Steering wheel, vehicle, gear shifting method, vehicle controller and storage medium

Abstract

The invention discloses a steering wheel, a vehicle, a gear shifting method, a vehicle controller and a storage medium. The steering wheel comprises a steering wheel body; and the annular display device is arranged on the steering wheel body. According to the invention, important driving information can be directly provided in the sight range of the user, and the demand of the user for sight transfer is reduced, so that the driving safety is improved.

Description

Technical Field

[0001] This application belongs to the technical field of vehicles, and particularly relates to a steering wheel, a vehicle, a shifting method, a vehicle controller, and a storage medium. Background Art

[0002] Currently, some enterprises arrange small screens on the steering wheel to facilitate the interaction between users and vehicles. However, during the driving process of the vehicle, the steering wheel needs to rotate and cannot remain in the vertical direction throughout the process. The screen fixed on the steering wheel will deviate from the user's horizontal field of view, making the screen content difficult to identify and having low practicability. Summary of the Invention

[0003] This application aims to at least solve one of the technical problems existing in the prior art. For this purpose, this application proposes a steering wheel, a vehicle, a shifting method, a vehicle controller, and a storage medium, which can directly provide important driving information within the user's line of sight and reduce the need for the user to shift their line of sight, thereby improving driving safety.

[0004] In a first aspect, an embodiment of this application provides a steering wheel, including:

[0005] A steering wheel body;

[0006] An annular display device, which is arranged on the steering wheel body.

[0007] In some embodiments, the rotation axis of the annular display device is parallel to or coincides with the rotation axis of the steering wheel body.

[0008] In some embodiments, the center of the annular display device remains unchanged during rotation.

[0009] In some embodiments, the annular display device is configured to rotate the display screen of the annular display device when the steering wheel body rotates, so that the display screen matches the direction of the user's horizontal field of view.

[0010] In some embodiments, the steering wheel further includes: an information detection unit, which is adapted to be connected to the vehicle control unit. The information detection unit is configured to detect the rotation information of the steering wheel body and send the rotation information to the vehicle control unit, so that the vehicle control unit determines the rotation angle of the display screen according to the rotation information. Wherein, the annular display device is further configured to rotate the display screen according to the rotation angle.

[0011] In some embodiments, the information detection unit includes:

[0012] An acceleration sensor, which is disposed on the steering wheel body and configured to detect the acceleration of the steering wheel body; and / or

[0013] A steering angle torque sensor, which is disposed on the steering wheel body and configured to detect the rotation angle and rotation force of the steering wheel body.

[0014] In some embodiments, the steering wheel body includes:

[0015] A capacitance sensor, which is disposed on the steering wheel body and configured to determine whether the steering wheel body is grasped.

[0016] In some embodiments, the central hole of the annular display device is adapted to place the airbag housing.

[0017] In a second aspect, an embodiment of the present application provides a vehicle, including: the steering wheel in the above embodiment.

[0018] In a third aspect, an embodiment of the present application provides a shifting method, which is applied to a vehicle. The vehicle includes a steering wheel, the steering wheel includes a steering wheel body and an annular display device, the annular display device is disposed on the steering wheel body, and the rotation axis of the annular display device is parallel or coincident with the rotation axis of the steering wheel body, and the center of the annular display device remains unchanged during rotation. The method includes:

[0019] Obtaining first operation information of a user on the annular display device;

[0020] Performing shifting control on the vehicle according to the first operation information.

[0021] In some embodiments, performing shifting control on the vehicle according to the first operation information includes:

[0022] When it is determined that the shifting operation is effective according to the first operation information, performing shifting control on the vehicle according to the current vehicle state and the shifting instruction corresponding to the first operation information.

[0023] In some embodiments, determining that the shifting operation is effective according to the first operation information includes:

[0024] Determining an operation starting point, an operation ending point, and an operation trajectory according to the first operation information;

[0025] When the operation starting point and the operation ending point are respectively in a preset operation area, and the operation trajectory meets the preset shifting condition, determining that the shifting operation is effective.

[0026] In some embodiments, the method further includes:

[0027] When the operation trajectory is an arc and the angle corresponding to the arc satisfies a preset range, it is determined that the operation trajectory meets the preset shifting condition.

[0028] In some embodiments, the preset operation area is set in the following manner:

[0029] When the vehicle enters the operation area setting function, obtain the second operation information of the user on the circular display device;

[0030] Determine the central angle according to the second operation information;

[0031] When the central angle is greater than a first preset threshold, determine the preset operation area according to the central angle.

[0032] In some embodiments, determining the preset operation area according to the central angle includes:

[0033] Based on the angle bisector of the central angle, expand both sides of the central angle outward by a preset angle to obtain a target central angle;

[0034] Set the area formed by the intersection of the target central angle and the circular display device as the preset operation area.

[0035] In some embodiments, the first preset threshold is between 16° and 80°, and the preset angle is between 3° and 10°.

[0036] In some embodiments, the vehicle further includes an audio output device. Wherein, when the central angle is less than or equal to the first preset threshold, the method further includes:

[0037] Determine that the setting of the preset operation area is invalid, and control at least one of the audio output device and the circular display device to send a first prompt message, where the first prompt message is used to prompt that the preset operation area needs to be reset.

[0038] In some embodiments, the vehicle further includes a parking mechanism, and the method further includes:

[0039] When the operation trajectory meets the preset parking condition and the vehicle speed is 0, control the parking mechanism so that the vehicle enters the parking gear.

[0040] In some embodiments, the method further includes:

[0041] When the operation trajectory is an arc and the angle corresponding to the arc is greater than a second preset threshold, it is determined that the operation trajectory meets the preset parking condition, where the second preset threshold is greater than the maximum value of the preset range.

[0042] In some embodiments, the preset range is [10°, 60°], and the second preset threshold is between 270° and 540°.

[0043] In some embodiments, the steering wheel body includes a capacitance sensor, the capacitance sensor is disposed on the steering wheel body, and the method further includes:

[0044] When it is determined according to the capacitance value information of the capacitance sensor that the steering wheel body is not grasped, it is determined that the shift operation is invalid.

[0045] In some embodiments, performing shift control on the vehicle according to the current vehicle state and the shift command corresponding to the first operation information includes:

[0046] Determining the operation direction of the user according to the first operation information, and determining the shift command according to the operation direction;

[0047] When it is determined according to the current vehicle state that the vehicle can execute the shift command, performing shift control on the vehicle according to the shift command.

[0048] In some embodiments, the vehicle further includes a brake pedal position sensor and a wheel speed sensor, the brake pedal position sensor is configured to detect the position information of the brake pedal of the vehicle, and the wheel speed sensor is configured to detect the wheel speed of the vehicle, where determining that the vehicle can execute the shift command according to the current vehicle state includes:

[0049] When it is determined according to the position information that the user steps on the brake pedal, obtaining the vehicle gear information;

[0050] When the vehicle gear information is the start gear and the wheel speed is 0, it is determined that the vehicle can execute the shift command.

