Control method of electrically-controlled tubular column, electronic equipment and vehicle

Abstract

The invention relates to a control method of an electrically-controlled tubular column, and relates to the technical field of vehicle steering, and the control method comprises the steps that the rolling direction of a target roller in a steering wheel and the rolling rate within preset time can be determined firstly, the rolling rate is used for representing the rolling speed of the target roller, and the rolling speed of the target roller is determined; then, the adjusting type of the target roller and the adjusting direction corresponding to the rolling direction under the adjusting type can be determined, the target adjusting speed of the electric adjusting pipe column corresponding to the rolling speed is determined according to the preset corresponding relation between the rolling speed and the adjusting speed, and the rolling speed can be in positive correlation with the adjusting speed; and finally, according to the target adjusting speed, the adjusting motor is controlled to adjust the electrically-controlled pipe column according to the adjusting type and the adjusting direction, so that the corresponding adjusting speed of the electrically-controlled pipe column can be determined according to the rolling frequency of the target roller by the user, and when the user rapidly slides the roller, the user can conveniently adjust the adjusting speed of the electrically-controlled pipe column. According to the technical scheme, the electrically-controlled pipe column can be rapidly adjusted, when a user slides the roller at a low speed, the electrically-controlled pipe column can be adjusted at a low speed, and therefore the user requirement can be met, and the user experience feeling is improved.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle steering technology, and more particularly to a control method for an electronically controlled steering column, electronic equipment, and a vehicle. Background Technology

[0002] With the rapid increase in demand for intelligent driving and cabin comfort, electrically adjustable steering columns (hereinafter referred to as EPCs) have become standard equipment in passenger vehicles. Drivers want to be able to adjust the steering wheel to the optimal driving position after taking their seats by adjusting the EPC. Therefore, OEMs generally place EPC switches on the steering wheel, dashboard, or next to the seat, sending commands to the domain controller via a bus to drive the motor to adjust the EPC.

[0003] Currently, using fixed buttons only allows for a fixed adjustment speed of the ESC (Electronic Speed ​​Regulator) column. For example, each button press controls the ESC column to adjust a certain length or angle at the corresponding speed. It cannot provide customized adjustments such as fast or slow speeds based on user needs, resulting in a poor user experience. Summary of the Invention

[0004] This disclosure provides a control method, device, electronic equipment, and vehicle for an electronically controlled switch column, to solve the problem that the electronically controlled switch column cannot be adjusted quickly or slowly according to the user's needs, resulting in a poor user experience.

[0005] A first aspect of this disclosure provides a method for controlling an electrically adjustable column, comprising: The system determines the rolling direction and rolling rate of the target wheel in the steering wheel within a preset time. The rolling rate characterizes how fast the target wheel rolls. It also determines the adjustment type of the target wheel and the corresponding adjustment direction for the rolling direction under that adjustment type. Then, based on a preset correlation between rolling rate and adjustment speed, it determines the target adjustment speed of the ESC (Electronic Speed ​​Regulator) column corresponding to the rolling rate. The rolling rate and adjustment speed are positively correlated. Finally, based on the target adjustment speed, the system controls the adjustment motor to adjust the ESC column according to the adjustment type and direction. This allows the adjustment speed of the ESC column to be determined based on the frequency at which the user rolls the target wheel. When the user rolls the wheel quickly, the ESC column can be adjusted quickly; when the user rolls the wheel slowly, the ESC column can be adjusted slowly, thus meeting user needs and improving the user experience.

[0006] In some possible implementations, the target adjustment speed of the electronic control column is determined based on the rolling rate and a preset correspondence between the rolling rate and the adjustment speed, including: Based on the preset relationship between rolling rate and driving voltage, the target adjustment voltage of the ESC column corresponding to the rolling rate is determined. Based on the preset correspondence between driving voltage and adjustment speed, the target adjustment speed of the ESC column corresponding to the target driving voltage is determined.

[0007] In some possible implementations, the target roller is an angle adjustment roller, the target adjustment speed is a target angle adjustment speed, and according to the target adjustment speed, the adjustment motor is controlled to adjust the ESC column according to the adjustment type and the adjustment direction, including: When the target roller is rolling upwards, the control angle adjustment motor adjusts the speed according to the target angle to reduce the angle between the ESC column and the horizontal plane; When the target roller is rolling downwards, the control angle adjustment motor increases the angle between the ESC column and the horizontal plane according to the target angle adjustment speed.

[0008] In some possible implementations, the target roller is a length adjustment roller, the target adjustment speed is a target length adjustment speed, and the step of controlling the adjustment motor to adjust the ESC column according to the adjustment type and the adjustment direction based on the target adjustment speed includes: When the target roller rolls upwards, the length adjustment motor is controlled to adjust the electrically adjustable tube column along the direction of tube column extension according to the target length adjustment speed. When the target roller is rolling downwards, the control length adjustment motor adjusts the electrically adjustable tube column along the shortening direction of the tube column according to the target length adjustment speed.

