Vehicle steering wheel control method and device and vehicle

Abstract

The invention discloses a vehicle steering wheel control method and device and a vehicle, and belongs to the technical field of vehicles. The vehicle steering wheel control method configures a steering wheel control triggering condition for a vehicle, and comprises the following steps: acquiring environment information of an environment where the vehicle is located; determining a current steering angle for the steering wheel and a current steering direction corresponding to the current steering angle in real time; under the condition that the environment information meets the steering wheel control triggering condition, the current steering angle and the current steering direction are combined, the previous frame steering angle of the steering wheel and the previous frame steering direction corresponding to the previous frame steering angle are regulated and controlled, and the steering wheel is controlled. According to the method, the steering wheel can be prevented from being unstable or reversely hit, so that the auxiliary driving safety is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a method and device for controlling a vehicle steering wheel and a vehicle. Background Art

[0002] A vehicle assisted driving system generally adjusts the vehicle steering wheel based on the recognized lane lines so that the vehicle travels along the center line of the lane (that is, the longitudinal center line of the vehicle is basically the same as the center line of the lane). After a certain angle is formed between the longitudinal center line of the vehicle and the lane line or the center line of the lane, the vehicle assisted driving system will callback the steering wheel. If the vehicle is in a specific stage, such as when preparing to change lanes or when preparing to drive off the ramp, the callback of the steering wheel is contrary to the actual running trajectory of the vehicle, resulting in an unstable steering wheel or even a phenomenon of reverse steering, which affects the safety of assisted driving. Summary of the Invention

[0003] In view of this, the present invention provides a method and device for controlling a vehicle steering wheel and a vehicle, which can avoid the phenomenon of unstable or reverse steering of the steering wheel, so as to effectively improve the safety of assisted driving.

[0004] To solve the above technical problems, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides a method for controlling a vehicle steering wheel, and a steering wheel control trigger condition is configured for the vehicle, including:

[0006] Obtaining environmental information of the environment where the vehicle is located;

[0007] Real-time determining a current steering angle of the steering wheel and a current steering direction corresponding to the current steering angle;

[0008] When the environmental information meets the steering wheel control trigger condition, combining the current steering angle, the current steering direction, the steering angle of the previous frame for adjusting the steering wheel, and the steering direction of the previous frame corresponding to the steering angle of the previous frame, to control the steering wheel.

[0009] Optionally, the steering wheel control trigger condition includes: the vehicle is in any of the following road sections:

[0010] A variable road section, an intersection area between a ramp and a main road, an entrance area of a ramp, and an exit area of a ramp.

[0011] Optionally, the real-time determining of the current steering angle of the steering wheel includes:

[0012] Real-time obtaining the current steering angle input to the steering wheel;

[0013] Or,

[0014] Calculate the current steering angle of the steering wheel based on the environmental information of the vehicle.

[0015] Optionally, the controlling the steering wheel includes:

[0016] Analyze whether the current steering angle is less than the previous frame's steering angle, and analyze whether the current steering direction is the same as the previous frame's steering direction;

[0017] When the analysis result indicates that the current steering angle is not less than the previous frame's steering angle and the current steering direction is the same as the previous frame's steering direction, control the steering wheel to rotate according to the current steering angle and the current steering direction;

[0018] When the analysis result indicates that the current steering angle is less than the previous frame's steering angle and / or the current steering direction is not the same as the previous frame's steering direction, control the steering wheel to rotate according to the previous frame's steering angle and the previous frame's steering direction.

[0019] Optionally, the vehicle steering wheel control method further includes:

[0020] Configure a steering wheel control release condition for the vehicle;

[0021] When the vehicle state meets the steering wheel control release condition, control the steering wheel based on the current steering angle and the current steering direction.

[0022] Optionally, the steering wheel control release condition includes at least one of the following states:

[0023] Trigger the assisted driving to enter the lane change procedure, trigger the start of the procedure to enter the ramp from the main road, trigger the start of the procedure to enter the main road from the ramp, the distance between the vehicle and the ramp main road boundary line does not exceed a preset distance threshold, trigger the reset of the steering wheel control signal, and the steering wheel locking duration is not less than a preset time threshold.

[0024] Optionally, the above vehicle steering wheel control method further includes:

[0025] When the environmental information meets the steering wheel control trigger condition, lock the steering wheel, where the steering angle allowed for the locked steering wheel is not less than the previous frame's steering angle, and the steering direction allowed for the locked steering wheel is the same as the previous frame's steering direction;

[0026] The controlling the steering wheel includes: controlling the locked steering wheel.

