Steering wheel control method, controller, electronic equipment, vehicle, medium and product

Abstract

The invention relates to the technical field of vehicle steering control, in particular to a steering wheel control method, a controller, electronic equipment, a vehicle, a computer readable storage medium and a computer program product. The steering wheel control method comprises the steps that under the condition that a vehicle is powered off, a steering wheel is controlled to return to the neutral position, and the steering wheel is locked. Under the condition that the vehicle is powered off, the steering wheel is controlled to return to the neutral position, the steering wheel is locked, it is guaranteed that the steering wheel is located at the neutral position after the vehicle is powered on, and therefore the vehicle using safety of a user is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle steering control, and in particular to a steering wheel control method, a controller, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product. Background Art

[0002] In existing wire-controlled steering mechanisms, the steering wheel cannot reach a stable state through factors such as the mechanical structure's own gravity. When the vehicle is not unlocked and powered on, the steering wheel is not locked, which may pose a safety hazard after the vehicle is powered on.

[0003] Application Contents

[0004] Embodiments of the present application provide a steering wheel control method, a controller, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product. When the vehicle is powered off, the steering wheel is controlled to return to the neutral position and the steering wheel is locked by an axle lock structure, thereby ensuring the user's safety when the vehicle is powered on.

[0005] In order to achieve the above object, according to a first aspect of the present application, a steering wheel control method is provided, the method comprising:

[0006] When the vehicle is powered off, the steering wheel is controlled to return to the neutral position and is locked.

[0007] In some embodiments, locking the steering wheel includes:

[0008] The steering wheel is locked by a shaft locking structure, and the shaft locking structure is connected to the steering wheel.

[0009] In some embodiments, locking the steering wheel by a shaft lock structure includes:

[0010] A locking signal is sent to the shaft lock structure through an electronic controller unit, and the locking signal is used to lock the steering wheel.

[0011] In some embodiments, sending a locking signal to the shaft locking structure through an electronic controller unit includes:

[0012] In the case that the first electronic controller unit does not fail, the first electronic controller unit is controlled to send the locking signal to the shaft locking structure.

[0013] In some embodiments, sending a locking signal to the shaft locking structure through an electronic controller unit includes:

[0014] In the event that the first electronic controller unit fails, the second electronic controller unit is controlled to send the locking signal to the shaft locking structure.

[0015] In some embodiments, controlling the steering wheel to return to the neutral position includes:

[0016] The steering wheel is driven back to a neutral position based on the steering wheel angle and / or the wheel angle.

[0017] In some embodiments, before driving the steering wheel back to the neutral position based on the steering wheel angle and / or the wheel angle, the method includes:

[0018] The steering wheel angle and / or the wheel angle are acquired through a rotation angle sensor.

[0019] In some embodiments, obtaining the steering wheel angle and / or the wheel angle by using a rotation angle sensor includes:

[0020] When the working state of the first rotation angle sensor is normal, the steering wheel angle and / or the wheel angle are acquired through the first rotation angle sensor.

[0021] In some embodiments, obtaining the steering wheel angle and / or the wheel angle by using a rotation angle sensor includes:

[0022] When the working state of the first rotation angle sensor is a fault state, the steering wheel angle and / or the wheel angle is acquired by the second rotation angle sensor.

[0023] In some embodiments, driving the steering wheel back to the neutral position based on the steering wheel angle and / or the wheel angle includes:

[0024] The steering wheel is driven to return to the neutral position by a steering mechanism.

[0025] In some embodiments, driving the steering wheel back to the neutral position by the steering mechanism includes:

[0026] A driving signal is sent to the steering mechanism through an electronic controller unit, and the driving signal is used to drive the steering wheel to return to the neutral position.

[0027] In some embodiments, the method further includes: unlocking the steering wheel when the vehicle is powered on.

[0028] In some embodiments, unlocking the steering wheel includes:

[0029] The steering wheel is unlocked by the shaft lock structure, and the shaft lock structure is connected to the steering wheel.

[0030] In some embodiments, unlocking the steering wheel through the shaft lock structure includes:

[0031] An unlocking signal is sent to the shaft lock structure through an electronic controller unit, and the unlocking signal is used to release the lock of the steering wheel.

[0032] In some embodiments, sending an unlocking signal to the shaft lock structure through an electronic controller unit includes:

[0033] In some embodiments, the unlocking signal is sent to the shaft locking structure by the first electronic controller unit.

[0034] In some embodiments, sending an unlocking signal to the shaft lock structure through an electronic controller unit includes:

[0035] In the event of a failure of the first electronic controller unit, the unlocking signal is sent to the shaft lock structure via the second electronic controller unit.

[0036] In some embodiments, before unlocking the steering wheel, the method further includes:

[0037] When the steering wheel is not in the neutral position, the steering wheel is controlled to return to the neutral position.

[0038] In some embodiments, controlling the steering wheel to return to the neutral position includes:

[0039] The steering wheel is driven back to a neutral position based on the steering wheel angle and / or the wheel angle.