[0009] In some possible implementations, determining the scrolling rate within a preset time period includes: The number of scroll signals received within a preset time is obtained, and the target scroll wheel receives one scroll signal when it rolls a preset angle; The scrolling rate is determined based on the number of times the scrolling signal is received, and the number of times the scrolling signal is received is positively correlated with the scrolling rate.

[0010] In some possible implementations, the method further includes: Obtain the vehicle's speed; If the driving speed is greater than or equal to the threshold speed, then the adjustment of the ESC column is stopped.

[0011] In some possible implementations, stopping the adjustment of the electrically controlled column includes: Continuously monitor the contact area and duration between the palm and the steering wheel; If the hand does not grip the steering wheel within a preset time period determined based on the contact area, then the adjustment of the ESC column will stop.

[0012] In some possible implementations, the method further includes: When the rolling direction of the target roller changes, determine the first rolling rate within a preset time. Based on the preset correspondence between the rolling rate and the adjustment speed, the first target adjustment speed of the adjustment motor corresponding to the first rolling rate is determined. The control motor adjusts the ESC column according to the first target adjustment speed, adjustment type, and the changed adjustment direction.

[0013] A second aspect of this disclosure provides a control device for an electrically adjustable column, comprising: The first determining unit is used to determine the rolling direction of the target roller in the steering wheel and the rolling rate within a preset time, wherein the rolling rate is used to characterize the speed at which the target roller rolls. The second determining unit is used to determine the adjustment type of the target roller and the adjustment direction corresponding to the rolling direction under the adjustment type; The third determining unit is used to determine the target adjustment speed of the electronically controlled column corresponding to the rolling rate according to the preset correspondence between the rolling rate and the adjustment speed, wherein the rolling rate and the adjustment speed are positively correlated. The control unit is used to control the adjustment motor to adjust the ESC column according to the adjustment type and the adjustment direction based on the target adjustment speed.

[0014] In some possible implementations, the third determining unit is specifically used for: Based on the preset relationship between rolling rate and driving voltage, the target adjustment voltage of the ESC column corresponding to the rolling rate is determined. Based on the preset correspondence between driving voltage and adjustment speed, the target adjustment speed of the ESC column corresponding to the target driving voltage is determined.

[0015] In some possible implementations, the target roller is an angle adjustment roller, the target adjustment speed is a target angle adjustment speed, and the control unit is specifically used for: When the target roller is rolling upwards, the control angle adjustment motor adjusts the speed according to the target angle to reduce the angle between the ESC column and the horizontal plane; When the target roller is rolling downwards, the control angle adjustment motor increases the angle between the ESC column and the horizontal plane according to the target angle adjustment speed.

[0016] In some possible implementations, the target roller is a length adjustment roller, the target adjustment speed is a target length adjustment speed, and the control unit is specifically used for: When the target roller rolls upwards, the length adjustment motor is controlled to adjust the electrically adjustable tube column along the direction of tube column extension according to the target length adjustment speed. When the target roller is rolling downwards, the control length adjustment motor adjusts the electrically adjustable tube column along the shortening direction of the tube column according to the target length adjustment speed.

[0017] In some possible implementations, the first determining unit is specifically used for: The number of scroll signals received within a preset time is obtained, and the target scroll wheel receives one scroll signal when it rolls a preset angle; The scrolling rate is determined based on the number of times the scrolling signal is received, and the number of times the scrolling signal is received is positively correlated with the scrolling rate.

[0018] In some possible implementations, the device further includes: The stop unit is used to obtain the vehicle's driving speed. If the driving speed is greater than or equal to a threshold speed, the adjustment of the ESC column is stopped.

[0019] In some possible implementations, the stopping unit is specifically used for: Continuously monitor the contact area and duration between the palm and the steering wheel; If the hand does not grip the steering wheel within a preset time period determined based on the contact area, then the adjustment of the ESC column will stop.

[0020] In some possible implementations, the device further includes: The adjustment unit is used to determine the first rolling rate within a preset time when the rolling direction of the target roller changes, and to determine the first target adjustment speed of the adjustment motor corresponding to the first rolling rate according to the preset correspondence between the rolling rate and the adjustment speed. The adjustment motor is then controlled to adjust the ESC column according to the first target adjustment speed, the adjustment type, and the changed adjustment direction.

[0021] A third aspect of this disclosure provides an electronic device, including: processor; Memory, used to store executable instructions; The processor is used to read executable instructions from memory and execute the executable instructions to implement the control method of the electrically controlled column provided in the first aspect above.

[0022] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the control method for the electrically controlled transistor column provided in the first aspect.