[0051] In some embodiments, the vehicle further includes an audio output device, and the method further includes:

[0052] When it is determined according to the first operation information that the shift operation is invalid, or when it is determined according to the current vehicle state that the vehicle cannot execute the shift command, controlling at least one of the audio output device and the annular display device to send a second prompt message, where the second prompt message is used to prompt that the shift operation is invalid and the reason for the invalid shift operation.

[0053] In some embodiments, when the gear shifting of the vehicle is completed, the method further includes:

[0054] Controlling the annular display device to display the gear information of the vehicle and the forward direction of the vehicle.

[0055] In some embodiments, the vehicle further includes an audio output device. Wherein, when the gear shifting of the vehicle is completed, the method further includes:

[0056] Controlling at least one of the audio output device and the annular display device to send a third prompt message, where the third prompt message is used to prompt that the gear state of the vehicle has changed.

[0057] In some embodiments, before obtaining the first operation information of the user on the annular display device, the method further includes:

[0058] When receiving a power-on instruction, controlling the vehicle to power on and sending a wake-up message to the annular display device to enable the annular display device to enter a working mode;

[0059] When receiving a start instruction and the vehicle speed is less than a preset vehicle speed, controlling the annular display device to display a gear shifting operation interface so that the user can perform gear shifting operations on the annular display device.

[0060] In some embodiments, the rotation axis of the annular display device is parallel to or coincides with the rotation axis of the steering wheel body.

[0061] In some embodiments, the center of the annular display device remains unchanged during rotation.

[0062] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the gear shifting method described in the first aspect are implemented.

[0063] In a fifth aspect, an embodiment of the present application provides a vehicle controller, including: a memory, a processor, and a gear shifting program stored on the memory and executable on the processor. When the processor executes the gear shifting program, the gear shifting method in the above embodiments is implemented.

[0064] In a sixth aspect, an embodiment of the present application further provides a vehicle, including the vehicle controller in the above embodiments.

[0065] The technical solution provided by the present application can directly provide important driving information within the user's line of sight and reduce the need for the user to shift their line of sight, thereby improving driving safety.

[0066] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the description of embodiments in conjunction with the following drawings, in which:

[0068] Figure 1 FIG. is a schematic structural diagram of a steering wheel provided for an embodiment of the present application.

[0069] Figure 2 is Figure 1 FIG. is a schematic diagram of the steering wheel rotating by an angle α provided for the embodiment.

[0070] Figure 3 is Figure 1 FIG. is a schematic structural diagram of a capacitance sensor in the steering wheel provided for the embodiment.

[0071] Figure 4 FIG. is a schematic flowchart of a shifting method provided for an embodiment of the present application.

[0072] Figure 5 FIG. is a system block diagram of a vehicle provided for an embodiment of the present application.

[0073] Figure 6 FIG. is another system block diagram of a vehicle provided for an embodiment of the present application.

[0074] Figure 7 is Figure 1 FIG. is a schematic diagram of a preset operation area A in the steering wheel provided for the embodiment.

[0075] Figure 8 FIG. is a schematic flowchart of the preset operation area setting provided for an embodiment of the present application.

[0076] Figure 9 FIG. is a schematic diagram of a central angle and a target central angle provided for an embodiment of the present application.

[0077] Figure 10 is Figure 1 FIG. is a schematic diagram of an annular display device in the steering wheel provided for the embodiment.

[0078] Figure 11 FIG. is a complete schematic flowchart of a shifting method provided for an embodiment of the present application.

[0079] Figure 12 FIG. is a complete schematic flowchart of a method for determining whether a shifting operation is valid provided for an embodiment of the present application.

[0080] Figure 13A schematic diagram of a complete process for determining whether the vehicle state supports gear shifting provided by an embodiment of the present application.

[0081] Figure 14 A schematic diagram of the structure of a vehicle controller provided by an embodiment of the present application. Detailed implementation manners

[0082] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not used to limit the protection scope of the present application.

[0083] It should be understood that the various steps recorded in the method embodiments of the present application can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this regard.

[0084] With the development of the intelligent vehicle industry, consumers' demands for vehicle operation convenience and intelligence are gradually increasing. For example, more and more consumers hope to reduce the complex physical buttons and mechanical levers on the center console and instrument panel to optimize the human-vehicle interaction method. Although the common capacitive touch keys on the center console and the rotary gear shifting mechanism on the market can streamline a small amount of physical structure, they cannot fundamentally optimize the user's operation complexity.

[0085] To facilitate users to operate the vehicle, automobile manufacturers are gradually integrating some operation functions into the multifunctional steering wheel or the central control screen.

[0086] Taking the gear shifting function as an example, currently, many enterprises integrate a gear shifting roller or a button in the multifunctional steering wheel to facilitate users to switch the vehicle gear while holding the steering wheel. However, in actual applications, if the steering wheel rotates, the gear shifting roller / button will deviate from the position that is easy for users to use, thus greatly reducing the convenience. For example, some vehicles have cancelled the traditional gear shifting mechanism and transferred the gear shifting function to the central control screen, greatly reducing the mechanical lever. However, at this time, the user needs to raise the hand and slide from the left side to the right side of the screen to call out the gear shifting interface, and then select the gear, which increases the user's operation complexity and the gear shifting time cost, and the raising hand movement also reduces the comfort, and the user experience is seriously affected.

[0087] Some other enterprises arrange small screens on the steering wheel to facilitate user interaction with the vehicle. However, during the vehicle's driving process, the steering wheel needs to rotate and cannot remain vertical throughout the journey. The screen fixed on the steering wheel will deviate from the user's horizontal field of view, making it difficult to identify the screen content and resulting in low practicality.

[0088] In a related technology, by using a circular screen in cooperation with a steering motor, the screen direction is always kept parallel to the user's horizontal field of view. However, since the circular screen is arranged in front of the steering wheel airbag, when the airbag pops out, the screen will block the airbag from detonating, thus limiting the airbag's protection effect and causing secondary injuries to the user due to the screen flying out. In addition, the addition of the rotating motor introduces unnecessary cost waste in the production of the vehicle, and the economic benefit is extremely poor.

[0089] Figure 1 The structural schematic diagram of a steering wheel provided by an embodiment of the present application is as Figure 1 shown. The steering wheel includes: a steering wheel body 1 and an annular display device 2, and the annular display device 2 is arranged on the steering wheel body 1.

[0090] Specifically, the annular display device 2 can be an annular touch screen. The annular display device 2 can be used to display interaction information (such as navigation maps, media player control interfaces, call records, and settings, etc.), external environment information (weather, external light intensity, gas quality, etc.), real-time status information of the vehicle (vehicle speed, fuel consumption, remaining fuel, mileage, vehicle fault warnings, Bluetooth and network conditions, internal and external temperature and humidity, tire pressure, etc.) and other driving information. Therefore, the driver can obtain the required information without distraction during driving. This function makes driving safer and reduces traffic accidents caused by looking at mobile phones or other devices; moreover, the driver can also operate on the annular display device 2 to adjust the vehicle driving state, effectively simplifying the user operation complexity and thus improving the interaction convenience.