[0040] In some embodiments, before driving the steering wheel back to the neutral position based on the steering wheel angle and / or the wheel angle, the method includes:

[0041] The steering wheel angle and / or the wheel angle are acquired through a rotation angle sensor.

[0042] In some embodiments, obtaining the steering wheel angle and / or the wheel angle by using a rotation angle sensor includes:

[0043] When the working state of the first rotation angle sensor is normal, the steering wheel angle and / or the wheel angle are acquired through the first rotation angle sensor.

[0044] In some embodiments, obtaining the steering wheel angle and / or the wheel angle by using a rotation angle sensor includes:

[0045] When the working state of the first rotation angle sensor is a fault state, the steering wheel angle and / or the wheel angle is acquired by the second rotation angle sensor.

[0046] In some embodiments, driving the steering wheel back to the neutral position based on the steering wheel angle and the wheel angle includes:

[0047] The steering wheel is driven to return to the neutral position by a steering mechanism.

[0048] In some embodiments, driving the steering wheel back to the neutral position by the steering mechanism includes:

[0049] A driving signal is sent to the steering mechanism through an electronic controller unit, and the driving signal is used to drive the steering wheel to return to the neutral position.

[0050] According to a second aspect of the present application, a controller is provided, comprising:

[0051] memory and processor;

[0052] The memory stores a computer program, and the processor is configured to run the computer program in the memory to perform the steering wheel control method according to the embodiment of the first aspect of the present application;

[0053] The controller is suitable for connecting to an electronic control unit and a rotation angle sensor.

[0054] In some embodiments, the electronic control unit includes a first electronic control unit and a second electronic control unit, wherein the second electronic control unit is used to back up the functions of the first electronic control unit.

[0055] In some embodiments, the rotation angle sensor includes a first rotation angle sensor and a second rotation angle sensor, wherein the second rotation angle sensor is used to back up the function of the first rotation angle sensor.

[0056] In some embodiments, the electronic control unit is adapted to be connected to an axle lock structure and / or a steering mechanism, wherein the axle lock structure and / or the steering mechanism are connected to the steering wheel.

[0057] According to a third aspect of the present application, an electronic device is provided, comprising:

[0058] memory and processor;

[0059] The memory stores a computer program, and the processor is used to run the computer program in the memory to execute the steering wheel control method of the embodiment of the first aspect of the present application.

[0060] According to the fourth aspect of the present application, a vehicle is provided, which includes the controller of the embodiment of the second aspect of the present application, or the electronic device of the embodiment of the third aspect of the present application, or executes the steering wheel control method of the embodiment of the first aspect of the present application.

[0061] According to a fifth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that the computer program is executed by a processor to implement the steering wheel control method of the embodiment of the first aspect of the present application.

[0062] According to a fifth aspect of the present application, a computer program product is provided, characterized in that it includes a computer program or instructions, and the computer program or instructions are executed by a processor to implement the steering wheel control method of the embodiment of the first aspect of the present application.

[0063] This application controls the steering wheel to return to the neutral position and locks the steering wheel when the vehicle is powered off, ensuring that the steering wheel is in the neutral position after the vehicle is powered on, thereby ensuring the user's vehicle safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0065] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0066] Figure 1 This is a flow chart of a steering wheel control method provided in an exemplary embodiment of the present application;

[0067] Figure 2 is a flowchart of another steering wheel control method provided in an exemplary embodiment of the present application;

[0068] Figure 3 This is a schematic diagram of another steering wheel control method provided in an exemplary embodiment of the present application.

[0069] Figure 4 is a schematic structural diagram of a steering wheel control system provided in an exemplary embodiment of the present application;

[0070] Figure 5 It is a schematic diagram of the structure of an electronic device provided in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0071] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0072] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0073] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0074] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0075] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0076] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0077] In the description of the embodiments of this application, unless otherwise specified or limited, technical terms such as "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or a connection through a network. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of this application can be understood according to specific circumstances.

[0078] The working principle of a car's steer-by-wire system is to use sensors to detect the value of the driver's steering action, and then transmit the steering signal to the vehicle's Electronic Control Unit (ECU) through the data bus (CAN / CANFD). The ECU also feeds back to the steering wheel module to generate corresponding steering signal control actions; the ECU also obtains the driver's steering instructions from the steering execution module and obtains the wheel status, thereby commanding the movement of the entire system.

[0079] In the steering wheel module for steer-by-wire, an axle lock mechanism adds a locking function to the steering wheel. When the vehicle is powered off, the ECU sends a lock signal to the axle lock mechanism, which locks the steering wheel. When the vehicle is powered on, the ECU sends an unlock signal to the axle lock mechanism, which releases the steering wheel. Once the steering wheel is unlocked, normal driving can resume, improving the reliability of the driving system.