[0023] A fifth aspect of this disclosure provides a computer program product comprising a computer program or instructions that, when executed by a processor, implement the control method for the electronic control column as described in the first aspect.

[0024] A sixth aspect of this disclosure provides a vehicle that includes electronic equipment provided in the third aspect.

[0025] The technical solution provided in this disclosure has the following advantages: The control method, electronic device, and vehicle for the electronically controlled steering column provided in this disclosure can first determine the rolling direction and rolling rate of the target roller in the steering wheel within a preset time. The rolling rate characterizes the speed at which the target roller rolls. Then, the adjustment type of the target roller and the adjustment direction corresponding to the rolling direction under the adjustment type can be determined. Based on a preset correspondence between rolling rate and adjustment speed, the target adjustment speed of the electronically controlled steering column corresponding to the rolling rate is determined. The rolling rate can be positively correlated with the adjustment speed. Finally, based on the target adjustment speed, the adjustment motor is controlled to adjust the electronically controlled steering column according to the adjustment type and adjustment direction. Furthermore, in this application, the adjustment speed of the corresponding electronically controlled steering column can be determined based on the frequency at which the user rolls the target roller. Thus, when the user slides the roller quickly, the electronically controlled steering column can be adjusted quickly; when the user slides the roller slowly, the electronically controlled steering column can be adjusted slowly, thereby meeting user needs and improving the user experience. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0027] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a flowchart of a control method for an electrically adjustable tube column provided in an embodiment of this disclosure; Figure 2A This is a schematic diagram of the structure of a steering wheel provided in an embodiment of this disclosure; Figure 2B This is a schematic diagram of another steering wheel provided in an embodiment of the present disclosure; Figure 2C This is a schematic diagram of another steering wheel structure provided in an embodiment of this disclosure; Figure 3 This is a flowchart of another control method for an electrically adjustable column provided in this embodiment; Figure 4 This is a schematic diagram of a domain controller controlling and regulating a motor, provided in an embodiment of this disclosure; Figure 5 This is a flowchart of another control method for an electrically adjustable column provided in this disclosure embodiment; Figure 6 This is a schematic diagram of the structure of a control device for an electrically adjustable column provided in an embodiment of this disclosure; Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0029] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0030] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0031] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0033] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0034] The electrically adjustable steering column, or ESC for short, is a key component of a car's steering system. Driven by an electric motor, it enables electric adjustment of the steering wheel angle and height, allowing the driver to adjust the steering wheel position according to their needs, thereby improving driving comfort and convenience.

[0035] With the rapid increase in demand for intelligent driving and cabin comfort, electrically adjustable steering columns (hereinafter referred to as EPCs) have become standard equipment in passenger vehicles. Drivers want to be able to adjust the steering wheel to the optimal driving position after taking their seats by adjusting the EPC. Therefore, OEMs generally place fixed buttons on the steering wheel, dashboard, or next to the seat as EPC switches, which send commands to the domain controller via a bus to drive the motor to adjust the EPC.

[0036] Currently, the adjustment speed of the ESC column can only be fixed by using a fixed button. For example, each time the button is pressed, the domain controller can control the ESC column to adjust a certain length or angle according to the corresponding adjustment speed.

[0037] The inability to adjust the ESC column quickly or slowly according to user needs results in a poor user experience.

[0038] In view of this, embodiments of this application provide a control method for an electrically adjustable column, comprising: First, the rolling direction and rolling rate of the target wheel in the steering wheel within a preset time can be determined. The rolling rate characterizes how fast the target wheel rolls. Then, the adjustment type of the target wheel and the corresponding adjustment direction of the rolling direction under that adjustment type can be determined. Based on the preset correspondence between the rolling rate and the driving time, the target driving time of the adjustment motor corresponding to the rolling rate is determined. The rolling rate and the driving time of the adjustment motor are positively correlated. Finally, the control motor can be used to adjust the ESC (Electronic Speed ​​Regulator) column according to the target driving time, adjustment type, and adjustment direction. Therefore, in this application, the driving time of the corresponding ESC column can be determined based on the frequency at which the user rolls the target wheel. When the user slides the wheel quickly, the driving time of the ESC column can be increased to achieve continuous adjustment. When the user slides the wheel slowly, the driving time of the ESC column can be reduced to achieve precise adjustment at slow speeds, thereby meeting user needs and improving the user experience. The method is described below with reference to specific embodiments.

[0039] Figure 1 This is a flowchart of a control method for an ESC (Electronic Speed ​​Regulator) column provided in an embodiment of this disclosure. The method can be executed by a control device for the ESC column, which can be implemented in software and / or hardware. The control device for the ESC column can be configured in an electronic device, such as a server or terminal. Specifically, the terminal includes an in-vehicle terminal, a computer, or a tablet computer. The following example illustrates the execution of the method provided in this application in a vehicle domain controller.

