination point position, and x ′ is the sum value between the Hall number corresponding to the target starting position and the interval Hall number.

[0144] Exemplarily, it is determined that the Hall number corresponding to the position of the first hard stop point is 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 20, and the second Hall difference value is 60. It is determined that the target end point position is a position reached by moving the second Hall difference value from the target starting position in the direction away from the first hard stop point, that is, the Hall number corresponding to the target end point position is 80.

[0145] Through the above scheme, since there is a jam in the adjustment process of the electric adjusting tube column, at this time, 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 tube column in the direction away from the first hard stop point 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, thereby affecting the normal driving of the vehicle.

[0146] In some embodiments, after step 2023, the method further comprises:

[0147] Step A: determining an initial default position corresponding to the hard stop type according to the hard stop type;

[0148] 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;

[0149] 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;

[0150] Step D: performing ratio processing on the third Hall difference value and the fourth Hall difference value to obtain a target Hall ratio value;

[0151] Step E: performing difference processing on the second Hall difference value and the target zero Hall number to obtain a fifth Hall difference value;

[0152] Step F: performing product processing on the fifth Hall difference value and the target Hall ratio value to obtain a target Hall product value;

[0153] Step G: performing sum processing on the target Hall product value and the target zero Hall number to obtain a Hall sum value;

[0154] Step H: taking a position reached by moving the Hall sum value from the target starting position in the direction away from the first hard stop point as a target default position, wherein the target default position is a position of the electric adjusting tube column when the electric adjusting tube column is diagnosed.

[0155] In the implementation, the Hall number corresponding to the initial end point is subtracted from the Hall number corresponding to the target end point position to obtain a first Hall difference value. The Hall number corresponding to the initial end point is subtracted from the first Hall difference value to obtain a second Hall difference value.

[0156] The database pre-stores a corresponding relationship between a hard stop type and an initial end point and an initial default position. The initial default position corresponding to the hard stop type is obtained by searching the database according to the hard stop type.

[0157] The Hall number corresponding to the initial default position is subtracted from the target zero Hall number to obtain a third Hall difference value. The Hall number corresponding to the initial end point is subtracted from the target zero Hall number to obtain a fourth Hall difference value.

[0158] The ratio of the third Hall difference value to 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 to the target zero Hall number to obtain a Hall sum value.

[0159] The position reached by moving the Hall sum value away from the first hard stop type in the target starting position is taken as a target default position. When the electrically controlled tube column is diagnosed by using a diagnostic instrument and actively calibrated, the electrically controlled tube column returns to the target default position.

[0160] In the embodiment, the Hall number corresponding to the target default position is represented by a formula as follows:

[0161]

[0162] wherein, c ′ is the Hall number corresponding to the target default position, c-b is the third Hall difference value, c is the Hall number corresponding to the initial default position, b is the target zero Hall number, d-b is the fourth Hall difference value, d is the Hall number corresponding to the initial end point, is the target Hall ratio value, d-(e-x ′ )-b is the fifth Hall difference value, e is the Hall number corresponding to the initial end point, x ′ is the Hall number corresponding to the target end point position, x ′ is the sum of the Hall number corresponding to the target starting point and the interval Hall number, is the target Hall product value, is the Hall sum value.

[0163] Exemplarily, it is determined that the Hall number corresponding to the position of the first hard stop point is 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 target zero 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. The first Hall difference value is 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 0.57, the product of the target Hall ratio value and the fifth Hall difference value is calculated, and the target Hall product value is 28.5. The target Hall product value and the target zero Hall number are added to obtain a Hall sum value of 38.5. The target default position is determined as a position reached by moving the Hall sum value from the target starting position in a direction away from the first hard stop point, that is, the Hall number corresponding to the target default position is 58.5.

[0164] Through the above scheme, by determining the Hall sum value, the position reached by moving the Hall sum value from the target starting position in a direction away from the first hard stop point is taken as the target default position. Subsequently, when the electric adjustment tube column is diagnosed by using a diagnostic instrument, the electric adjustment tube column returns to the target default position.

[0165] In some embodiments, the method further comprises:

[0166] Step a, in response to the interval Hall number being greater than the first Hall number threshold, determining that the electric adjustment tube column has a fault;

[0167] Step b, outputting a fault prompt information, determining a target adjustment direction corresponding to the hard stop point type, and controlling the electric adjustment tube column adjustment function in the target adjustment direction to be invalid.

[0168] In specific implementation, the interval Hall number is compared with the first Hall number threshold. If it is determined that the interval Hall number is greater than the first Hall number threshold, it indicates that the actual stroke is greater than the stroke of the electric adjustment tube column, and the hardware has a fault, that is, the electric adjustment tube column has a fault.