[0080] Therefore, the first aspect of the present application provides a steering wheel control method, such as Figure 1 As shown, the method includes:

[0081] S101: When the vehicle is powered off, control the steering wheel to return to the neutral position:

[0082] According to the working principle of wire-controlled steering, this application first determines the driver's intention and the driver's action of powering off / on the vehicle. If a power-off action is performed, it is necessary to add an active steering wheel return control function. When the vehicle is powered off, the controller (Baseboard Management Controller, BCM) sends a signal to the ECU via CAN / CANFD, and the ECU transmits the signal to the steering wheel steering mechanism via the CAN / CANFD line, and the steering mechanism drives the steering wheel to return to the neutral position. When the steering wheel returns to the set neutral position angle, it is determined whether the steering wheel has processed the neutral position. The neutral position angle is usually set to 0°, but it may also be set to other angles, such as 180°.

[0083] S102: Lock the steering wheel.

[0084] After the steering wheel returns to the neutral position, the angle sensor detects that the current steering wheel angle signal value is the neutral position angle, and the ECU transmits the lock signal to the controller through the CAN / CANFD line. The controller locks the steering wheel according to the lock signal.

[0085] This application controls the steering wheel to return to the neutral position when the vehicle is powered off, and locks the steering wheel in the neutral position to ensure that the steering wheel is in the neutral position after the vehicle is powered on, thereby ensuring the user's vehicle safety.

[0086] In some embodiments, locking the steering wheel includes: locking the steering wheel via an axle lock structure, wherein the axle lock structure is connected to the steering wheel.

[0087] Specifically, the steering wheel steering system includes an axle lock structure, which is connected to the steering wheel. After the steering wheel returns to the neutral position, the axle lock structure can lock the steering wheel rotation axis, thereby ensuring that the steering wheel is locked after the vehicle is powered off and cannot be forced to rotate.

[0088] In some embodiments, the present application can send a locking signal to the axle lock structure through the redundant electronic controller unit to lock the steering wheel through the axle lock structure, such as Figure 2 As shown, locking the steering wheel by the shaft lock structure includes:

[0089] S201: Sending a locking signal to the axle lock structure through an electronic controller unit, wherein the locking signal is used to lock the steering wheel.

[0090] When the shaft lock structure locks the steering wheel, a locking signal is usually sent to the shaft lock structure through the electronic controller unit, and the shaft lock structure locks the steering wheel according to the locking signal.

[0091] In some embodiments, sending a locking signal to the shaft locking structure through an electronic controller unit includes:

[0092] S202: When the first electronic controller unit is not faulty, control the first electronic controller unit to send the locking signal to the shaft locking structure.

[0093] The electronic controller unit of the present application includes a first electronic controller unit and a second electronic controller unit, wherein the first electronic controller unit and the second electronic controller unit are redundant control units, which are used to ensure that the locking signal is redundantly controlled when one of the controller units fails.

[0094] Therefore, in the case that the first electronic controller unit does not fail, the first electronic controller unit is controlled to send a locking signal to the shaft locking structure.

[0095] In some embodiments, sending a locking signal to the shaft locking structure through an electronic controller unit includes:

[0096] S203: When the first electronic controller unit fails, control the second electronic controller unit to send the locking signal to the shaft locking structure.

[0097] Optionally, in the event that the first electronic controller unit fails, the second electronic controller unit is controlled to send a locking signal to the shaft locking structure.

[0098] In some embodiments, controlling the steering wheel to return to the neutral position includes:

[0099] The steering wheel is driven back to a neutral position based on the steering wheel angle and / or the wheel angle.

[0100] In the process of controlling the steering wheel to return to the neutral position, the steering wheel is usually driven to return to the neutral position based on the steering wheel angle and / or the wheel angle. Normally, the steering wheel steering shaft is connected to the drive wheels, and the steering execution module drives the steering wheel to rotate to the neutral position. At this time, the steering wheel angle and the wheel angle are the same angle, and the steering wheel can be adjusted to return to the neutral position by the steering wheel angle or the wheel angle; optionally, when the steering wheel steering shaft is not connected to the drive wheels, or because some systems calculate that the steering wheel angle and the wheel angle are not the same angle, the steering wheel angle and the wheel angle need to be aligned at this time. After alignment, the steering wheel can be driven to rotate to the neutral position. Therefore, it may be necessary to calculate the steering wheel angle and the wheel angle at the same time to ensure that the steering wheel is rotated to the neutral position.

[0101] In some embodiments, before driving the steering wheel back to the neutral position based on the steering wheel angle and / or the wheel angle, the present application can obtain the steering wheel angle and / or the wheel angle through a rotation angle sensor to drive the steering wheel back to the neutral position based on the steering wheel angle and / or the wheel angle, such as Figure 3 Shown, including:

[0102] S301: Obtain the steering wheel angle and / or the wheel angle through a steering angle sensor.