[0040] like Figure 1 As shown, the control method for the electronically controlled steering column provided in this disclosure can be applied to the field of electronically controlled steering column adjustment technology. For example, it can be used to adjust the electronically controlled steering column according to the adjustment speed of the roller in the steering wheel. The control method for the electronically controlled steering column may include the following steps.

[0041] S101. Determine the rolling direction of the target roller in the steering wheel and the rolling rate within a preset time.

[0042] When the steering wheel adjustment function is enabled, the domain controller can identify whether the scroll wheel in the steering wheel is slipping. If it is determined that the scroll wheel in the steering wheel is slipping, it can determine the rolling direction of the target scroll wheel.

[0043] For example, such as Figure 2A As shown, with Figure 2A Taking a steering wheel with two rollers, roller A and roller B, as an example, the target roller is the roller that slides. For example, if the user slides roller A, then roller A can be the target roller; if the user slides roller B, then roller B can be the target roller.

[0044] The domain controller can determine whether the target scroll wheel is rolling upwards or downwards. In some possible implementations, rolling upwards can refer to the counterclockwise direction when the steering wheel is straight, i.e., the scroll wheel rolls along the directions of nuts a and b. Rolling downwards refers to the clockwise direction when the steering wheel is straight (meaning the steering wheel is back in the straight position, at which point the front wheels point straight ahead, the steering angle is zero, and the vehicle can maintain straight-line driving), i.e., the scroll wheel rolls along the directions of icons c and d.

[0045] It should be noted that the position of the scroll wheel may change as the steering wheel rotation angle changes. In some possible implementations, the direction of the scroll wheel's upward or downward movement may not change with the steering wheel rotation angle, for example... Figure 2B As shown, if the steering wheel is rotated 90 degrees to the right, the scroll wheel can still be rotated counterclockwise when the steering wheel is straight, with the counterclockwise direction being the upward scrolling direction. For example... Figure 2CAs shown, when the steering wheel angle is rotated 180 degrees to the right, even though the roller has rotated 180 degrees, the upward rolling direction can still be taken as the counterclockwise direction of the roller when the steering wheel is straight.

[0046] In some possible implementations, the scrolling direction vertically upward along the horizontal plane can be defined as upward scrolling, and the scrolling direction vertically downward along the horizontal plane can be defined as downward scrolling. This way, the user does not need to worry about how the steering wheel is tilted; simply turning it up or down will move the wheel up or down, making it more convenient for the user and improving the user experience.

[0047] The domain controller can also determine the scrolling rate within a preset time period, where the scrolling rate can be used to characterize how fast the target scroll wheel scrolls. The preset time could be, for example, 50ms. This is just an example; those skilled in the art can set the value of the preset time according to actual needs, and this is not a limitation.

[0048] S102. Determine the adjustment type of the target roller and the adjustment direction corresponding to the rolling direction under the adjustment type.

[0049] The domain controller can determine the type of adjustment for the target roller.

[0050] For example, one scroll wheel can correspond to one type of adjustment, such as Figure 2A As shown, roller A corresponds to angle adjustment, and roller B corresponds to length adjustment. Angle adjustment refers to the angle motor driving the column support to rotate around a fixed hinge point via a worm gear pair, thereby changing the pitch angle between the column axis and the horizontal plane, achieving precise control of the steering wheel's tilt. Length adjustment refers to the length motor driving the outer tube of the column to slide back and forth along its axis via a lead screw-nut or gear-rack mechanism, thereby changing the steering wheel's fore-and-aft position relative to the driver.

[0051] For example, if a user wants to adjust the steering wheel angle, they can slide roller A to drive the angle adjustment motor to adjust the angle of the ESC column, thus adjusting the steering wheel angle. If a user wants to adjust the steering wheel length, they can slide roller B to drive the length adjustment motor to adjust the length of the ESC column.

[0052] The domain controller can determine the adjustment direction corresponding to the scrolling direction under the adjustment type. That is, the adjustment direction of the ESC column can be different for different scrolling directions of the target roller.

[0053] S103. Based on the preset correspondence between the rolling rate and the adjustment speed, determine the target adjustment speed of the ESC column corresponding to the rolling rate.

[0054] After determining the rolling rate of the target roller within a preset time, the domain controller can determine the target adjustment speed of the ESC corresponding to the rolling rate based on the preset correspondence between the rolling rate and the adjustment speed. That is, different rolling rates may correspond to different adjustment speeds. The domain controller can determine the target adjustment speed of the ESC corresponding to the rolling rate. The rolling rate and the adjustment speed are positively correlated.

[0055] S104. According to the target adjustment speed, control the adjustment motor to adjust the ESC column according to the adjustment type and adjustment direction.