[0091] This setting method of the present application can directly provide important driving information within the user's line of sight and reduce the need for the user to shift their line of sight, thereby improving driving safety.

[0092] In some embodiments, the rotation axis of the annular display device 2 is parallel or coincident with the rotation axis of the steering wheel body 1.

[0093] That is to say, the annular display device 2 and the steering wheel body 1 are coaxially arranged, or the rotation axis of the annular display device 2 is parallel to the rotation axis of the steering wheel body 1. Therefore, the positions of the annular display device 2 and the steering wheel body 1 can remain relatively fixed.

[0094] In some embodiments, the center of the annular display device 2 remains unchanged during rotation. In this way, when the annular display device 2 rotates coaxially with the steering wheel, the position of the displayed content remains stable relative to the user's line of sight, thus avoiding frequent adjustment of the fixation focus by the user due to screen offset and reducing user distraction.

[0095] In some embodiments, the annular display device 2 is configured to rotate the display screen of the annular display device 2 when the steering wheel body 1 rotates, so that the display screen matches the direction of the user's horizontal field of view.

[0096] Specifically, when the steering wheel body 1 rotates, the annular display device 2 also rotates, and the display screen cannot be parallel to the user's horizontal field of view, resulting in the displayed content of the annular display device 2 being difficult to identify. Therefore, when the steering wheel body 1 rotates, the annular display device 2 rotates the display screen so that the display screen is parallel to the user's horizontal field of view, offsetting the influence of the rotation of the annular display device 2 on the display screen, thus facilitating the user to observe the screen.

[0097] In some embodiments, the steering wheel further includes: an information detection unit. The information detection unit is adapted to be connected to the vehicle control unit. The information detection unit is configured to detect the rotation information of the steering wheel body 1 and send the rotation information to the vehicle control unit, so that the vehicle control unit determines the rotation angle of the display screen according to the rotation information. Among them, the annular display device 2 is further configured to rotate the display screen according to the rotation angle.

[0098] In the embodiments of the present application, the information detection unit is used to detect the rotation information of the steering wheel body 1 and send the rotation information to the vehicle control unit. The vehicle control unit can determine the rotation angle of the steering wheel body 1 according to the rotation information, determine the rotation angle of the annular display device 2 according to the rotation angle of the steering wheel body 1, and the annular display device 2 rotates the display screen according to the rotation angle so that the display screen matches the direction of the user's horizontal field of view.

[0099] It should be noted that the rotation direction of the screen of the annular display device 2 is opposite to the rotation direction of the steering wheel body 1. Taking Figure 2 as an example, when it is determined according to the rotation information that the steering wheel body 1 rotates clockwise by an angle α, the display screen of the annular display device 2 rotates counterclockwise by an angle α, so as to offset the influence brought by the rotation of the steering wheel body 1.

[0100] Therefore, when the steering wheel rotates at a large angle (such as a U-turn or a sharp turn), the displayed content of the fixed screen in the related art rotates with the rotation of the steering wheel. However, the technical solution provided in the present application is to calculate the rotation angle in real time so that the display screen is always parallel to the user's horizontal field of view (the first direction), thus avoiding the visual chaos caused by the inclination of the screen.

[0101] For example, in one example, when the vehicle makes a 90° left turn, the steering wheel rotates counterclockwise by 90°. Therefore, the display screen on the annular display device 2 rotates clockwise by 90° to ensure that the display screen is always parallel to the user's horizontal field of view.

[0102] Furthermore, the information detection unit includes: an acceleration sensor (not shown) and / or a steering angle torque sensor (not shown). Among them, the acceleration sensor is disposed on the steering wheel body 1, and the acceleration sensor is configured to detect the acceleration of the steering wheel body 1; the steering angle torque sensor is disposed on the steering wheel body 1, and the steering angle torque sensor is configured to detect the rotation angle and rotation force of the steering wheel body 1.

[0103] Among them, the steering angle torque sensor detects the rotation angle and rotation force of the steering wheel, and can quantify the intention intensity of the user's steering operation. For example, the torque difference between the gentle steering of the vehicle and the emergency obstacle avoidance by the user. The acceleration sensor monitors the instantaneous acceleration of the steering wheel to reflect the urgency of the user's operation. For example, the sudden increase in acceleration when the user turns the steering wheel sharply. Therefore, the rotation information includes the acceleration, rotation angle, and rotation force of the steering wheel body 1, and the vehicle control unit determines the rotation angle based on the acceleration, rotation angle, and rotation force of the steering wheel body 1.

[0104] In an alternative embodiment, the vehicle control unit includes a VCU (Vehicle Control Unit, vehicle controller) and a domain controller. The annular display device 2 is adapted to be connected to the domain controller, and the acceleration sensor and the steering angle torque sensor are respectively adapted to be connected to the VCU. The VCU collects the information detected by the acceleration sensor and / or the steering angle torque sensor, then generates a rotation angle, and sends the rotation angle to the domain controller. The domain controller controls the display screen of the annular display device 2 to rotate according to the rotation angle.

[0105] Figure 3 For Figure 1 the structural schematic diagram of the capacitance sensor in the steering wheel provided by the embodiment, as Figure 3 shown, in some embodiments, the steering wheel body 1 includes: a capacitance sensor 4. The capacitance sensor 4 is disposed on the steering wheel body 1, and the capacitance sensor 4 is configured to determine whether the steering wheel body 1 is grasped.

[0106] Furthermore, in some embodiments, the steering wheel body 1 further includes: a skeleton. The skeleton includes: a main wheel rim and a plurality of spokes. Among them, the main wheel rim constitutes the main support structure of the annular grip area of the steering wheel to withstand the user's operating torque. The capacitance sensor 4 is annular and is disposed on the main wheel rim.

[0107] In the present application, the spokes are used to connect the main rim and the annular display device 2 to enhance the strength of the overall structure of the steering wheel and reduce the vibration and deformation of the steering wheel.

[0108] In some embodiments, the central hole of the annular display device 2 is adapted to place the airbag housing 3.

[0109] Among them, the airbag is an important part of the vehicle passive safety system and can be quickly inflated in a collision accident to protect the user (driver) from serious injuries. The central hole of the annular display device 2 is designed to be adapted to place the airbag housing 3. Since the center of the annular display device 2 is hollow, the annular display device 2 does not block the airbag located in the central hole. Therefore, the ignition path of the airbag is unobstructed, which can ensure that the airbag can be normally deployed when needed and will not be interfered by the annular display device 2, providing reliable safety protection for the user.

[0110] It should be noted that the central hole of the annular display device 2 is not limited to placing the airbag housing 3, and can also integrate various structures such as multifunctional buttons, rollers, capacitive touch keys, etc.