[0103] Before driving the steering wheel back to the neutral position based on the steering wheel angle and / or wheel angle, it is generally necessary to obtain the steering wheel angle and / or wheel angle, typically using a rotation angle sensor. In the embodiment of the present application, the rotation angle sensor includes a first rotation angle sensor and a second rotation angle sensor, wherein the first rotation angle sensor and the second rotation angle sensor serve as backups to prevent one of the rotation angle sensors from malfunctioning and being unable to obtain the steering wheel angle and / or wheel angle.

[0104] In some embodiments, obtaining the steering wheel angle and / or the wheel angle by using a rotation angle sensor includes:

[0105] S302: When the working state of the first rotation angle sensor is normal, obtain the steering wheel angle and / or the wheel angle through the first rotation angle sensor.

[0106] Therefore, when the working state of the first rotation angle sensor is normal, the steering wheel angle and / or the wheel angle are acquired through the first rotation angle sensor.

[0107] In some embodiments, obtaining the steering wheel angle and / or the wheel angle by using a rotation angle sensor includes:

[0108] S303: When the working state of the first rotation angle sensor is a fault state, obtain the steering wheel angle and / or the wheel angle through the second rotation angle sensor.

[0109] Optionally, when the working state of the first rotation angle sensor is a fault state, the steering wheel angle and / or wheel angle is obtained through the second rotation angle sensor.

[0110] In some embodiments, driving the steering wheel back to the neutral position based on the steering wheel angle and / or the wheel angle includes: driving the steering wheel back to the neutral position through a steering mechanism.

[0111] The steering wheel is driven to return to the neutral position based on the steering wheel angle and / or wheel angle, usually by a steering mechanism. Optionally, the steering mechanism includes an active self-centering motor and a driver. If the steering wheel angle and the wheel angle are the same angle, the active self-centering motor drives the steering wheel to rotate the steering wheel angle and / or wheel angle obtained by the angle sensor, driving the steering gear to rotate in the opposite direction of the steering wheel angle and / or wheel angle, thereby driving the steering wheel to return to the neutral position. Optionally, the steering mechanism may also include a wheel steering execution motor. If the steering wheel angle and the wheel angle are not the same angle, after the steering wheel angle and the wheel angle are calculated and aligned, the wheel steering execution motor is also required to drive the wheel steering, so as to return to the neutral position together with the steering wheel.

[0112] In some embodiments, driving the steering wheel back to the neutral position by the steering mechanism includes:

[0113] A driving signal is sent to the steering mechanism through an electronic controller unit, and the driving signal is used to drive the steering wheel to return to the neutral position.

[0114] In the process of driving the steering wheel back to the neutral position through the steering mechanism, it is usually necessary to send a driving signal to the steering mechanism through the electronic controller unit. The driving model may include the angle at which the steering wheel needs to be rotated, and then the steering mechanism executes the driving signal to return the steering wheel to the neutral position.

[0115] Optionally, when the first electronic controller unit is not faulty, the first electronic controller unit sends a locking signal to the steering mechanism; when the first electronic controller unit fails, the second electronic controller unit sends a locking signal to the steering mechanism.

[0116] Optionally, the driving mechanism of the present application includes a front-wheel driving mechanism and / or a rear-wheel driving mechanism to correspond to the steering control of a front-wheel drive vehicle, a rear-wheel drive vehicle or a four-wheel drive vehicle.

[0117] In some embodiments, the method further includes: unlocking the steering wheel when the vehicle is powered on.

[0118] After locking the steering wheel when the vehicle is powered off, the steering wheel needs to be unlocked when the vehicle is powered on while the user is using the vehicle.

[0119] In some embodiments, unlocking the steering wheel includes:

[0120] The steering wheel is unlocked by the shaft lock structure, and the shaft lock structure is connected to the steering wheel.

[0121] Likewise, optionally, the unlocking process also requires unlocking the steering wheel via the axle lock structure.

[0122] In some embodiments, unlocking the steering wheel through the shaft lock structure includes:

[0123] An unlocking signal is sent to the shaft lock structure through an electronic controller unit, and the unlocking signal is used to release the lock of the steering wheel.

[0124] During the unlocking process, an unlocking signal needs to be sent to the axle lock structure through the electronic controller unit, and then the steering wheel is unlocked according to the unlocking signal.

[0125] In some embodiments, sending an unlocking signal to the shaft lock structure through an electronic controller unit includes: in some embodiments, sending the unlocking signal to the shaft lock structure through the first electronic controller unit.

[0126] Since the electronic controller unit of the present application includes a first electronic controller unit and a second electronic controller unit, and the first electronic controller unit and the second electronic controller unit are redundant control units, the redundant control setting can ensure that the unlocking signal performs redundant unlocking control when one of the controller units fails.

[0127] In some embodiments, sending a locking signal to the shaft locking structure through an electronic controller unit includes: controlling a second electronic controller unit to send the locking signal to the shaft locking structure when a first electronic controller unit fails.

[0128] Therefore, in the case that the first electronic controller unit does not fail, the first electronic controller unit is controlled to send an unlocking signal to the shaft lock structure.