[0056] After determining the target adjustment speed, adjustment type, and adjustment direction, the domain controller can control the adjustment motor to adjust the ESC column according to the adjustment type and adjustment direction based on the target adjustment speed.

[0057] In this embodiment, the domain controller can first determine the rolling direction of the target wheel in the steering wheel and the rolling rate within a preset time. The rolling rate is used to characterize how fast the target wheel rolls. Then, it can determine the adjustment type of the target wheel and the adjustment direction corresponding to the rolling direction under the adjustment type. Based on the preset correspondence between the rolling rate and the adjustment speed, it determines the target adjustment speed of the ESC column corresponding to the rolling rate. The rolling rate can be positively correlated with the adjustment speed. Finally, based on the target adjustment speed, it controls the adjustment motor to adjust the ESC column according to the adjustment type and adjustment direction. Thus, in this application, the adjustment speed of the corresponding ESC column can be determined according to the frequency at which the user rolls the target wheel. In this way, when the user slides the wheel quickly, the ESC column can be adjusted quickly, and when the user slides the wheel slowly, the ESC column can be adjusted slowly, thereby meeting user needs and improving the user experience.

[0058] The above embodiment is the first embodiment. The second embodiment is described below. The second embodiment provides another control method for the electrically controlled column, such as... Figure 3 As shown, it specifically includes: S301. Determine the rolling direction of the target roller in the steering wheel and obtain the number of times the rolling signal is received within a preset time. Determine the rolling rate within the preset time based on the number of times the rolling signal is received.

[0059] The domain controller can determine the direction of rotation of the target wheel in the steering wheel.

[0060] This step is similar in principle to that in the first embodiment, and will not be described in detail here.

[0061] The domain controller can obtain the number of scroll signals received within a preset time and determine the scroll rate within the preset time based on the number of scroll signals received.

[0062] For example, taking a steering wheel scroll wheel with a radius of 8.5mm and a sliding angle of 120 degrees as an example, if the scroll wheel rotates 18 degrees to trigger a signal once, then rotating the scroll wheel 120 degrees in one direction once can trigger 7 signals. The specific formula is as follows: ; Where f is the number of signals that can be triggered corresponding to the angle that the finger can slide in a single stroke, b is the angle that the hand can slide, and c is the angle at which a signal is triggered once.

[0063] Once the number of times the rolling signal is received within a preset time is determined, the rolling rate within the preset time can be determined based on the number of times the rolling signal is received.

[0064] S302. Determine the adjustment type of the target roller as angle adjustment and the angle adjustment direction corresponding to the rolling direction under angle adjustment.

[0065] The domain controller can determine that the adjustment type of the target scroll wheel is angle adjustment. For example, such as Figure 2A As shown, the adjustment type corresponding to roller A is angle adjustment. For example, if a user wants to adjust the steering wheel angle, they can slide roller A to drive the angle adjustment motor to adjust the angle of the ESC column, thereby achieving steering wheel angle adjustment.

[0066] The domain controller determines the adjustment direction corresponding to the scrolling direction under angle adjustment. It should be noted that the angle adjustment direction may differ for different scrolling directions.

[0067] For example, if the target roller is an angle adjustment roller and its scrolling direction is upward, the corresponding adjustment direction can be the direction that raises the steering wheel height. That is, the angle adjustment motor can be controlled to increase the angle between the ESC column and the horizontal plane according to the target angle adjustment speed.

[0068] For example, if the target roller is an angle adjustment roller and the scrolling direction is downward, the corresponding adjustment direction can be adjusted to lower the steering wheel height. This means the angle adjustment motor can be controlled to reduce the angle between the ESC column and the horizontal plane according to the target angle.

[0069] S303. Based on the preset relationship between rolling rate and driving voltage, determine the target adjustment voltage of the ESC column corresponding to the rolling rate. Based on the preset relationship between driving voltage and angle adjustment speed, determine the target angle adjustment speed of the ESC column corresponding to the driving voltage.

[0070] The domain controller can determine the target adjustment voltage of the ESC column corresponding to the scrolling rate based on the preset correspondence between the scrolling rate and the drive voltage, and then determine the target angle adjustment speed of the ESC column corresponding to the drive voltage based on the preset correspondence between the drive voltage and the angle adjustment speed.

[0071] For example, such as Figure 4 As shown, when the user moves roller A, its pulse signal can be transmitted to the domain controller via the Page1SwtSts signal line or PageRSwtSts signal line of the combination switch. The rolling direction of the target roller can be transmitted to the domain controller via the VRSwtSts signal line of the combination switch. The domain controller can determine the target adjustment voltage of the ESC column corresponding to the rolling rate based on the preset correspondence between the rolling rate and the drive voltage, and then output the target adjustment voltage to the angle adjustment motor. The angle adjustment motor can have a built-in Hall signal for real-time closed-loop control to control the ESC column to adjust the angle according to the angle adjustment speed corresponding to the target adjustment voltage and the adjustment direction corresponding to the rolling direction.