[0027] Optionally, the above vehicle steering wheel control method further includes:

[0028] When the environmental information changes from not satisfying the steering wheel control trigger condition to satisfying the steering wheel control trigger condition, starting a timer to count the steering wheel lock time for the steering wheel;

[0029] When the locking time of the steering wheel reaches a preset time threshold, the locking of the steering wheel is released.

[0030] Optionally, the vehicle steering wheel control method further includes: when the vehicle state satisfies a steering wheel control release condition, releasing the lock on the steering wheel.

[0031] In a second aspect, an embodiment of the present invention provides a vehicle steering wheel control device, comprising: a configuration module, an interaction module and a control module, wherein:

[0032] The configuration module is used to configure the vehicle with a steering wheel control trigger condition;

[0033] The interaction module is used to obtain environmental information of the environment in which the vehicle is located;

[0034] The control module is used to determine in real time the current steering angle of the steering wheel and the current steering direction corresponding to the current steering angle; when the environmental information meets the steering wheel control trigger condition, the steering wheel is controlled in combination with the current steering angle, the current steering direction, the steering angle of the previous frame of the steering wheel and the steering direction of the previous frame corresponding to the steering angle of the previous frame.

[0035] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0036] one or more processors;

[0037] a storage device for storing one or more programs,

[0038] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle steering wheel control method provided in the above-mentioned first aspect embodiment.

[0039] In a fourth aspect, an embodiment of the present invention provides a computer-readable medium having a computer program for a vehicle steering wheel control method stored thereon,

[0040] When the computer program is executed by the vehicle-mounted processor, the vehicle steering wheel control method provided in the first aspect embodiment described above is implemented.

[0041] In a fifth aspect, an embodiment of the present invention provides a vehicle, which implements the vehicle steering wheel control method provided by the embodiment of the first aspect or includes the vehicle steering wheel control device provided by the embodiment of the second aspect.

[0042] The technical solution of the above invention has the following advantages or beneficial effects:

[0043] The technical solution provided by the embodiment of the present invention controls the steering wheel by combining environmental information, the current steering angle of the steering wheel, the current steering direction corresponding to the current steering angle, the previous steering angle of the steering wheel to be adjusted, and the previous steering direction corresponding to the previous steering angle, so that the steering wheel control combines the environment and the state of the steering wheel (the previous steering direction and the previous steering angle), making the steering wheel control match the environment and the state of the steering wheel, which can avoid the instability or reverse steering of the steering wheel and effectively improve the safety of assisted driving. Description of the Drawings

[0044] Figure 1 It is a schematic structural diagram of the first driving scenario targeted by the technical solution provided by the embodiment of the present invention;

[0045] Figure 2 It is a schematic structural diagram of the second driving scenario targeted by the technical solution provided by the embodiment of the present invention;

[0046] Figure 3 It is a schematic structural diagram of the third driving scenario targeted by the technical solution provided by the embodiment of the present invention;

[0047] Figure 4 It is a schematic structural diagram of the fourth driving scenario targeted by the technical solution provided by the embodiment of the present invention;

[0048] Figure 5 It is an exemplary system architecture diagram to which the embodiment of the present invention can be applied;

[0049] Figure 6 It is a schematic main flow diagram of the vehicle steering wheel control method provided by the embodiment of the present invention;

[0050] Figure 7 It is a partial structural schematic diagram of the vehicle steering wheel control device provided by the embodiment of the present invention;

[0051] Figure 8 It is a structural schematic diagram of a computer system suitable for implementing the vehicle steering wheel control of the embodiment of the present invention. Detailed Embodiments

[0052] The technical solution provided by the embodiment of the present invention is applicable to various driving scenarios of vehicles. Exemplarily, such as Figures 1 to 4 (where Figure 1 shows the scenario where the vehicle is preparing to change lanes, Figure 2 shows the scenario where the vehicle is preparing to enter the ramp; Figure 3 shows the scenario where the vehicle has just entered the ramp area and is preparing to select a lane in the ramp area;Figure 4 As shown in the scenario where the vehicle is about to enter the main road from the ramp, vehicle V1 is in the stage of preparing to change lanes from the main road L1 to the main road L2, or vehicle V2 is currently on the main road L2 and is in the stage of preparing to change lanes from the main road L2 to the ramp, or vehicle V3 is in the stage of just entering the off-ramp area, or vehicle V4 is preparing to change lanes from the ramp L5 to the main road L1. In these scenarios, before the autonomous driving system triggers the lane change procedure, off-ramp procedure, or entering the main road procedure, the autonomous driving system may operate the steering wheel to turn according to the environmental information or the driver may assist in operating the steering wheel to turn, causing the vehicle to deviate to a certain extent in preparation for lane change. However, after the vehicle deviates to a certain extent, the autonomous driving system may mistakenly regard this deviation in preparation for vehicle lane change as a misoperation and perform an operation of turning the steering wheel back, which will cause the vehicle to shake significantly, affecting the safety of vehicle autonomous driving and the user's riding experience.