[0129] In some embodiments, sending the unlocking signal to the shaft lock structure through the electronic controller unit includes: sending the unlocking signal to the shaft lock structure through the second electronic controller unit when a first electronic controller unit fails.

[0130] In the case that the first electronic controller unit does not fail, the second electronic controller unit is controlled to send an unlocking signal to the shaft lock structure.

[0131] In some embodiments, before unlocking the steering wheel, the method further includes:

[0132] When the steering wheel is not in the neutral position, the steering wheel is controlled to return to the neutral position.

[0133] Generally, after the vehicle is powered off, the steering wheel is returned to the center position and locked. After the vehicle is powered on, the steering wheel can be unlocked. However, there may be situations where the steering wheel fails to return to the center position or lock after the vehicle is powered off. Therefore, to ensure safety, it is necessary to once again confirm that the steering wheel is in the neutral position before unlocking it.

[0134] When the steering wheel is not in the neutral position, it is necessary to control the steering wheel to return to the neutral position.

[0135] The logic for returning the steering wheel to the neutral position is the same as that for returning the steering wheel to the neutral position when the vehicle is powered off, that is:

[0136] In some embodiments, controlling the steering wheel to return to the neutral position includes:

[0137] The steering wheel is driven back to a neutral position based on the steering wheel angle and / or the wheel angle.

[0138] In the process of controlling the steering wheel to return to the neutral position, the steering wheel is usually driven to return to the neutral position based on the steering wheel angle and / or the wheel angle. Normally, the steering wheel steering shaft is connected to the drive wheels, and the steering execution module drives the steering wheel to rotate to the neutral position. At this time, the steering wheel angle and the wheel angle are the same angle, and the steering wheel can be adjusted to return to the neutral position by the steering wheel angle or the wheel angle; optionally, when the steering wheel steering shaft is not connected to the drive wheels, or because some systems calculate that the steering wheel angle and the wheel angle are not the same angle, the steering wheel angle and the wheel angle need to be aligned at this time. After alignment, the steering wheel can be driven to rotate to the neutral position. Therefore, it may be necessary to calculate the steering wheel angle and the wheel angle at the same time to ensure that the steering wheel is rotated to the neutral position.

[0139] In some embodiments, before driving the steering wheel back to the neutral position based on the steering wheel angle and / or the wheel angle, the method includes: obtaining the steering wheel angle and / or the wheel angle through a steering angle sensor.

[0140] Before driving the steering wheel back to the neutral position based on the steering wheel angle and / or wheel angle, it is generally necessary to obtain the steering wheel angle and / or wheel angle, typically using a rotation angle sensor. In the embodiment of the present application, the rotation angle sensor includes a first rotation angle sensor and a second rotation angle sensor, wherein the first rotation angle sensor and the second rotation angle sensor serve as backups to prevent one of the rotation angle sensors from malfunctioning and being unable to obtain the steering wheel angle and / or wheel angle.

[0141] In some embodiments, obtaining the steering wheel angle and / or the wheel angle through a rotation angle sensor includes: when the working state of the first rotation angle sensor is normal, obtaining the steering wheel angle and / or the wheel angle through the first rotation angle sensor.

[0142] Therefore, when the working state of the first rotation angle sensor is normal, the steering wheel angle and / or the wheel angle are acquired through the first rotation angle sensor.

[0143] In some embodiments, obtaining the steering wheel angle and / or the wheel angle through a rotation angle sensor includes: when the working state of the first rotation angle sensor is a fault state, obtaining the steering wheel angle and / or the wheel angle through a second rotation angle sensor.

[0144] Optionally, when the working state of the first rotation angle sensor is a fault state, the steering wheel angle and / or wheel angle is obtained through the second rotation angle sensor.

[0145] In some embodiments, driving the steering wheel back to the neutral position based on the steering wheel angle and / or the wheel angle includes: driving the steering wheel back to the neutral position through a steering mechanism.

[0146] The steering wheel is driven to return to the neutral position based on the steering wheel angle and / or wheel angle, usually by a steering mechanism. Optionally, the steering mechanism includes an active self-centering motor and a driver. If the steering wheel angle and the wheel angle are at the same angle, the active self-centering motor drives the steering wheel angle and / or wheel angle obtained by the wheel rotation angle sensor to drive the steering gear to rotate in the opposite direction of the steering wheel angle and / or wheel angle, thereby driving the steering wheel to return to the neutral position. Optionally, the steering mechanism may also include a wheel steering execution motor. If the steering wheel angle and the wheel angle are not the same angle, after the steering wheel angle and the wheel angle are calculated and aligned, the wheel steering execution motor is also required to drive the wheel steering, so as to return to the neutral position together with the steering wheel.

[0147] In some embodiments, driving the steering wheel back to the neutral position by the steering mechanism includes:

[0148] A driving signal is sent to the steering mechanism through an electronic controller unit, and the driving signal is used to drive the steering wheel to return to the neutral position.