[0111] The embodiment of the present application provides a vehicle including the steering wheel in the above embodiment.

[0112] The embodiment of the present application provides a shifting method applied to a vehicle. As Figure 5 shown, the vehicle includes a steering wheel as Figure 1 shown. The steering wheel includes a steering wheel body 1 and an annular display device 2. The annular display device 2 is arranged on the steering wheel body 1, and the rotation axis of the annular display device 2 is parallel or coincident with the rotation axis of the steering wheel body 1, and the center of the annular display device 2 remains unchanged during the rotation process.

[0113] Specifically, in the embodiment of the present application, as Figure 3 shown, the steering wheel body 1 includes a capacitive sensor 4.

[0114] Furthermore, as Figure 5 shown, the vehicle further includes: an acceleration sensor, a steering angle torque sensor, a brake pedal position sensor / brake pedal switch, a wheel speed sensor, a domain sensor, a VCU, a speaker, a shifting mechanism, a motor, a parking mechanism.

[0115] Among them, the domain controller is used to control the display information of the annular screen and collect the input information of the user's touch actions. In addition, in one example, the domain controller can also be used to collect the signals of the capacitive sensor. In another example, the domain controller can also be used to drive the speaker to emit a specific sound.

[0116] The VCU can be used to obtain signals from the vehicle's steering wheel acceleration sensor, steering angle torque sensor, brake pedal position sensor or brake pedal position switch, and wheel speed sensor, and send control signals to the vehicle's shift mechanism, motor, and parking mechanism according to these signals.

[0117] A speaker, which is used to convert an electrical signal into a sound signal to provide voice prompts to the user.

[0118] Furthermore, the vehicle's shift mechanism can be used to control the vehicle's speed. For example, the vehicle's acceleration and deceleration. In a specific embodiment, by shifting the vehicle's gear to a lower gear, the vehicle can obtain a greater torque output, thereby achieving rapid acceleration. Similarly, by shifting the vehicle's gear to a higher gear, the engine speed can be reduced to achieve smooth high-speed driving.

[0119] The vehicle's motor can be used to drive the vehicle. Among them, the motor converts electrical energy into mechanical energy to drive the wheels to make the vehicle move forward or backward. In addition, the vehicle's motor can also be used to implement various driving modes. For example, in one example, the vehicle's driving modes include: pure electric mode, energy-saving mode, and sport mode. In the pure electric mode, the vehicle is completely driven by the motor to achieve zero-emission driving. In the energy-saving mode, the motor works in cooperation with the engine to optimize the power output to improve fuel economy. In the sport mode, the motor can provide a higher power output to achieve more powerful acceleration performance.

[0120] The vehicle's parking mechanism can be used to fix the vehicle when parking to prevent the vehicle from sliding due to gravity or external forces.

[0121] The shifting method of this embodiment can be applied to the VCU and the domain controller. The domain controller can collect the user's first operation information on the circular display device 2. The domain controller determines whether the shifting operation is valid according to the first operation information. If the shifting operation is valid, it sends the shifting instruction corresponding to the first operation information to the VCU. The VCU controls the shift mechanism, motor, and parking mechanism according to the current vehicle state and the shifting instruction corresponding to the first operation information to make the vehicle shift gears.

[0122] Furthermore, the shifting method of this embodiment can also be applied to vehicles such as Figure 6 shown, and the difference between the vehicle shown in Figure 6 and the vehicle shown in Figure 5 is that Figure 6 the vehicle shown in Figure 5 has cancelled the domain controller in the vehicle shown in

[0123] Specifically, the VCU can collect the first operation information of the user on the circular display device 2, and then determine whether the gear shifting operation is valid according to the first operation information. If the gear shifting operation is valid, the gear shifting instruction corresponding to the first operation information is determined. Then, according to the current vehicle state and the gear shifting instruction corresponding to the first operation information, the gear shifting mechanism, the motor, and the parking mechanism are controlled to shift the gears of the vehicle.

[0124] It should be noted that Figure 5 and Figure 6 the system structure of the vehicle shown is only exemplary and does not limit the present application. The gear shifting method of this embodiment can also be applied to other controllers, such as a domain controller, or, applied to 3 or more controllers.

[0125] As Figure 4 shown, the gear shifting method includes the following steps:

[0126] 101. Obtain the first operation information of the user on the circular display device.

[0127] Specifically, the user can draw a minor arc along the contour of the circular screen with a finger or other good dielectric on one side of the circular display device to generate the first operation information, and the domain controller collects the first operation information.

[0128] Among them, when the user draws a minor arc from bottom to top along the contour of the circular screen with a finger or other good dielectric on one side of the circular display device, the generated first operation information can be used to represent the "forward gear" of the vehicle; when the user draws a minor arc from top to bottom along the contour of the circular screen with a finger or other good dielectric on one side of the circular display device, the generated first operation information can be used to represent the "reverse gear" of the vehicle.

[0129] In an optional implementation manner, when the user operates on the circular display device, the circular display device also displays the operation trajectory of the user.

[0130] 102. Perform gear shifting control on the vehicle according to the first operation information.

[0131] Specifically, the domain controller determines whether the gear shifting operation is valid according to the first operation information. If the gear shifting operation is valid, it determines the corresponding gear shifting instruction according to the first operation information, and controls the gear shifting mechanism, the motor, and the parking mechanism according to the gear shifting instruction to shift the gears of the vehicle. The gear shifting instruction includes a forward instruction and a reverse instruction. The forward or reverse instruction can be determined according to the operation direction corresponding to the first operation information. For example, if the user slides a finger upward along the annular display device, the gear shifting instruction is a forward instruction; if the user slides a finger downward along the annular display device, the gear shifting instruction is a reverse instruction. The domain controller sends the gear shifting instruction to the VCU, and the VCU controls the gear shifting mechanism, the motor, and the parking mechanism according to the current vehicle state and the gear shifting instruction to shift the gears of the vehicle.

[0132] In the embodiment of the present application, by arranging the annular display device on the steering wheel and using this device to receive the gear shifting instruction, the user can complete the gear shifting operation without leaving the steering wheel. This design avoids the situation where the user needs to move the hand or line of sight in the traditional gear shifting methods (such as a manual gear lever or paddle shifters), making the driving process smoother and reducing the risk of distraction caused by the gear shifting operation. Therefore, the annular display device in this embodiment can replace the mechanical gear shifting structures such as the center console handle, steering wheel gear shifting, and gear knob in the related art, thereby effectively reducing the manufacturing cost of the vehicle.

[0133] In some embodiments, the rotation axis of the annular display device 2 is parallel to or coincides with the rotation axis of the steering wheel body 1.

[0134] That is to say, the annular display device 2 and the steering wheel body 1 are coaxially arranged, or the rotation axis of the annular display device 2 is parallel to the rotation axis of the steering wheel body 1. Therefore, the position of the annular display device 2 and the steering wheel body 1 can remain relatively fixed.