[0072] For example, the relationship between rolling rate and driving voltage can be shown in the following table:

[0073] Based on the relationship between the rolling rate and the driving voltage in the table, the target regulating voltage of the ESC column corresponding to the rolling rate can be determined.

[0074] After determining the target adjustment voltage, the target angle adjustment speed of the ESC corresponding to the target drive voltage can be determined based on the preset correspondence between drive voltage and adjustment speed. The correspondence between drive voltage and angle adjustment speed can be shown in the table below:

[0075] Based on the correspondence between driving voltage and angle adjustment speed in the table, the target angle adjustment speed of the ESC corresponding to the target driving voltage can be determined.

[0076] S304. Adjust the speed according to the target angle, and control the angle adjustment motor to adjust the angle of the ESC column in the adjustment direction.

[0077] The domain controller can adjust the speed according to the target angle, and control the angle adjustment motor to adjust the angle of the ESC column according to the adjustment direction.

[0078] This embodiment can determine the rolling direction of the target wheel in the steering wheel and acquire the number of rolling signal receptions within a preset time. Based on the number of rolling signal receptions, the rolling rate within the preset time is determined. The adjustment type of the target wheel is determined to be angle adjustment, and the angle adjustment direction corresponding to the rolling direction under angle adjustment is determined. Based on the preset correspondence between rolling rate and drive voltage, the target adjustment voltage of the ESC column corresponding to the rolling rate is determined. Based on the preset correspondence between drive voltage and angle adjustment speed, the target angle adjustment speed of the ESC column corresponding to the drive voltage is determined. Finally, based on the target angle adjustment speed, the angle adjustment motor is controlled to adjust the angle of the ESC column according to the adjustment direction. In this way, when the user slides the angle adjustment wheel quickly, the angle of the ESC column can be adjusted quickly; when the user slides the angle adjustment wheel slowly, the angle of the ESC column can be adjusted slowly, thereby meeting user needs and improving the user experience.

[0079] The above embodiment is the second embodiment. The third embodiment is described below, providing yet another method for controlling the ESC (Electronic Speed ​​Regulator) column. The difference between the third and second embodiments is that the third embodiment adjusts the angle of the ESC column according to the target angle adjustment speed, controlling the angle adjustment motor to adjust the angle of the ESC column in the adjustment direction. This allows for rapid angle adjustment of the ESC column when the user slides the angle adjustment wheel quickly, and slow angle adjustment when the user slides the angle adjustment wheel slowly, thus meeting user needs and improving the user experience. In contrast, the third embodiment adjusts the length of the ESC column according to the target length adjustment speed, controlling the length adjustment motor to adjust the length of the ESC column in the adjustment direction. This allows for rapid length adjustment of the ESC column when the user slides the length adjustment wheel quickly, and slow length adjustment when the user slides the length adjustment wheel slowly, thus meeting user needs and improving the user experience. Figure 5 As shown: S501. Determine the rolling direction of the target roller in the steering wheel and obtain the number of times the rolling signal is received within a preset time. Determine the rolling rate within the preset time based on the number of times the rolling signal is received.

[0080] Step S501 is similar to step S301 in the second embodiment. For details, please refer to the relevant description in step S301. It will not be repeated here.

[0081] S502. Determine the adjustment type of the target roller as length adjustment and the adjustment direction corresponding to the rolling direction under length adjustment.

[0082] The domain controller can determine that the adjustment type of the target scroll wheel is length adjustment. For example, such as Figure 2AAs shown, the adjustment type corresponding to roller B is length adjustment. For example, if a user wants to adjust the length of the steering wheel, they can slide roller B to drive the length adjustment motor to adjust the length of the ESC column, thereby achieving the length adjustment of the steering wheel.

[0083] The domain controller determines the adjustment direction corresponding to the scrolling direction under length adjustment. It should be noted that the length adjustment direction may differ for different scrolling directions.

[0084] For example, if the target roller is a length adjustment roller and its rolling direction is upward, the corresponding adjustment direction can be adjusted to increase the length of the steering wheel. That is, the length adjustment motor can be controlled to adjust the electrically adjustable column along the direction of column extension according to the target length adjustment speed.

[0085] For example, if the target roller is a length adjustment roller and its scrolling direction is downward, the corresponding adjustment direction can be adjusted to shorten the length of the steering wheel. That is, the length adjustment motor can be controlled to adjust the ESC column along the shortening direction of the column according to the target length adjustment speed.

[0086] S503. Based on the preset relationship between rolling rate and driving voltage, determine the target adjustment voltage of the ESC column corresponding to the rolling rate. Based on the preset relationship between driving voltage and length adjustment speed, determine the target length adjustment speed of the ESC column corresponding to the driving voltage.