[0169] Outputting a fault prompt information, wherein the fault prompt information is used to prompt a hardware fault. At the same time, a target adjustment direction corresponding to the hard stop point type is determined, and an electric adjustment tube column adjustment function in the target adjustment direction is controlled to be invalid. 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.

[0170] Exemplarily, the target adjustment direction is inward adjustment or outward adjustment, and if the interval Hall number is greater than the first Hall number threshold, angle adjustment and position call-out functions in the IN / OUT direction are disabled.

[0171] Another example, the target adjustment direction is upward adjustment or downward adjustment, if the interval Hall number is greater than the first Hall number threshold, angle adjustment and position call-out functions in the UP / DOWN direction are disabled.

[0172] Through the above scheme, whether the hardware has a fault is judged according to the interval Hall number and the first Hall number threshold, so as to output prompt information to the user in time when the fault exists, and ensure the normal use of the vehicle.

[0173] It should be noted that the method of the embodiments of the present disclosure can be executed by a single device, such as a computer or a server. The method of the embodiments 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 embodiments of the present disclosure, and the multiple devices can interact with each other to complete the method.

[0174] 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 the order 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.

[0175] Based on the same inventive concept, the present disclosure also provides a control device of an electric adjusting pipe column corresponding to the method of any of the above embodiments.

[0176] Reference Figure 4 , Figure 4 The control device of the electric adjusting pipe column of the embodiments comprises:

[0177] The instruction receiving module 401 is configured to receive an electric adjusting pipe column adjustment instruction, detect a pressing operation and a key type corresponding to the pressing operation;

[0178] The type determining module 402 is configured to determine a corresponding electric adjusting pipe column calibration type according to the key type in response to the pressing operation satisfying a preset electric adjusting pipe column calibration condition;

[0179] The moving control module 403 is configured to control the electric adjusting tube column to move from a current position to a preset limit position according to the electric adjusting tube column calibration type.

[0180] The electric adjusting tube column adjusting module 404 is configured to determine a target zero position of the electric adjusting tube column according to the preset limit position, where the target zero position is a position corresponding to a soft limit of the electric adjusting tube column moving from the current position to the preset limit position.

[0181] In some embodiments, the type determining module 402 is specifically configured to:

[0182] determine that the electric adjusting tube column calibration type corresponding to the key type is a first direction calibration in response to the key type being a first key group and the first key, where the first key group includes a second key and a third key that are opposite in function; or

[0183] determine that the electric adjusting tube column calibration type corresponding to the key type is a second direction calibration in response to the key type being a second key group and the first key, where the second key group includes a fourth key and a fifth key that are opposite in function, and the second direction corresponding to the second direction calibration is perpendicular to a first direction corresponding to the first direction calibration; or

[0184] determine that the electric adjusting tube column calibration type corresponding to the key type is a full direction calibration in response to the key type being the first key group, the second key group and the first key, where the full direction calibration is to calibrate the first direction and the second direction at the same time.

[0185] In some embodiments, the moving control module 403 specifically includes:

[0186] An initial total number of Halls determining unit is configured to obtain a first number of Halls corresponding to a current position of the electric adjusting tube column, and determine an initial total number of Halls according to the electric adjusting tube column calibration type.

[0187] A target adjusting direction determining unit is configured to determine a target adjusting direction according to the first number of Halls and the initial total number of Halls.

[0188] An electric adjusting tube column control unit is configured to control the electric adjusting tube column to move from the current position to the target adjusting direction until a number of Halls changes remains unchanged for a first preset time length, and determine that the electric adjusting tube column reaches the preset limit position.

[0189] In some embodiments, the target adjusting direction determining unit is specifically configured to:

[0190] multiply the initial total number of Halls by a first preset multiple to obtain a first total number of Halls;

[0191] determining the target adjustment direction as a first adjustment direction in response to the first Hall quantity being greater than or equal to a first Hall total quantity; or

[0192] determining the target adjustment direction as a second adjustment direction in response to the first Hall quantity being less than the first Hall total quantity;

[0193] wherein the first adjustment direction is opposite to the second adjustment direction.

[0194] In some embodiments, the electric tube column adjustment module 404 is specifically configured to:

[0195] determining a second Hall quantity corresponding to the first hard stop point as a preset limit position;

[0196] controlling the electric tube column to move from the first hard stop point to a direction away from the first hard stop point until a Hall quantity change value remains unchanged for a second preset time duration, and determining that the electric tube column reaches a second hard stop point;

[0197] determining a third Hall quantity corresponding to the second hard stop point, and determining a target Hall total quantity according to the second Hall quantity and the third Hall quantity;

[0198] multiplying the target Hall total quantity by a second preset multiple to obtain a fourth Hall quantity, and taking a position corresponding to the fourth Hall quantity as a target zero position of the electric tube column.