[0053] To solve the problem that in the above-mentioned multiple scenarios, the vehicle's autonomous driving safety and the user's riding experience are affected due to the adjustment of the steering wheel, the embodiments of the present invention provide a vehicle steering wheel control method, device, and vehicle.

[0054] The following describes the exemplary embodiments of the present invention with reference to the accompanying drawings. Various details of the embodiments of the present invention are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted below.

[0055] It should be noted that, without conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0056] Based on the system architecture on which the technical solution provided by the embodiments of the present invention depends, the technical scenarios applicable to the technical solution provided by the embodiments of the present invention are described below.

[0057] Figure 5 An exemplary system architecture 500 on which the vehicle steering wheel control method or vehicle steering wheel control device according to the embodiments of the present invention can be applied is shown.

[0058] As Figure 5As shown, the vehicle system architecture 500 may include various systems, such as a driving control system 501, a power system 502, a sensor system 503, a control system 504, an assisted lane change system 505, one or more peripheral devices 506, a power supply 507, a computer system 508, and a user interface 509. Among them, the vehicle steering wheel control method provided by the embodiments of the present invention can be realized through interaction with each of the above systems. Optionally, the vehicle system architecture 500 may include more or fewer systems, and each system may include multiple components. In addition, each system and component of the vehicle system architecture 500 can be interconnected by wire or wirelessly.

[0059] Among them, the driving control system 501 included in the vehicle system architecture 500 can be in a fully or partially autonomous driving mode. For example, the driving control system 501 can automatically control the vehicle to change lanes without interacting with a person, according to the lane change signal or lane change instruction provided by the assisted lane change system 505.

[0060] The power system 502 may include components that provide power movement for the vehicle. For example, the power system 502 may include an engine, an energy source, a transmission, wheels, tires, etc. Among them, the engine can be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine composed of a gasoline engine and an electric motor, or a hybrid engine composed of an internal combustion engine and an air compression engine. The engine converts the energy source into mechanical energy and provides it to the transmission. Examples of the energy source may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other power sources. The energy source can also provide energy for other systems of the vehicle. In addition, the transmission may include a gearbox, a differential, a drive shaft, a clutch, etc.

[0061] The sensor system 503 may include sensors that sense the surrounding environment of the vehicle (such as sensors that sense whether there are obstacles around, etc.) and pressure sensors that sense whether there are passengers on the seat. For example, a positioning system (the positioning system can be a global positioning system (GPS) system), or it can be a Beidou system or other positioning systems), radar, a laser rangefinder, an inertial measurement unit (IMU), and a camera, etc. The positioning system can be used to locate the geographical location of the vehicle. The IMU is used to sense the position and orientation changes of the vehicle based on inertial acceleration. In one embodiment, the IMU can be a combination of an accelerometer and a gyroscope. Radar can use radio signals to sense objects within the surrounding environment of the vehicle. In some embodiments, in addition to sensing objects, radar can also be used to sense the speed and / or forward direction of the objects, etc.

[0062] Among them, in order to detect environmental information, objects, etc. outside the vehicle, cameras, etc. can be configured at appropriate positions outside the vehicle. For example, in order to obtain an environmental image of the side of the vehicle, the camera can be on the side mirror of the vehicle. The camera can be a static or video camera.

[0063] The control system 504 may include a software system for realizing vehicle driving control. For example, a system for analyzing the vehicle surrounding environment, a system for pre-tightening the seat belt, a route planning system, an obstacle avoidance system, a vision system for image analysis, etc. The control system 504 may also include hardware systems such as a throttle, a steering wheel system, a seat belt system, an airbag system, and peripheral devices (such as a projection device, a display, etc.). In addition, the control system 504 may additionally or alternatively include components other than those shown and described. Or some of the above-mentioned shown components may also be reduced.