[0087] The domain controller can determine the target adjustment voltage of the ESC column corresponding to the scrolling rate based on the preset correspondence between the scrolling rate and the drive voltage, and then determine the target length adjustment speed of the ESC column corresponding to the drive voltage based on the preset correspondence between the drive voltage and the length adjustment speed.

[0088] For example, such as Figure 4 As shown, when the user moves roller B, its pulse signal can be transmitted to the domain controller via the CustomSwtSts or enterSwtSts signal lines of the combination switch. The target roller's rolling direction can be transmitted to the domain controller via the VRSwtSts signal line of the combination switch. The domain controller can determine the target adjustment voltage of the ESC column corresponding to the rolling rate based on the preset correspondence between the rolling rate and the drive voltage, and then output the target adjustment voltage to the length adjustment motor. The length adjustment motor can have a built-in Hall signal for real-time closed-loop control to control the ESC column to adjust the length according to the length adjustment speed corresponding to the target adjustment voltage and the adjustment direction corresponding to the rolling direction.

[0089] For example, the relationship between rolling rate and driving voltage can be shown in the table in step S303, which will not be described in detail here. Based on the relationship between rolling rate and driving voltage in the table, the target adjustment voltage of the ESC column corresponding to the rolling rate can be determined.

[0090] After determining the target adjustment voltage, the target length adjustment speed of the ESC corresponding to the target drive voltage can be determined based on the preset correspondence between drive voltage and length adjustment speed. The correspondence between drive voltage and length adjustment speed can be shown in the table below:

[0091] Based on the correspondence between driving voltage and length adjustment speed in the table, the target length adjustment speed of the ESC corresponding to the target driving voltage can be determined.

[0092] S504. Adjust the speed according to the target length, and control the length adjustment motor to adjust the length of the ESC column in the adjustment direction.

[0093] This embodiment can determine the rolling direction of the target wheel in the steering wheel and acquire the number of rolling signal receptions within a preset time. Based on the number of rolling signal receptions, the rolling rate within the preset time is determined. The adjustment type of the target wheel is determined to be length adjustment, and the length adjustment direction corresponding to the rolling direction under angle adjustment is determined. Based on the preset correspondence between rolling rate and drive voltage, the target adjustment voltage of the ESC column corresponding to the rolling rate is determined. Based on the preset correspondence between drive voltage and length adjustment speed, the target length adjustment speed of the ESC column corresponding to the drive voltage is determined. Finally, based on the target length adjustment speed, the length adjustment motor is controlled to adjust the length of the ESC column according to the adjustment direction. In this way, when the user slides the length adjustment wheel quickly, the length of the ESC column can be adjusted quickly; when the user slides the length adjustment wheel slowly, the length of the ESC column can be adjusted slowly, thereby meeting user needs and improving the user experience.

[0094] Based on the first embodiment, the second embodiment, or the third embodiment, the technical solution provided in this application can further identify the vehicle's speed during vehicle operation. If the vehicle's speed is determined to be greater than or equal to a threshold speed, then the adjustment of the electronic speed control column is stopped. This embodiment is referred to as the fourth embodiment.

[0095] When the vehicle's speed is determined to be greater than or equal to a threshold speed, the domain controller can immediately lock the ESC column adjustment function, causing the adjustment motor to stop outputting voltage and maintain self-locking. This completely eliminates the risk of column displacement caused by accidental touch, clothing scratches, or passengers playing during high-speed vehicle operation.

[0096] Specifically, once a vehicle's speed exceeds a threshold speed, for example, 30 km / h, the vehicle enters a dynamic stability zone. At this point, any unexpected steering wheel adjustment may amplify the steering wheel yaw rate, potentially leading to lane departure or skidding. Therefore, when the vehicle's speed is determined to be greater than or equal to the threshold speed, the domain controller can immediately lock the ESC column adjustment function and block the roller column adjustment signal. Simultaneously, relevant regulations explicitly prohibit unintended steering movements while driving. Locking the ESC column adjustment function at a low speed below the threshold speed or in a stationary state satisfies these regulations. It should be noted that the threshold speed here is 30 km / h; however, this is just an example, and the threshold speed can be set according to actual needs without further limitations.

[0097] In some possible implementations, a capacitive grip ring can be added for dual verification. For example, based on vehicle speed detection, the contact area and duration between the hand and steering wheel can be continuously monitored. If, based on the contact area, the hand is not gripping the steering wheel within a preset time (e.g., within 3 seconds), it can be determined that the driver is in a hands-free state. When the vehicle speed is greater than or equal to a threshold speed and the driver is in a hands-free state, the domain controller can immediately lock the ESC column adjustment function and block the roller column adjustment signal. Even if someone manually moves the roller at this time, it is considered an invalid request, thus completely eliminating accidental adjustments caused by passengers or clothing rubbing against the roller. Furthermore, prohibiting motor start-stop at high speeds avoids reverse inrush current and worm gear impact wear, keeping the actuator in a power-off self-locking state and extending its lifespan.