[0149] In the process of driving the steering wheel back to the neutral position through the steering mechanism, it is usually necessary to send a driving signal to the steering mechanism through the electronic controller unit. The driving model may include the angle at which the steering wheel needs to be rotated, and then the steering mechanism executes the driving signal to return the steering wheel to the neutral position.

[0150] Optionally, when the first electronic controller unit is not faulty, the first electronic controller unit sends a locking signal to the steering mechanism; when the first electronic controller unit fails, the second electronic controller unit sends a locking signal to the steering mechanism.

[0151] Optionally, the driving mechanism of the present application includes a front-wheel driving mechanism and / or a rear-wheel driving mechanism, which corresponds to the steering control of a front-wheel drive vehicle, a rear-wheel drive vehicle or a four-wheel drive vehicle.

[0152] In some embodiments, the method further includes: unlocking the steering wheel when the vehicle is powered on.

[0153] According to an embodiment of the second aspect of the present application, there is provided a controller, comprising:

[0154] memory and processor;

[0155] The memory stores a computer program, and the processor is configured to run the computer program in the memory to perform the steering wheel control method according to the embodiment of the first aspect of the present application;

[0156] The controller is suitable for connecting to an electronic control unit and a rotation angle sensor.

[0157] In some embodiments, the present application also provides a steering wheel control system such as Figure 4 Shown is a schematic diagram of the steering wheel control system structure in this application, wherein:

[0158] The steering wheel steering control system includes a controller, wherein the controller can be a domain controller of the vehicle, and the controller is connected to the electronic control unit and the angle sensor in the steering wheel control system. The controller can receive the power-on / power-off signal of the vehicle, and control the electronic control unit and the angle sensor according to the power-on / power-off signal to assist in executing the related methods of locking the steering wheel when the vehicle is powered off, and unlocking the steering wheel when the vehicle is powered on.

[0159] In some embodiments, the electronic control unit includes a first electronic control unit and a second electronic control unit, wherein the second electronic control unit is used to back up the functions of the first electronic control unit.

[0160] To ensure the safety and maneuverability of the controller in executing the locking and unlocking functions of the steering wheel when the vehicle is powered off and powered on, the electronic control unit of the present application includes a first electronic control unit and a second electronic control unit. The second electronic control unit is used to back up the functions of the first electronic control unit. In the event of a failure of the first electronic control unit, the second electronic control unit will perform the functions.

[0161] In some embodiments, the rotation angle sensor includes a first rotation angle sensor and a second rotation angle sensor, wherein the second rotation angle sensor is used to back up the function of the first rotation angle sensor.

[0162] Similarly, to ensure that the controller can successfully acquire the steering wheel angle and / or wheel angle when the vehicle is locked and unlocked when the vehicle is powered on, so as to return the vehicle to the neutral position through the steering wheel angle and / or wheel angle, the angle sensor of the present application includes a first angle sensor and a second angle sensor. The angle sensor includes a functional backup of the first angle sensor and the second angle sensor. In the event of a failure of the first angle sensor, the steering wheel angle and / or wheel angle can be acquired through the second angle sensor.

[0163] In some embodiments, the electronic control unit is adapted to be connected to an axle lock structure and / or a steering mechanism in a steering wheel control system, and the axle lock structure and / or the steering mechanism are connected to the steering wheel.

[0164] The electronic control unit is connected to the axle lock structure and / or the steering mechanism, which are in turn connected to the steering wheel. The electronic control unit sends a lock signal or an unlock signal to the axle lock structure, causing the axle lock structure to lock the steering wheel in the neutral position via the lock signal or unlock the steering wheel in the neutral position via the unlock signal.

[0165] Similarly, the electronic control unit can also be connected to a steering angle sensor. The electronic control unit can receive the angle signal sent by the steering angle sensor and calculate the steering wheel angle based on the angle signal to determine the angle that needs to be adjusted to return the steering wheel to the neutral position. The electronic control unit then sends a drive signal to the actuator to adjust the steering wheel angle so that the steering wheel needs to return to the neutral position to ensure the user's vehicle safety. The first electronic control unit and the second electronic control unit are respectively connected to the first steering angle sensor and the second steering angle sensor for data redundancy backup or redundant transmission.

[0166] Optionally, the controller may also receive an angle signal sent by the first angle sensor or the second angle sensor, and calculate the steering wheel angle through the angle signal to determine the angle that needs to be adjusted for the steering wheel to return to the center position, and generate a drive signal, and send the direct drive signal to the actuator to adjust the steering wheel angle so that the steering wheel needs to return to the center position.

[0167] The steering wheel control system also includes a power supply, wherein the power supply is respectively connected to the first electronic control unit, the second electronic control unit, the first angle sensor, the second angle sensor, the steering mechanism or the drive motor of other modules to supply power to the above-mentioned units or modules.