[0064] Furthermore, as described above, the control system 504 may further implement a part of the above-mentioned vehicle steering wheel control method, configure a steering wheel control trigger condition for the vehicle, and obtain environmental information of the environment where the vehicle is located; determine in real time the current steering angle of the steering wheel and the current steering direction corresponding to the current steering angle; when the environmental information meets the steering wheel control trigger condition, combine the current steering angle, the current steering direction, the steering angle of the previous frame for regulating the steering wheel, and the previous steering direction corresponding to the steering angle of the previous frame to control the steering wheel. Specifically, the process of controlling the vehicle to change lanes mainly is to make the auxiliary lane change system 505 output a lane change signal or a lane change instruction to the driving control system 501, and the driving control system 501 automatically controls the vehicle to change lanes according to the lane change signal or the lane change instruction output by the auxiliary lane change system 505. Before the auxiliary lane change system 505 outputs a lane change signal or a lane change instruction to the driving control system 501, the driving control system 501 and the control system 504 can combine to control the steering wheel to deflect to avoid large direction changes of the vehicle. And the process of controlling the vehicle to maintain driving in the current lane mainly is that the control system 504 sends a driving hold instruction to the auxiliary lane change system 505, and after receiving the driving hold instruction, the auxiliary lane change system 505 exits the control, so that the driving control system 501 drives the vehicle to drive in the current lane. During the process of controlling the vehicle to maintain driving in the current lane, the driving control system 501 and the control system 504 can combine to control the steering wheel to make the vehicle maintain driving along the center line of the lane.

[0065] In addition, the control system 504 can also interact with external sensors, other autonomous driving devices, other computer systems or users through the peripheral device 506. The peripheral device 506 may include a wireless communication system, an in-vehicle computer, a microphone and / or a speaker, a camera, a projector, etc.

[0066] After receiving a trigger, the assisted lane change system 505 controls the assisted power system 502 and the control system 504 to control the vehicle to change lanes. Additionally, the assisted lane change system 505 interacts with the control system 504, and the control system 504 provides a lane change trigger for the assisted lane change system 505, so that the assisted lane change system 505 generates a lane change signal or a lane change command based on the lane change trigger, and through the lane change signal or the lane change command, the driving control system 501 drives the vehicle to change lanes.

[0067] In some embodiments, the peripheral device 506 provides a means for the user of the control system 504 to interact with the user interface. For example, an in-vehicle computer can provide information to the vehicle's user. The user interface can also operate the in-vehicle computer to receive user input. The in-vehicle computer can be operated through a touch screen. In other cases, the peripheral device can provide a means for communicating with other devices located inside the vehicle. For example, a microphone can receive audio (such as voice commands or other audio inputs) from the user of the control system. Similarly, a speaker can output audio to the user of the control system.

[0068] The wireless communication system can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system can use networks such as cellular networks, WiFi and wireless local area network (WLAN) to communicate, or can also communicate directly with devices using infrared links, Bluetooth or ZigBee. Other wireless protocols, such as various communication systems for autonomous driving, etc.

[0069] The power supply 507 can supply power to various components of the vehicle. The power supply 507 can be a rechargeable lithium-ion or lead-acid battery.

[0070] Part or all of the functions for implementing vehicle steering wheel control are controlled by the computer system 508. The computer system 508 can include at least one processor that executes instructions stored in a non-transitory computer-readable medium such as a memory. The computer system 508 provides the execution code for implementing vehicle steering wheel control for the above control system.

[0071] The processor can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a special device such as an application specific integrated circuit (ASIC) or other hardware-based processor. Those of ordinary skill in the art should understand that the processor, computer, or memory can actually include multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory can be a hard disk drive or other storage medium located within a housing different from the computer. Thus, a reference to a processor or computer will be understood to include a reference to a collection of processors or computers or memories that may or may not operate in parallel. Instead of using a single processor to perform the steps described herein, some components such as the steering component and the deceleration component can each have its own processor that only performs determinations related to functions specific to the component.

[0072] A user interface 509 for providing information to or receiving information from a user of the vehicle. Optionally, the user interface 509 can include one or more input / output devices within the set of peripheral devices 506, such as a wireless communication system, an in-vehicle computer, a microphone, and a speaker.

[0073] It should be understood that the above components are only examples. In actual applications, components in the above-mentioned modules or systems may be added or deleted according to actual needs, Figure 5 and should not be construed as a limitation to the embodiments of the present application.