[0199] In some embodiments, the electric tube column adjustment module 404 is specifically configured to:

[0200] determining a target zero Hall quantity corresponding to the target adjustment direction according to the target adjustment direction as a preset limit position;

[0201] controlling the electric tube column to move from the first hard stop point to a direction away from the first hard stop point until a Hall quantity change value remains unchanged for a second preset time duration, and determining that the electric tube column reaches a second hard stop point;

[0202] determining a second Hall quantity corresponding to the first hard stop point and a third Hall quantity corresponding to the second hard stop point, and determining a target Hall total quantity according to the second Hall quantity and the third Hall quantity;

[0203] determining a target zero position of the electric tube column according to the target Hall total quantity and the target zero Hall quantity.

[0204] In some embodiments, the instruction receiving module 401 is specifically configured to:

[0205] obtaining a vehicle speed, a vehicle steering wheel rotation speed, a vehicle steering wheel torque, a vehicle gear position, and a vehicle seat belt state;

[0206] In response to the vehicle speed being less than a preset vehicle speed threshold, the vehicle steering wheel rotation speed being less than a preset rotation speed threshold, the vehicle steering wheel torque being less than a preset torque threshold, the vehicle gear being a preset gear, and the vehicle safety belt state being an open state, a pressing operation and a key type corresponding to the pressing operation are detected.

[0207] For the convenience of description, the above apparatus is described in various modules in terms of functions. Of course, the functions of the modules can be implemented in one or more software and / or hardware when implementing the present disclosure.

[0208] The apparatus of the above embodiments is used to implement the control method of the corresponding electrically adjustable tube column in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here again.

[0209] 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 implements the control method of the electrically adjustable tube column according to any of the above embodiments when executing the program.

[0210] Figure 5 A more specific hardware structure of an electronic device is shown in the embodiment, 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.

[0211] 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.

[0212] The memory 1020 can be implemented by 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 by the embodiments of the present disclosure are implemented by software or firmware, the related program codes are stored in the memory 1020 and executed by the processor 1010.

[0213] 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 in the device (not shown in the figure) or 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.

[0214] 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 a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0215] The bus 1050 includes a channel to transmit 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.

[0216] 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 include components necessary for implementing the embodiments of the present disclosure, and does not necessarily include all components shown in the figure.

[0217] The electronic device of the above embodiments is used to implement the control method of the electrically adjustable tube column in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0218] Based on the same inventive concept, the 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 tube column as described in any of the above embodiments.

[0219] 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.

[0220] 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 one of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0221] 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 one of the above-mentioned embodiments.

[0222] The vehicle of the above-mentioned embodiments is used to realize the control method of the electric adjusting column as described in any one of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0223] It can be understood that before using the technical solutions of various embodiments in the present disclosure, the user will be informed of the type, use range, use scenario, etc. of the personal information involved by appropriate means, and the authorization of the user will be obtained.

[0224] 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.

[0225] 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.

[0226] 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.

[0227] 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.

[0228] 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.

[0229] 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.

[0230] 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 method of controlling an electrically adjustable tube column, characterized in that The application relates to a method for adjusting an electrically-controlled tube column, comprising the following steps: receiving an electrically-controlled tube column adjustment instruction, detecting a pressing operation and a key type corresponding to the pressing operation; in response to the pressing operation satisfying a preset electrically-controlled tube column calibration condition, determining an electrically-controlled tube column calibration type corresponding to the key type according to the key type; controlling the electrically-controlled tube column to move from a current position to a preset limit position according to the electrically-controlled tube column calibration type; determining a target zero position of the electrically-controlled tube column according to the preset limit position, wherein the target zero position is a position corresponding to a soft limit limit in a direction in which the electrically-controlled tube column moves from the current position to the preset limit position; the step of determining the electrically-controlled tube column calibration type corresponding to the key type according to the key type comprises: in response to the key type being a first key group and a first key, determining that the electrically-controlled tube column calibration type corresponding to the key type is a first direction calibration, wherein the first key group comprises a second key and a third key which are functionally opposite, and the pressing operation is simultaneously pressing the first key group and the first key; or in response to the key type being a second key group and a first key, determining that the electrically-controlled tube column calibration type corresponding to the key type is a second direction calibration, wherein the second key group comprises a fourth key and a fifth key which are functionally opposite, the second direction calibration corresponds to a second direction which is perpendicular to a first direction corresponding to the first direction calibration, and the pressing operation is simultaneously pressing the second key group and the first key.

2. The method of claim 1, wherein, the step of determining the electrically-controlled tube column calibration type corresponding to the key type according to the key type comprises: in response to the key type being a first key group, a second key group and a first key, determining that the electrically-controlled tube column calibration type corresponding to the key type is a full direction calibration, wherein the full direction calibration is simultaneously calibrating a first direction and a second direction.