[0168] The controller of the present application controls the electronic control unit, the angle sensing drive shaft lock structure and / or the steering mechanism to lock the steering wheel in the neutral position when the vehicle is powered off, or unlock the steering wheel in the neutral position during the power-on process. The specific execution process is detailed in the first aspect embodiment and will not be repeated here.

[0169] Therefore, when the vehicle is powered off, the controller in the embodiment of the present application controls the steering wheel to return to the neutral position and locks the steering wheel to ensure that the steering wheel is in the neutral position after the vehicle is powered on, thereby ensuring the user's vehicle safety.

[0170] According to a third aspect of the present application, an electronic device is provided, comprising: a memory and a processor; a computer program is stored on the memory, and when the computer program is executed by the processor, the steering wheel control method in any of the above embodiments is implemented.

[0171] Figure 5 It is a structural block diagram of an electronic device according to an embodiment of the present invention.

[0172] like Figure 5 As shown, electronic device 700 includes: a processor 701 and a memory 703. Processor 701 and memory 703 are connected, for example, via a bus 702. Optionally, electronic device 700 may further include a transceiver 704. It should be noted that in actual applications, the number of transceivers 704 is not limited to one, and the structure of electronic device 700 does not constitute a limitation on the embodiments of the present invention.

[0173] The processor 701 may be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the present disclosure. The processor 701 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0174] The bus 702 may include a path for transmitting information between the above components. The bus 702 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus 702 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0175] The memory 703 is used to store a computer program corresponding to the data processing method of the above embodiment of the present invention, and the computer program is controlled and executed by the processor 701. The processor 701 is used to execute the computer program stored in the memory 703 to implement the content shown in the above method embodiment.

[0176] Among them, the electronic device 700 includes but is not limited to: mobile terminals such as mobile phones, laptops, digital broadcast receivers, personal digital assistants (PDAs), tablet computers (PADs), portable multimedia players (PMPs), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The electronic device 700 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0177] The electronic device of the present application controls the steering wheel to return to the neutral position and locks the steering wheel when the vehicle is powered off, ensuring that the steering wheel is in the neutral position after the vehicle is powered on, thereby ensuring the user's vehicle safety.

[0178] In one embodiment of the present invention, a vehicle is further provided. The vehicle includes the above-mentioned electronic device or controller, and the steering wheel control method provided in various optional implementations of the above-mentioned embodiments can be executed by the electronic device or controller.

[0179] The vehicle can be a fuel vehicle, a plug-in hybrid vehicle or a new energy vehicle, etc., and this application does not make any specific restrictions on this.

[0180] In one embodiment of the present application, the vehicle controls the steering wheel to return to the neutral position and locks the steering wheel when the vehicle is powered off, ensuring that the steering wheel is in the neutral position after the vehicle is powered on, thereby ensuring the safety of the user.

[0181] The present application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A vehicle processor reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the vehicle to perform the steering wheel control methods provided in various optional implementations of the above embodiments.

[0182] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0183] According to one aspect of the present application, a computer-readable storage medium is provided, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned steering wheel control method.

[0184] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, compact disc read-only memory (CD-ROM), optical storage, etc.) that contain computer-usable program code.

[0185] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0186] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0187] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0188] In a typical configuration, a computing device includes one or more processors (Central Processing Unit, CPU), input / output interfaces, network interfaces, and memory.

[0189] Memory may include non-permanent memory in a computer-readable medium, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash random access memory (flash RAM). Memory is an example of a computer-readable medium.

[0190] Computer-readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random-access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated communication signals and carrier waves.

[0191] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0192] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0193] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0194] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A steering wheel control method, characterized in that: The method comprises: When the vehicle is powered off, the steering wheel is controlled to return to the neutral position and is locked.

2. The method according to claim 1, characterized in that The step of locking the steering wheel comprises: The steering wheel is locked by a shaft locking structure, and the shaft locking structure is connected to the steering wheel.

3. The method according to claim 2, characterized in that The method of locking the steering wheel by using a shaft lock structure includes: A locking signal is sent to the shaft lock structure through an electronic controller unit, and the locking signal is used to lock the steering wheel.

4. The method according to claim 3, characterized in that The sending of a locking signal to the shaft locking structure by the electronic controller unit comprises: In the case that the first electronic controller unit does not fail, the first electronic controller unit is controlled to send the locking signal to the shaft locking structure.

5. The method according to claim 3, characterized in that The sending of a locking signal to the shaft locking structure by the electronic controller unit comprises: In the event that the first electronic controller unit fails, the second electronic controller unit is controlled to send the locking signal to the shaft locking structure.

6. The method according to any one of claims 1 to 5, characterized in that Controlling the steering wheel to return to the neutral position includes: The steering wheel is driven back to a neutral position based on the steering wheel angle and / or the wheel angle.

7. The method according to claim 6, characterized in that Before driving the steering wheel back to the neutral position based on the steering wheel angle and / or the wheel angle, the method includes: The steering wheel angle and / or the wheel angle are acquired through a rotation angle sensor.