[0074] Figure 6 is a schematic diagram of the main steps of a vehicle steering wheel control method according to an embodiment of the present invention. The vehicle steering wheel control method configures a steering wheel control trigger condition for the vehicle. Specifically, as Figure 6 shown, the vehicle steering wheel control method may further include the following steps:

[0075] Step S601: Obtain environmental information: Obtain environmental information of the environment where the vehicle is located.

[0076] This step can obtain environmental information through an in-vehicle camera and in-vehicle sensors installed in the vehicle. The environmental information can include: road type (such as the intersection area of the main road and the ramp, multiple parallel main roads where lane changes are possible, etc.), vehicle information around the lane such as the distance between vehicles, vehicle speed, etc.

[0077] Step S602: Determine the condition of the steering wheel: Real-time determine the current steering angle of the steering wheel and the current steering direction corresponding to the current steering angle.

[0078] Among them, the steering angle of the steering wheel is based on the steering wheel being in the straight-ahead position. The deflection angle of the steering wheel relative to the straight-ahead position is the steering angle of the steering wheel. The steering direction is also based on the straight-ahead position, such as clockwise steering relative to the straight-ahead position or counterclockwise steering relative to the straight-ahead position.

[0079] In this step, the specific implementation for determining the current steering angle of the steering wheel in real time may include: obtaining the current steering angle input for the steering wheel in real time; or, calculating the current steering angle of the steering wheel according to the environmental information of the vehicle. Among them, obtaining the current steering angle input for the steering wheel in real time can be for driver assistance driving, and the steering angle is input in real time by operating the steering wheel. The calculated current steering angle of the steering wheel is generally the steering angle that needs to operate the steering wheel calculated in real time by the autonomous driving system or the assisted driving system during the process of controlling the vehicle. Generally speaking, the current steering angle input for the steering wheel is obtained before the corresponding steering occurs when operating the steering system, and the calculated current steering angle of the steering wheel is obtained before being output to the steering system.

[0080] Step S603: Control the steering wheel: When the environmental information meets the steering wheel control trigger condition, control the steering wheel in combination with the current steering angle, the current steering direction, the previous steering angle for regulating the steering wheel, and the previous steering direction corresponding to the previous steering angle.

[0081] Specifically, the steering wheel control trigger condition may include: the vehicle is in any of the following road sections: variable road section, intersection area of the ramp and the main road, entrance area of the ramp, and exit area of the ramp.

[0082] Figure 6 The provided technical solution controls the steering wheel by combining the environmental information, the current steering angle of the steering wheel, the current steering direction corresponding to the current steering angle, the previous steering angle for regulating the steering wheel, and the previous steering direction corresponding to the previous steering angle, so that the steering wheel control combines the environment and the state of the steering wheel (the previous steering direction and the previous steering angle), making the steering wheel control match the environment and the state of the steering wheel, which can avoid the phenomenon of the steering wheel being unstable or counter-steering, and effectively improve the safety of assisted driving.

[0083] Specifically, the specific implementation of controlling the steering wheel may include: analyzing whether the current steering angle is less than the steering angle of the previous frame, and analyzing whether the current steering direction is the same as the steering direction of the previous frame; when the analysis result indicates that the current steering angle is not less than the steering angle of the previous frame and the current steering direction is the same as the steering direction of the previous frame, controlling the steering wheel to rotate according to the current steering angle and the current steering direction; when the analysis result indicates that the current steering angle is less than the steering angle of the previous frame and / or the current steering direction is different from the steering direction of the previous frame, controlling the steering wheel to rotate according to the steering angle and the steering direction of the previous frame.

[0084] Among them, the steering angle and the steering direction of the previous frame are also determined based on the straight-ahead position of the steering wheel.

[0085] Through the above process, under the control of the steering wheel, the vehicle can travel along the steering direction corresponding to the steering angle of the previous frame, ensuring that the vehicle's travel can prepare for lane change in the scenarios shown above Figures 1 to 4 and contributing to improving the vehicle's driving stability during the subsequent lane change process.

[0086] Furthermore, the above vehicle steering wheel control method may further include: configuring a steering wheel control release condition for the vehicle; when the vehicle state meets the steering wheel control release condition, controlling the steering wheel based on the current steering angle and the current steering direction.