3. The method of claim 1, wherein, the step of controlling the electrically-controlled tube column to move from the current position to the preset limit position according to the electrically-controlled tube column calibration type comprises: obtaining a first Hall number corresponding to the current position of the electrically-controlled tube column, and determining an initial Hall total number according to the electrically-controlled tube column calibration type; determining a target adjustment direction according to the first Hall number and the initial Hall total number; controlling the electrically-controlled tube column to move from the current position to the target adjustment direction until a Hall number change value remains unchanged and lasts for a first preset time length, and determining that the electrically-controlled tube column reaches the preset limit position.

4. The method of claim 3, wherein, the step of determining the target adjustment direction according to the first Hall number and the initial Hall total number comprises: multiplying the initial Hall total number by a first preset multiple to obtain a first Hall total number; in response to the first Hall number being greater than or equal to the first Hall total number, determining that the target adjustment direction is a first adjustment direction; or in response to the first Hall number being less than the first Hall total number, determining that the target adjustment direction is a second adjustment direction; wherein the first adjustment direction is opposite to the second adjustment direction.

5. The method of claim 3, wherein, the step of determining the target zero position of the electrically-controlled tube column according to the preset limit position comprises: determining a second Hall number corresponding to a first hard stop point by taking the preset limit position as the first hard stop point; The control electric adjusting tube column moves from the first hard stop to a direction away from the first hard stop until the Hall number change value remains unchanged and lasts for a second preset time length, and it is determined that the electric adjusting tube column reaches a second hard stop; A third Hall number corresponding to the second hard stop is determined, and a target Hall total number is determined according to the second Hall number and the third Hall number; The target Hall total number is multiplied by a second preset multiple to obtain a fourth Hall number, and a position corresponding to the fourth Hall number is taken as a target zero position of the electric adjusting tube column.

6. The method of claim 3, wherein, The target zero position of the electric adjusting tube column is determined according to the preset limit position, including: The preset limit position is taken as a first hard stop, and a target zero Hall number corresponding to the target adjustment direction is determined according to the target adjustment direction; The control electric adjusting tube column moves from the first hard stop to a direction away from the first hard stop until the Hall number change value remains unchanged and lasts for a second preset time length, and it is determined that the electric adjusting tube column reaches a second hard stop; A second Hall number corresponding to the first hard stop and a third Hall number corresponding to the second hard stop are determined, and a target Hall total number is determined according to the second Hall number and the third Hall number; The target zero position of the electric adjusting tube column is determined according to the target Hall total number and the target zero Hall number.

7. The method of claim 1, wherein, The detection of the pressing operation and the key type corresponding to the pressing operation includes: The vehicle speed, the vehicle steering wheel speed, the vehicle steering wheel torque, the vehicle gear and the vehicle safety belt state are obtained; In response to the vehicle speed being less than a preset vehicle speed threshold, the vehicle steering wheel speed being less than a preset speed threshold, the vehicle steering wheel torque being less than a preset torque threshold, the vehicle gear being a preset gear, and the vehicle safety belt state being an open state, the pressing operation and the key type corresponding to the pressing operation are detected.

8. A control device for an electrically tunable tube column, characterized in that It includes: The instruction receiving module is configured to receive an electric adjusting tube column adjustment instruction, detect a pressing operation and a key type corresponding to the pressing operation; The type determination module is configured to determine a corresponding electric adjusting tube column calibration type according to the key type in response to the pressing operation satisfying a preset electric adjusting tube column calibration condition; The movement control module is configured to control the electric adjusting tube column to move from a current position until it moves to a preset limit position according to the electric adjusting tube column calibration type; The electric adjusting tube column adjustment module is configured to determine a target zero position of the electric adjusting tube column according to the preset limit position, wherein the target zero position is a position corresponding to a soft limit limit in a direction in which the electric adjusting tube column moves from the current position to the preset limit position; The determination of the corresponding electric adjusting tube column calibration type according to the key type includes: In response to the key type being a first key group and a first key, the electric adjusting tube column calibration type corresponding to the key type is determined to be a first direction calibration, wherein the first key group includes a second key and a third key with opposite functions, and the pressing operation is simultaneously pressing the first key group and the first key; or, In response to the key type being a second key group and the first key, it is determined that the electrically adjustable tube column calibration type corresponding to the key type is a second direction calibration, wherein the second key group includes a fourth key and a fifth key which are functionally opposite, the second direction corresponding to the second direction calibration is perpendicular to the first direction corresponding to the first direction calibration, and the pressing operation is simultaneous pressing of the second key group and the first key.

9. An electronic device, comprising: A computer program product comprising a memory, a processor and a computer program stored on the memory and loadable into the processor, the processor implementing the method according to any one of claims 1 to 7 when executing the program.

10. A vehicle characterized by comprising: The vehicle comprises the electronic device according to claim 9.

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