[0135] In some embodiments, the center of the annular display device 2 remains unchanged during rotation. In this way, when the annular display device 2 rotates coaxially with the steering wheel, the position of the display content remains stable relative to the user's line of sight, thus avoiding the user from frequently adjusting the fixation focus due to screen offset and reducing user distraction.

[0136] Since the user can complete the gear shifting operation without leaving the steering wheel and does not need to move the hand or line of sight frequently like in the traditional gear shifting method, the attention distraction caused by the user operating the gear shift during driving is reduced. This setting helps the user to focus more on the road conditions and reduce the risk of traffic accidents caused by user distraction.

[0137] In the embodiment of the present application, the annular display device 2 provided on the steering wheel body 1 can display shift information in real time (such as the current gear, driving direction, shift prompt, etc.), and perform precise shift control in combination with the vehicle state and operation instructions, further improving the safety and reliability of the user's driving.

[0138] Furthermore, the user can perform flexible shift operations through the annular display device 2. For example, shift instructions can be input by means of gestures, touches, rotations, etc. This diverse operation method can meet the driving habits and preferences of different users, enhancing the comfort and pleasure of driving.

[0139] In some embodiments, the vehicle is shift-controlled according to the first operation information, including: when it is determined that the shift operation is valid according to the first operation information, the vehicle is shift-controlled according to the current vehicle state and the shift instruction corresponding to the first operation information.

[0140] Specifically, the user may make a misoperation on the annular display device, or the user has no intention of shifting gears and just swipes the screen. At this time, the first operation information can still be obtained. Therefore, it is necessary to first determine whether the user's shift operation is valid according to the first operation information. When the shift operation is valid, the corresponding shift instruction is determined according to the first operation information. The domain controller sends the shift instruction to the VCU. The VCU can obtain the current vehicle state and determine whether the vehicle can shift gears according to the current vehicle state. If the vehicle can shift gears, the shift mechanism, motor, and parking mechanism are controlled according to the shift instruction.

[0141] In the above embodiment, it is first determined whether the shift operation is valid according to the first operation information, and only when the shift operation is valid will subsequent control be performed, thus effectively avoiding the occurrence of misoperations.

[0142] In some embodiments, determining that the shift operation is valid according to the first operation information includes: determining an operation start point, an operation end point, and an operation trajectory according to the first operation information; when the operation start point and the operation end point are respectively in a preset operation area and the operation trajectory meets the preset shift condition, it is determined that the shift operation is valid.

[0143] Specifically, a shift operation area, that is, a preset operation area, is set on the annular display device. Only when the user operates in the preset operation area is it possible to be recognized as performing a shift operation. Because there is a possibility of misoperation, the user's operation trajectory needs to meet the preset shift condition to determine that the user's operation is not a mis-touch, so the shift operation is valid.

[0144] In this embodiment, setting the operation start point and the operation end point within the preset operation area can avoid accidental triggering caused by the user accidentally touching or swiping. In addition, in this embodiment, by verifying whether the operation trajectory conforms to the preset pattern, random jitter or non-standard gestures can be excluded. For example, the messy trajectory when the user wipes the screen of the annular display device will not trigger a gear shift.

[0145] In some embodiments, the gear shifting method further includes: when the operation trajectory is an arc and the angle corresponding to the arc satisfies a preset range, determining that the operation trajectory meets the preset gear shifting condition.

[0146] Figure 7 For Figure 1 A schematic diagram of the preset operation area A in the steering wheel provided by the embodiment. In a specific embodiment of the present application, the method for determining whether a gear shifting operation is valid according to the first operation information is as follows:

[0147] When the user slides a long arc on the screen of the annular display device 2 and both the operation start point and the operation end point of the user are within the preset operation area A, the VCU determines that the gear shifting operation is valid and performs a gear shift.

[0148] When the user slides a short arc on the annular display screen, or when both the operation start point and the operation end point of the user are not within the preset operation area A, the VCU determines that the gear shifting operation is invalid and does not perform a gear shift.

[0149] This setting method can not only enhance the dynamic adaptive interaction between the user and the vehicle, but also reduce the risk of misoperation.

[0150] It should be noted that the operation trajectory is not limited to an arc and can also be other shapes, such as a straight line. If the distance of the straight line meets the preset distance range, it is determined that the operation trajectory meets the preset gear shifting condition.

[0151] In some embodiments, the preset operation area is set in the following manner:

[0152] When the vehicle enters the operation area setting function, obtain the second operation information of the user on the annular display device; determine the operation area and the central angle according to the second operation information; when the central angle is greater than the first preset threshold, determine the preset operation area according to the central angle.

[0153] Specifically, as Figure 8 shown, the method for setting the preset operation area includes the following steps:

[0154] S103. The vehicle enters the operation area setting function.

[0155] S104. The user can draw a minor arc along the contour of the annular display device with a finger or other good dielectric, and the domain controller obtains the second operation information.

[0156] S105. According to the second operation information, the operation start point, operation end point and operation distance can be determined, and the central angle can be determined according to the operation start point, operation end point and operation distance.

[0157] S106. Determine whether the central angle is greater than the first preset threshold. The first preset threshold is the minimum recognizable threshold. If the central angle is less than or equal to the first preset threshold, it indicates that the current operation distance is too small to be recognized by the vehicle, and step S108 is executed. If the central angle is greater than the first preset threshold, the shift operation can be recognized, and step S107 is executed.

[0158] S107. Determine the preset operation area according to the central angle. The area intersecting the annular display device according to the central angle can be determined as the preset operation area.

[0159] S108. Determine that the setting of the preset operation area is invalid.

[0160] In some embodiments, the vehicle further includes an audio output device. Wherein, when the central angle is less than or equal to the first preset threshold, the shift method further includes: determining that the setting of the preset operation area is invalid, and controlling at least one of the audio output device and the annular display device to send a first prompt message, where the first prompt message is used to prompt that the preset operation area needs to be reset.

[0161] It can be understood that when the central angle is less than or equal to the first preset threshold, the user's operation distance is too small to be recognized by the vehicle. Therefore, when determining that the setting of the preset operation area is invalid, it is necessary to control at least one of the audio output device and the annular display device to send a first prompt message to prompt the user to reset the preset operation area. The audio output device can be a speaker. When controlling the speaker to send the first prompt message, the first prompt message can be a voice prompt; when controlling the annular display device to send the first prompt message, the first prompt message can be a text prompt. In this way, the user can set the preset operation area in time, which can not only improve the user experience, but also avoid invalid operations and enhance the system stability and security.

[0162] In some embodiments, determining the preset operation area according to the central angle includes the following steps: based on the angular bisector of the central angle, expand both sides of the central angle by a preset angle to obtain a target central angle; set the area formed by the intersection of the target central angle and the annular display device as the preset operation area.