[0087] Among them, the steering wheel control release condition includes at least one of the following states: triggering the assisted driving to enter the lane change program, triggering the start of the program to enter the ramp from the main road, triggering the start of the program to enter the main road from the ramp, the distance between the vehicle and the ramp main road demarcation line does not exceed a preset distance threshold (where the distance between the vehicle and the ramp main road demarcation line can be the distance D as shown Figure 2 and this distance D is generally the distance between the side of the vehicle close to the ramp main road demarcation line and the main road demarcation line. The distance threshold is generally 0.4m), triggering the reset of the steering wheel control signal (the reset of the control signal is triggered by the driver through an operation key or an operation lever), and the steering wheel locking duration is not less than a preset time threshold.

[0088] Through the steering wheel control release condition, the above steering wheel holding process will not affect the vehicle lane change program, and the steering wheel can be timely regulated through the preset time threshold, the preset distance threshold, and the reset of the steering wheel control signal, improving the safety of steering wheel control and the safety of vehicle driving.

[0089] Further, the above vehicle steering wheel control method may further include: when the environmental information meets the steering wheel control trigger condition, locking the steering wheel, where the steering angle allowed for the locked steering wheel is not less than the steering angle of the previous frame, and the steering direction allowed for the locked steering wheel is the same as the steering direction of the previous frame; correspondingly, the specific implementation of controlling the steering wheel may include: controlling the locked steering wheel. By locking the steering wheel unidirectionally, that is, the direction opposite to the steering angle of the previous frame is locked, the steering wheel can be steered only in one steering direction, which can effectively shorten the time for controlling the steering wheel, enable the steering wheel to transfer the regulation to the steering system faster, and timely control the vehicle according to the steering wheel regulation, improving the reliability of steering wheel control.

[0090] In addition, the specific implementation of the above vehicle steering wheel control method may further include: at the moment when the environmental information jumps from not meeting the steering wheel control trigger condition to meeting the steering wheel control trigger condition, starting a timer to count the steering wheel locking duration for the steering wheel; when the steering wheel locking duration reaches a preset time threshold, releasing the lock on the steering wheel. By counting the locking duration of the steering wheel in cooperation with the preset time threshold, it is avoided that the steering wheel is locked for too long, resulting in too large a deviation of the vehicle, and the driving safety of the vehicle is improved. Among them, the preset time threshold can be determined according to parameters such as the vehicle speed. Exemplarily, the preset time threshold can be 5s.

[0091] Further, the specific implementation of the vehicle steering wheel control method may further include: when the vehicle state meets the steering wheel control release condition, releasing the lock on the steering wheel.

[0092] By locking the steering wheel and releasing the lock on the steering wheel to assist the steering of the steering wheel and transfer the steering of the steering wheel to the steering system, the time for the steering wheel to transfer the rotation angle to the steering system can be shortened, so as to improve the efficiency of vehicle deviation or straightening.

[0093] Further, the essence of locking the steering wheel is to lock the steering wheel from transmitting steering information to the steering system. After the steering wheel is locked, the driver can only turn the steering wheel in one direction.

[0094] Further, Figure 7 The partial structural schematic diagram of the vehicle steering wheel control device provided by the embodiment of the present invention is shown. As Figure 7 shown, the vehicle steering wheel control device 700 may include: a configuration module 701, an interaction module 702, and a control module 703, where,

[0095] The configuration module 701 is used to configure a steering wheel control trigger condition for the vehicle;

[0096] The interaction module 702 is used to obtain the environmental information of the environment where the vehicle is located;

[0097] The control module 703 is used to determine in real time the current steering angle of the steering wheel and the current steering direction corresponding to the current steering angle; when the environmental information meets the steering wheel control trigger condition, the control module combines the current steering angle, the current steering direction, the previous steering angle of the regulated steering wheel, and the previous steering direction corresponding to the previous steering angle to control the steering wheel.

[0098] Among them, the steering wheel control trigger condition configured by the configuration module may include: the vehicle is in any of the following road sections: variable road section, intersection area of ramp and main road, entrance area of ramp, and exit area of ramp.

[0099] Further, the control module 703 is further used to obtain in real time the current steering angle input for the steering wheel; or calculate the current steering angle of the steering wheel according to the environmental information of the vehicle.

[0100] Further, the control module 703 is further used to analyze whether the current steering angle is less than the previous steering angle and analyze whether the current steering direction is consistent with the previous steering direction; when the analysis result indicates that the current steering angle is not less than the previous steering angle and the current steering direction is consistent with the previous steering direction, the control module controls the steering wheel to rotate according to the current steering angle and the current steering direction; when the analysis result indicates that the current steering angle is less than the previous steering angle and / or the current steering direction is inconsistent with the previous steering direction, the control module controls the steering wheel to rotate according to the previous steering angle and the previous steering direction.