8. The method according to claim 7, characterized in that The obtaining of the steering wheel angle and / or the wheel angle by using a rotation angle sensor includes: When the working state of the first rotation angle sensor is normal, the steering wheel angle and / or the wheel angle are acquired through the first rotation angle sensor.

9. The method according to claim 7, characterized in that The obtaining of the steering wheel angle and / or the wheel angle by using a rotation angle sensor includes: When the working state of the first rotation angle sensor is a fault state, the steering wheel angle and / or the wheel angle is acquired by the second rotation angle sensor.

10. The method according to claim 6, characterized in that Driving the steering wheel back to the neutral position based on the steering wheel angle and / or the wheel angle includes: The steering wheel is driven to return to the neutral position by a steering mechanism.

11. The method according to claim 10, characterized in that Driving the steering wheel back to the neutral position by the steering mechanism includes: A driving signal is sent to the steering mechanism through an electronic controller unit, and the driving signal is used to drive the steering wheel to return to the neutral position.

12. The method according to claim 1, characterized in that Also includes: When the vehicle is powered on, the steering wheel is unlocked.

13. The method according to claim 12, characterized in that Unlocking the steering wheel includes: The steering wheel is unlocked by the shaft lock structure, and the shaft lock structure is connected to the steering wheel.

14. The method according to claim 13, characterized in that Unlocking the steering wheel by using the shaft lock structure includes: An unlocking signal is sent to the shaft lock structure through an electronic controller unit, and the unlocking signal is used to release the lock of the steering wheel.

15. The method according to claim 14, characterized in that The step of sending an unlocking signal to the shaft lock structure through an electronic controller unit comprises: In the case that the first electronic controller unit does not fail, the unlocking signal is sent to the shaft lock structure via the first electronic controller unit.

16. The method according to claim 14, characterized in that The step of sending an unlocking signal to the shaft lock structure through an electronic controller unit comprises: In the event of a failure of the first electronic controller unit, the unlocking signal is sent to the shaft lock structure via the second electronic controller unit.

17. The method according to any one of claims 12 to 16, characterized in that Before unlocking the steering wheel, the method further includes: When the steering wheel is not in the neutral position, the steering wheel is controlled to return to the neutral position.

18. The method according to claim 17, characterized in that The controlling the steering wheel to return to the neutral position includes: The steering wheel is driven back to a neutral position based on the steering wheel angle and / or the wheel angle.

19. The method according to claim 18, characterized in that Before driving the steering wheel back to the neutral position based on the steering wheel angle and / or the wheel angle, the method includes: The steering wheel angle and / or the wheel angle are acquired through a rotation angle sensor.

20. The method according to claim 19, characterized in that The obtaining of the steering wheel angle and / or the wheel angle by using a rotation angle sensor includes: When the working state of the first rotation angle sensor is normal, the steering wheel angle and / or the wheel angle are acquired through the first rotation angle sensor.

21. The method according to claim 19, wherein The obtaining of the steering wheel angle and / or the wheel angle by using a rotation angle sensor includes: When the working state of the first rotation angle sensor is a fault state, the steering wheel angle and / or the wheel angle is acquired by the second rotation angle sensor.

22. The method according to claim 18, wherein Driving the steering wheel back to the neutral position based on the steering wheel angle and the wheel angle includes: The steering wheel is driven to return to the neutral position by a steering mechanism.

23. The method according to claim 22, characterized in that Driving the steering wheel back to the neutral position by the steering mechanism includes: A driving signal is sent to the steering mechanism through an electronic controller unit, and the driving signal is used to drive the steering wheel to return to the neutral position.

24. A controller, characterized in that: include: memory and processor; The memory stores a computer program, and the processor is configured to run the computer program in the memory to execute the steering wheel control method according to any one of claims 1 to 23; The controller is suitable for connecting to an electronic control unit and a rotation angle sensor.

25. The controller according to claim 24, characterized in that The electronic control unit includes a first electronic control unit and a second electronic control unit, wherein the second electronic control unit is used to back up the functions of the first electronic control unit.

26. The controller according to claim 24, characterized in that The rotation angle sensor includes a first rotation angle sensor and a second rotation angle sensor, wherein the second rotation angle sensor is used to back up the function of the first rotation angle sensor.

27. The controller according to claim 24, characterized in that The electronic control unit is adapted to be connected to an axle lock structure and / or a steering mechanism, and the axle lock structure and / or the steering mechanism are connected to the steering wheel.

28. An electronic device, characterized in that: include: memory and processor; The memory stores a computer program, and the processor is configured to run the computer program in the memory to execute the steering wheel control method according to any one of claims 1 to 23.

29. A vehicle, characterized in that: The controller comprises any one of claims 24 to 27, or the electronic device according to claim 28.

30. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to execute the steering wheel control method according to any one of claims 1 to 23.

31. A computer program product, characterized in that The method comprises a computer program or instructions, which implements the steering wheel control method according to any one of claims 1 to 23 when executed by a processor.

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