[0163] Optionally, in some embodiments, the first preset threshold is between 16° and 80°, and the preset angle is between 3° and 10°.

[0164] For example, in one example, the user draws a minor arc on the screen of the annular display device 2, and the central angle of the minor arc is 30°. Among them, the first preset threshold is 20°. Then the VCU determines that the central angle (30°) is greater than the first preset threshold (20°).

[0165] As Figure 9 shown, expand both sides of the central angle θ1 by a preset angle (5°) to obtain the target central angle θ2 (40°), and set the area formed by the intersection of the target central angle θ2 and the annular display device as the preset operation area A, and the user can perform the gear shifting operation of the vehicle within the preset operation area A.

[0166] For example, in another example, the user draws a minor arc on the screen of the annular display device 2, and the central angle of the minor arc is 15°. Among them, the first preset threshold is 20°. Then the VCU determines that the central angle (15°) is less than the first preset threshold (20°), and prompts that the setting of the preset operation area A is invalid.

[0167] In some embodiments, the vehicle further includes a parking mechanism, and the method further includes: controlling the parking mechanism to make the vehicle enter the parking gear when the operation trajectory meets the preset parking condition and the vehicle speed is 0.

[0168] That is to say, the present application can not only perform gear shifting operations on the annular display device, but also perform parking operations on the annular display device. The user can start sliding at any position on the annular display device. When the operation trajectory meets the preset parking condition and the vehicle speed is 0, the VCU drives the parking mechanism to make the vehicle enter the parking gear.

[0169] In some embodiments, the gear shifting method further includes: determining that the operation trajectory meets the preset parking condition when the operation trajectory is an arc and the angle corresponding to the arc is greater than the second preset threshold, where the second preset threshold is greater than the maximum value of the preset range. By using a larger angle threshold as the judgment criterion in the present application, the accuracy of the parking operation can be improved.

[0170] Specifically, when performing the parking operation, the operation trajectory of the user can also be an arc, but at this time, the arc drawn by the user needs to be longer than the arc when performing the gear shifting operation, that is, the angle corresponding to the arc is larger, so as to distinguish it from the gear shifting operation. For example, the second preset threshold can be 360°. When the angle corresponding to the arc exceeds 360° and the vehicle speed is 0, the driving mechanism is driven.

[0171] Optionally, in some embodiments, the preset range is [10°, 60°], and the second preset threshold is between 270° and 540°.

[0172] It should be noted that, in order to avoid misjudgment, the maximum value of the preset range is quite different from the minimum value of the value range of the second preset threshold.

[0173] In some embodiments, as Figure 3 shown, the steering wheel body 1 includes a capacitance sensor 4, and the capacitance sensor 4 is arranged on the steering wheel body. The shifting method further includes: when it is determined according to the capacitance value information of the capacitance sensor that the steering wheel body is not grasped, determining that the shifting operation is invalid.

[0174] Among them, the capacitance sensor can accurately detect whether the user really grasps the steering wheel. If the steering wheel is not grasped, the VCU determines that the shifting operation is invalid, avoiding accidental shifting caused by misoperation (such as the hand approaching but not grasping), thereby reducing the driving risk.

[0175] In addition, the capacitance sensor judges the hand contact state by measuring the change of capacitance value, and is not affected by gloves, clothes, etc. Even in a humid environment or when the hand is wet, high precision can still be maintained through the comprehensive measurement of capacitance value and resistance value.

[0176] In some embodiments, performing shifting control on the vehicle according to the shifting instruction corresponding to the current vehicle state and the first operation information includes: determining the operation direction of the user according to the first operation information, and determining the shifting instruction according to the operation direction;

[0177] When it is determined according to the current vehicle state that the vehicle can execute the shifting instruction, performing shifting control on the vehicle according to the shifting instruction.

[0178] Specifically, it can be judged whether it is a forward instruction or a reverse instruction according to the operation direction corresponding to the first operation information. For example, if the user slides up along the circular display device with a finger, the shifting instruction is a forward instruction; if the user slides down along the circular display device with a finger, the shifting instruction is a reverse instruction. Then, through the dynamic matching verification of the vehicle state and the shifting instruction, it is ensured that the shifting operation is only executed under the conditions allowed by the current working condition of the vehicle (such as vehicle speed, engine speed, gear logic, etc.). For example, preventing misshifting into reverse gear during high-speed driving or forcibly upshifting at low speed, and avoiding mechanical impact or safety hazards caused by illegal shifting.

[0179] In an alternative embodiment, when the VCU determines that the vehicle can execute the shifting instruction according to the current vehicle state, it also sends a gear state message and a vehicle motion state message to the domain controller, and the domain controller also controls the in-vehicle screen to display vehicle information according to the gear state message and the vehicle motion state message, where the vehicle information is obtained according to the gear state message and the vehicle motion state message.

[0180] In some embodiments, before obtaining the first operation information of the user on the annular display device, the shifting method further includes: when receiving a power-on instruction, controlling the vehicle to power on and sending a wake-up message to the annular display device to enable the annular display device to enter the working mode; when receiving a start instruction and the vehicle speed is less than a preset vehicle speed, controlling the annular display device to display a shifting operation interface so that the user can perform a shifting operation on the annular display device.

[0181] After the vehicle is powered on by triggering with a power-on instruction in this application, a wake-up message is sent to the annular display device through the network management node, avoiding the in-vehicle devices being in the standby state for a long time and reducing the overall power consumption of the system. Moreover, in this application, shifting can be performed through the annular display device only when the vehicle speed is relatively low, which can avoid the safety risks caused by shifting during the high-speed driving of the vehicle.

[0182] In some embodiments, as Figure 5 shown, the vehicle further includes a brake pedal position sensor and a wheel speed sensor. The brake pedal position sensor is configured to detect the position information of the brake pedal of the vehicle, and the wheel speed sensor is configured to detect the wheel speed of the vehicle. Among them, determining that the vehicle can execute a shifting instruction according to the current vehicle state includes: when it is determined according to the position information that the user steps on the brake pedal, obtaining the vehicle gear information; when the vehicle gear information is the start gear and the wheel speed is 0, determining that the vehicle can execute the shifting instruction.

[0183] Through the combined judgment of the brake pedal position sensor and the wheel speed sensor in this application, it is ensured that the shifting instruction is executed only when the user actively steps on the brake pedal (clarifying the operation intention) and the vehicle is completely stationary (wheel speed is 0 km / h).

[0184] In some embodiments, the vehicle further includes an audio output device, and the shifting method further includes: when it is determined according to the first operation information that the shifting operation is invalid, or when it is determined according to the current vehicle state that the vehicle cannot execute the shifting instruction, controlling at least one of the audio output device and the annular display device to send out a second prompt message, where the second prompt message is used to prompt that the shifting operation is invalid and the reason for the invalidity of the shifting operation.