[0101] Further, the configuration module 701 is further used to configure a steering wheel control cancellation condition for the vehicle;

[0102] Further, the control module 703 is further used to control the steering wheel based on the current steering angle and the current steering direction when the vehicle state meets the steering wheel control cancellation condition.

[0103] Among them, the configuration module 701 configures at least one of the following states:

[0104] Trigger the assisted driving to enter the lane change procedure, trigger the start of the procedure to enter the ramp from the main road, trigger the start of the procedure to enter the main road from the ramp, the distance between the vehicle and the ramp main road demarcation line does not exceed the preset distance threshold, trigger the reset of the steering wheel control signal, and the steering wheel locking duration is not less than the preset time threshold.

[0105] Further, the control module 703 is further used to lock the steering wheel when the environmental information meets the steering wheel control trigger condition, where the steering angle allowed for the locked steering wheel is not less than the previous steering angle, and the steering direction allowed for the locked steering wheel is consistent with the previous steering direction; control the locked steering wheel.

[0106] Further, the control module 703 is further configured to start a timer to count the steering wheel locking duration for the steering wheel at the moment when the environmental information jumps from not meeting the steering wheel control trigger condition to meeting the steering wheel control trigger condition; and unlock the steering wheel when the steering wheel locking duration reaches a preset time threshold.

[0107] Further, the control module 703 is further configured to unlock the steering wheel when the vehicle state meets the steering wheel control release condition.

[0108] Further, an embodiment of the present invention further provides an electronic device. The electronic device may include:

[0109] One or more processors;

[0110] A storage device for storing one or more programs,

[0111] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle steering wheel control method provided in the above embodiment.

[0112] Further, an embodiment of the present invention further provides a computer-readable medium, on which a computer program for implementing the vehicle steering wheel control method is stored,

[0113] When the computer program is executed by an in-vehicle processor, it implements the vehicle steering wheel control method provided in the first aspect embodiment above.

[0114] Next, refer to Figure 8 , which shows a schematic structural diagram of a computer system 800 suitable for implementing the vehicle control method for the ramp entry scenario in the embodiment of the present invention. Figure 8 The shown computer system is only an example and should not bring any limitation to the functions and usage scope of the embodiment of the present invention.

[0115] As Figure 8 shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 802 or the program loaded from the storage section 808 into the random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the system 800 are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other through a bus 804. The input / output (I / O) interface 805 is also connected to the bus 804.

[0116] The following components are connected to the I / O interface 805: an input section 806; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as required. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is mounted on the drive 810 as required so that a computer program read therefrom is installed into the storage section 808 as required.

[0117] Specifically, according to an embodiment disclosed by the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, an embodiment disclosed by the present invention includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 809, and / or installed from the removable medium 811. When the computer program is executed by a central processing unit (CPU) 801, the above-described functions defined in the system of the present invention are performed.

[0118] It should be noted that the computer-readable medium shown in the present invention can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of a computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination of the above.

[0119] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram can represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks can occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and the combination of blocks in a block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0120] The modules involved in the embodiments of the present invention can be implemented in software or in hardware. The described modules can also be provided in a processor. For example, it can be described as: a processor includes the above-mentioned configuration module, interaction module, and control module. Among them, the names of these modules or units do not constitute a limitation to the module or unit itself in some cases. For example, the configuration module can also be described as "a module or unit that configures the steering wheel control trigger condition for the vehicle".

[0121] On the other hand, the present invention also provides a computer-readable medium, which can be included in the device described in the above embodiments; or it can exist independently without being assembled into the device. The above computer-readable medium carries one or more programs. When the above one or more programs are executed by the device, the device includes: configuring the steering wheel control trigger condition for the vehicle, obtaining the environmental information of the vehicle's location; determining the current steering angle of the steering wheel and the current steering direction corresponding to the current steering angle in real time; when the environmental information meets the steering wheel control trigger condition, combining the current steering angle, the current steering direction, the previous steering angle for regulating the steering wheel, and the previous steering direction corresponding to the previous steering angle to control the steering wheel.