[0185] It can be understood that if it is determined that the gear shift operation is invalid according to the first operation information, it indicates that the user has not input a valid gear shift instruction, or if it is determined that the vehicle cannot execute the gear shift instruction according to the current vehicle state, it indicates that the vehicle does not support gear shifting. Therefore, a second prompt message can be sent through the audio output device and / or the annular display device, which can immediately feedback to inform the user that the current gear shift operation is invalid and the reason for the invalidity. For example, if the gear shift operation is invalid, it is prompted that the gear shift input instruction is invalid; if the vehicle cannot execute the gear shift instruction, it is prompted that the vehicle does not support gear shifting, thereby further improving the safety performance of the vehicle.

[0186] In some embodiments, the vehicle further includes an audio output device. Wherein, when the gear shift of the vehicle is completed, the gear shift method further includes: controlling at least one of the audio output device and the annular display device to send a third prompt message, wherein the third prompt message is used to prompt that the gear state of the vehicle has changed.

[0187] That is to say, after the vehicle completes the gear shift, a third prompt message can also be sent through the audio output device and / or the annular display device to promptly prompt the user that the gear has changed, realizing the multi-modal interaction design of the vehicle, thereby creating a safer and more intuitive driving experience for the user.

[0188] Figure 10 For Figure 1 a schematic diagram of the annular display device in the steering wheel provided in the embodiment. As Figure 10 shown, in some embodiments, when the gear shift of the vehicle is completed, the gear shift method further includes: controlling the annular display device to display the gear information of the vehicle and the vehicle's forward direction.

[0189] Specifically, as Figure 10 shown in Figure (A) therein, when the gear shift instruction is a forward instruction, the gear information on the screen of the annular display device is "D", and the vehicle's forward direction is "forward", where the vehicle's forward direction is represented by a forward arrow on the screen of the annular display device. As Figure 10 shown in Figure (B) therein, when the gear shift instruction is a reverse instruction, the gear information on the screen of the annular display device is "R", and the vehicle's forward direction is "backward", where the vehicle's forward direction is represented by a backward arrow on the screen of the annular display device.

[0190] It should be noted that the annular display device is not limited to displaying the gear information of the vehicle and the vehicle's forward direction, and can also display interaction information (such as navigation maps, media playback control interfaces, call records, and settings), external environment information (weather, external light intensity, gas quality, etc.), and real-time vehicle status information (vehicle speed, fuel consumption, remaining fuel, mileage, vehicle fault warnings, Bluetooth and network conditions, internal and external temperature and humidity, tire pressure, etc.). Therefore, the driver can obtain the required information without distraction during driving, and this function makes driving safer and reduces traffic accidents caused by looking at mobile phones or other devices.

[0191] Figure 11 As shown in the complete process schematic diagram of a gear shifting method provided by an embodiment of the present application, Figure 11 as shown, the gear shifting method includes the following steps:

[0192] S01. The user turns on the vehicle to the start gear (ON gear power).

[0193] S02. The network management node sends a wake-up message to make the screen of the annular display device enter the working mode.

[0194] S03. The user adjusts the vehicle to the OK gear power to start the vehicle, and at this time the vehicle is in gear and moving.

[0195] S04. When the running speed of the vehicle is less than 5 Km / h, the screen of the annular display device shows a gear shifting operation interface.

[0196] S05. The user can draw a minor arc on the screen of the annular display device with a finger or other good dielectric in a preset operable area.

[0197] S06. The domain controller determines whether the user inputs a valid gear shifting instruction. If so, step S07 is executed; if not, step S11 is executed.

[0198] S07. The domain controller determines the type of gear shifting command and sends it to the VCU.

[0199] S08. The VCU determines whether the vehicle state supports gear shifting. If so, steps S09 and S10 are executed; if not, step S11 is executed.

[0200] S09. Then the vehicle's VCU calls devices such as the parking / gear shifting mechanism and the motor to perform the gear shifting operation.

[0201] S10. Send a gear position status message and a vehicle motion status message to the domain controller. Among them, the domain controller displays relevant prompt information on the in-vehicle screen with reference to the message content.

[0202] S11. Send a second prompt message to prompt the user that the input of the gear shifting command is invalid.

[0203] Figure 12 This is a schematic diagram of a complete process for determining whether a gearshift operation is effective provided by an embodiment of the present application. As Figure 12 shown, the gearshift operation determination includes the following steps:

[0204] S061. The domain controller obtains the capacitance information of the capacitance sensor.

[0205] S062. Determine whether the user is grasping the steering wheel according to the capacitance information. If so, execute step S063. If not, execute step S065.

[0206] S063. Determine whether the angle of the arc corresponding to the first operation information reaches a preset range, and whether the operation start point and the operation end point are respectively in the preset operation area. If so, execute step S064. If not, execute step S065.

[0207] S064. Determine that the gearshift operation is effective.

[0208] S065. Determine that the gearshift operation is ineffective.

[0209] Figure 13 This is a schematic diagram of a complete process for determining whether the vehicle state supports gear shifting provided by an embodiment of the present application. As Figure 13 shown, the vehicle state determination includes the following steps:

[0210] S081. The VCU obtains the signal of the brake pedal position sensor or the signal of the brake pedal switch.

[0211] S082. The VCU determines whether the user has stepped on the brake pedal according to the signal of the brake pedal position sensor or the signal of the brake pedal switch. If so, execute step S083. If not, execute step S086.

[0212] S083. The VCU determines whether the vehicle is in the OK gear state. If so, execute step S084. If not, execute step S086.

[0213] S084. The VCU determines whether the vehicle speed is 0 km / h according to the wheel speed sensor. If so, execute step S085. If not, execute step S085;

[0214] S085. The VCU determines that the current vehicle state supports gear shifting.

[0215] S086. The VCU determines that the current vehicle state does not support gear shifting.

[0216] An embodiment of the present application provides a computer-readable storage medium, on which a program or instructions are stored, and when the program or instructions are executed by a processor, the steps of the shifting method described in the first aspect are implemented.

[0217] Figure 14 FIG. is a schematic structural diagram of a vehicle controller provided by an embodiment of the present application. As Figure 14 shown, an embodiment of the present application provides a vehicle controller, including: a memory 22, a processor 21, and a shifting program stored on the memory 22 and executable on the processor 21. When the processor 21 executes the shifting program, the shifting method in the above embodiment is implemented.

[0218] An embodiment of the present application provides a vehicle, which includes the above vehicle controller.

[0219] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0220] In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0221] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods in the above embodiments can be implemented by means of a computer software product plus a necessary general hardware platform, and of course, can also be implemented by hardware. This computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes several instructions for causing a terminal or a network-side device to execute the methods described in various embodiments of the present application.

[0222] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms of embodiments without departing from the purpose of the present application and the scope protected by the claims. These embodiments are all within the protection scope of the present application.

Claims

1. A steering wheel, characterized in that, Comprising: A steering wheel body; A circular display device, which is arranged on the steering wheel body.