[0122] According to the technical solution of the embodiments of the present invention, by coordinating the environmental information, the current steering angle of the steering wheel, the current steering direction corresponding to the current steering angle, the previous steering angle for regulating the steering wheel, and the previous steering direction corresponding to the previous steering angle, the steering wheel is controlled, so that the steering wheel control combines the environment and the state of the steering wheel (the previous steering direction and the previous steering angle), so that the steering wheel control matches the environment and the state of the steering wheel, which can avoid the phenomenon of unstable steering wheel or reverse steering, and effectively improve the safety of assisted driving.

[0123] The above specific embodiments do not limit the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle steering wheel control method, characterized in that: The vehicle is configured with steering wheel control trigger conditions, including: Obtaining environmental information of the vehicle's environment; Determining in real time a current steering angle for the steering wheel and a current steering direction corresponding to the current steering angle; When the environmental information satisfies the steering wheel control trigger condition, the steering wheel is controlled in combination with the current steering angle, the current steering direction, the steering angle of the previous frame of the steering wheel, and the steering direction of the previous frame corresponding to the steering angle of the previous frame.

2. The vehicle steering wheel control method according to claim 1, characterized in that: The steering wheel control triggering condition includes: the vehicle is in any of the following sections: Variable road sections, intersection areas between ramps and main roads, ramp entrance areas, and ramp exit areas.

3. The vehicle steering wheel control method according to claim 1, characterized in that: The real-time determination of the current steering angle of the steering wheel comprises: Acquiring in real time a current steering angle input to the steering wheel; or, According to the vehicle's environmental information, the current steering angle of the steering wheel is calculated.

4. The vehicle steering wheel control method according to claim 1, characterized in that: The control steering wheel comprises: Analyze whether the current steering angle is less than the steering angle of the previous frame, and analyze whether the current steering direction is consistent with the steering direction of the previous frame; When the analysis result indicates that the current steering angle is not less than the steering angle of the previous frame and the current steering direction is consistent with the steering direction of the previous frame, controlling the steering wheel to rotate according to the current steering angle and the current steering direction; When the analysis result indicates that the current steering angle is smaller than the steering angle of the previous frame and / or the current steering direction is inconsistent with the steering direction of the previous frame, the steering wheel is controlled to rotate according to the steering angle and the steering direction of the previous frame.

5. The vehicle steering wheel control method according to claim 1, characterized in that: The vehicle steering wheel control method further includes: configuring a steering wheel control release condition for the vehicle; When the vehicle state satisfies the steering wheel control release condition, the steering wheel is controlled based on the current steering angle and the current steering direction.

6. The vehicle steering wheel control method according to claim 5, characterized in that: The steering wheel control release condition includes at least one of the following states: The assisted driving is triggered to enter the lane change program, the program for entering the off-ramp from the main road is triggered to start, the program for entering the main road from the ramp is triggered to start, the distance between the vehicle and the dividing line of the ramp main road does not exceed the preset distance threshold, the steering wheel control signal is triggered to be returned, and the steering wheel lock time is not less than the preset time threshold.

7. The vehicle steering wheel control method according to any one of claims 1 to 5, characterized in that: Also includes: When the environmental information satisfies the steering wheel control trigger condition, locking the steering wheel, wherein the steering angle allowed by the locked steering wheel is not less than the steering angle of the previous frame, and the steering direction allowed by the locked steering wheel is consistent with the steering direction of the previous frame; The controlling of the steering wheel includes: controlling a locked steering wheel.

8. The vehicle steering wheel control method according to claim 7, characterized in that: Also includes: When the environmental information changes from not satisfying the steering wheel control trigger condition to satisfying the steering wheel control trigger condition, starting a timer to count the steering wheel lock time for the steering wheel; When the locking time of the steering wheel reaches a preset time threshold, the locking of the steering wheel is released.

9. The vehicle steering wheel control method according to claim 7, characterized in that: Also includes: When the vehicle state satisfies the steering wheel control release condition, the lock on the steering wheel is released.

10. A vehicle steering wheel control device, characterized in that: include: Configuration module, interaction module and control module, among which, The configuration module is used to configure the vehicle with a steering wheel control trigger condition; The interaction module is used to obtain environmental information of the environment in which the vehicle is located; The control module is used to determine in real time the current steering angle of the steering wheel and the current steering direction corresponding to the current steering angle; when the environmental information meets the steering wheel control trigger condition, the steering wheel is controlled in combination with the current steering angle, the current steering direction, the steering angle of the previous frame of the steering wheel and the steering direction of the previous frame corresponding to the steering angle of the previous frame.

11. A vehicle, characterized in that: A vehicle steering wheel control device comprising the vehicle steering wheel control device according to claim 10.

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