2. The steering wheel according to claim 1, wherein The rotation axis of the circular display device is parallel or coincident with the rotation axis of the steering wheel body.

3. The steering wheel according to claim 1, characterized in that, The center of the circular display device remains unchanged during rotation.

4. The steering wheel according to any one of claims 1 to 3, characterized in that, The circular display device is configured to rotate the display screen of the circular display device when the steering wheel body rotates, so that the display screen matches the direction of the user's horizontal field of view.

5. The steering wheel according to claim 4, characterized in that, The steering wheel further comprises: an information detection unit, which is adapted to be connected to a vehicle control unit. The information detection unit is configured to detect the rotation information of the steering wheel body and send the rotation information to the vehicle control unit, so that the vehicle control unit determines the rotation angle of the display screen according to the rotation information. Wherein, the circular display device is further configured to rotate the display screen according to the rotation angle.

6. The steering wheel according to claim 5, characterized in that, The information detection unit comprises: An acceleration sensor, which is arranged on the steering wheel body and is configured to detect the acceleration of the steering wheel body; and / or, A steering angle torque sensor, which is arranged on the steering wheel body and is configured to detect the rotation angle and rotation force of the steering wheel body.

7. The steering wheel according to any one of claims 1-6, characterized in that, The steering wheel body comprises: A capacitance sensor, which is arranged on the steering wheel body and is configured to determine whether the steering wheel body is grasped.

8. The steering wheel according to any one of claims 1-6, characterized in that, The central hole of the circular display device is adapted to place an airbag housing.

9. A vehicle, characterized in that, Comprising the steering wheel according to any one of claims 1-8.

10. A shifting method, characterized in that, Applied to a vehicle, the vehicle comprises a steering wheel, the steering wheel comprises a steering wheel body and a circular display device, the circular display device is arranged on the steering wheel body, the method comprises: Obtaining first operation information of a user on the circular display device; Performing gear shifting control on the vehicle according to the first operation information.

11. The method according to claim 10, wherein Performing gear shifting control on the vehicle according to the first operation information, comprising: When it is determined that the gear shifting operation is effective according to the first operation information, performing gear shifting control on the vehicle according to the current vehicle state and the gear shifting instruction corresponding to the first operation information.

12. The method according to claim 11, wherein Determining that the gear shifting operation is effective according to the first operation information, comprising: ​ ​ 13. The method according to claim 12, wherein ​ ​ 14. The method according to claim 12, wherein ​ ​ ​ When the central angle is greater than a first preset threshold, determine the preset operation area according to the central angle.

15. The method according to claim 14, characterized in that Determining the preset operation area according to the central angle includes: Based on the angle bisector of the central angle, expand both sides of the central angle outward by a preset angle to obtain a target central angle; Set the area formed by the intersection of the target central angle and the annular display device as the preset operation area.

16. The method according to claim 15, wherein The first preset threshold is between 16° and 80°, and the preset angle is between 3° and 10°.

17. The method according to claim 14, characterized in that, The vehicle further includes an audio output device. Wherein, when the central angle is less than or equal to the first preset threshold, the method further includes: Determine that the setting of the preset operation area is invalid, and control at least one of the audio output device and the annular display device to send a first prompt message, where the first prompt message is used to prompt that the preset operation area needs to be reset.

18. The method according to claim 13, wherein The vehicle further includes a parking mechanism, and the method further includes: When the operation trajectory meets the preset parking condition and the vehicle speed is 0, control the parking mechanism to make the vehicle enter the parking gear.

19. The method according to claim 18, wherein The method further includes: When the operation trajectory is an arc and the angle corresponding to the arc is greater than a second preset threshold, determine that the operation trajectory meets the preset parking condition, where the second preset threshold is greater than the maximum value of the preset range.

20. The method according to claim 19, wherein The preset range is [10°, 60°], and the second preset threshold is between 270° and 540°.

21. The method according to claim 11, characterized in that, The steering wheel body includes a capacitance sensor, and the capacitance sensor is arranged on the steering wheel body. The method further includes: When it is determined according to the capacitance value information of the capacitance sensor that the steering wheel body is not being grasped, determine that the shift operation is invalid.

22. The method according to claim 11, wherein Performing shift control on the vehicle according to the current vehicle state and the shift command corresponding to the first operation information includes: Determine the operation direction of the user according to the first operation information, and determine the shift command according to the operation direction; When it is determined according to the current vehicle state that the vehicle can execute the shift command, perform shift control on the vehicle according to the shift command.

23. The method according to claim 22, wherein The vehicle further includes a brake pedal position sensor and a wheel speed sensor. The brake pedal position sensor is configured to detect the position information of the brake pedal of the vehicle, and the wheel speed sensor is configured to detect the wheel speed of the vehicle. Wherein, determining that the vehicle can execute the shift command according to the current vehicle state includes: When it is determined according to the position information that the user steps on the brake pedal, obtain the vehicle gear information; When the vehicle gear information is the start gear and the wheel speed is 0, determine that the vehicle can execute the shift command.

24. The method according to claim 11, wherein The vehicle further includes an audio output device, and the method further includes: When it is determined that the shift operation is invalid according to the first operation information, or when it is determined that the vehicle cannot execute the shift instruction according to the current vehicle state, at least one of the audio output device and the annular display device is controlled to issue a second prompt message, where the second prompt message is used to prompt that the shift operation is invalid and the reason for the invalidity of the shift operation.

25. The method according to any one of claims 10 - 24, characterized in that, When the vehicle has completed a gear shift, the method further includes: Controlling the annular display device to display the gear information of the vehicle and the vehicle's forward direction.

26. The method according to any one of claims 10 - 24, characterized in that, The vehicle further includes an audio output device, where when the vehicle has completed a gear shift, the method further includes: Controlling at least one of the audio output device and the annular display device to issue a third prompt message, where the third prompt message is used to prompt that the gear state of the vehicle has changed.

27. The method according to any one of claims 10-24, characterized in that, Before obtaining the first operation information of the user on the annular display device, the method further includes: When a power-on instruction is received, controlling the vehicle to power on and sending a wake-up message to the annular display device so that the annular display device enters the working mode; When a start instruction is received and the vehicle speed is less than a preset vehicle speed, controlling the annular display device to display a shift operation interface so that the user can perform a shift operation on the annular display device.

28. The method according to any one of claims 10 - 24, characterized in that, The rotation axis of the annular display device is parallel to or coincides with the rotation axis of the steering wheel body.

29. The method according to any one of claims 10-24, characterized in that, The center of the annular display device remains unchanged during rotation.

30. A computer-readable storage medium, characterized in that, The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the shift method according to any one of claims 10 to 29 are implemented.

31. A vehicle controller, characterized in that, Including: A memory, a processor, and a shift program stored on the memory and executable on the processor. When the processor executes the shift program, the shift method according to any one of claims 10 to 29 is implemented.

32. A vehicle, characterized in that, Including the vehicle controller according to claim 31.

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