[0098] The difference between this specific implementation and the above-described specific implementation is that it adds the ability to identify the vehicle's speed during vehicle operation and continuously monitor the contact area and time between the driver's hand and the steering wheel. If the vehicle's speed is greater than or equal to a threshold speed and the driver is in a hands-free state, the domain controller can immediately lock the ESC column adjustment function and block the roller column adjustment signal. This strategy, without adding additional hardware, can meet the requirements for prohibiting unintended steering movements through software thresholds, significantly reducing the probability of yaw disturbances, improving driving safety, and reducing the impact of high-speed start-stop on the worm gear, thus extending the life of the actuator.

[0099] Based on the first embodiment, the second embodiment, or the third embodiment, the technical solution provided in this application can further determine a first rolling rate within a preset time when the rolling direction of the target roller changes. According to the preset correspondence between the rolling rate and the adjustment speed, a first target adjustment speed of the adjustment motor corresponding to the first rolling rate is determined. This allows the adjustment motor to adjust the ESC column according to the first target adjustment speed, the adjustment type, and the changed adjustment direction. In this way, the adjustment speed can be immediately re-determined upon detecting a change in the rolling direction of the target roller, thereby controlling the ESC column to immediately respond to the corresponding adjustment operation, reducing the delay of the adjustment control column, and further improving the user experience.

[0100] Figure 6 This is a schematic diagram of the structure of a control device for an electrically adjustable column provided in an embodiment of this disclosure.

[0101] In this embodiment, the control device for the electronic control column can be located within an electronic device, and is understood as a functional module within the aforementioned electronic device. Specifically, the electronic device can be a server or a terminal, wherein the terminal specifically includes an in-vehicle terminal, a computer, or a tablet computer, etc., without limitation.

[0102] like Figure 6 As shown, the control device 600 of the electrically controlled column may include a first determining unit 610, a second determining unit 620, a third determining unit 630, and a control unit 640.

[0103] The first determining unit 610 is used to determine the rolling direction of the target roller in the steering wheel and the rolling rate within a preset time. The rolling rate is used to characterize how fast the target roller rolls. The second determining unit 620 is used to determine the adjustment type of the target roller and the adjustment direction corresponding to the rolling direction under the adjustment type; The third determining unit 630 is used to determine the target adjustment speed of the electronically controlled column corresponding to the rolling rate according to the preset correspondence between the rolling rate and the adjustment speed, wherein the rolling rate and the adjustment speed are positively correlated. The control unit 640 is used to control the adjustment motor to adjust the ESC column according to the adjustment type and the adjustment direction based on the target adjustment speed.

[0104] In some possible implementations, the third determining unit is specifically used for: Based on the preset relationship between rolling rate and driving voltage, the target adjustment voltage of the ESC column corresponding to the rolling rate is determined. Based on the preset correspondence between driving voltage and adjustment speed, the target adjustment speed of the ESC column corresponding to the target driving voltage is determined.

[0105] In some possible implementations, the target roller is an angle adjustment roller, the target adjustment speed is a target angle adjustment speed, and the control unit is specifically used for: When the target roller is rolling upwards, the control angle adjustment motor adjusts the speed according to the target angle to reduce the angle between the ESC column and the horizontal plane; When the target roller is rolling downwards, the control angle adjustment motor increases the angle between the ESC column and the horizontal plane according to the target angle adjustment speed.

[0106] In some possible implementations, the target roller is a length adjustment roller, the target adjustment speed is a target length adjustment speed, and the control unit is specifically used for: When the target roller rolls upwards, the length adjustment motor is controlled to adjust the electrically adjustable tube column along the direction of tube column extension according to the target length adjustment speed. When the target roller is rolling downwards, the control length adjustment motor adjusts the electrically adjustable tube column along the shortening direction of the tube column according to the target length adjustment speed.

[0107] In some possible implementations, the first determining unit is specifically used for: The number of scroll signals received within a preset time is obtained, and the target scroll wheel receives one scroll signal when it rolls a preset angle; The scrolling rate is determined based on the number of times the scrolling signal is received, and the number of times the scrolling signal is received is positively correlated with the scrolling rate.

[0108] In some possible implementations, the device further includes: The stop unit is used to obtain the vehicle's driving speed. If the driving speed is greater than or equal to the threshold speed, the adjustment of the ESC column is stopped.

[0109] In some possible implementations, the stopping unit is specifically used for: Continuously monitor the contact area and duration between the palm and the steering wheel; If the hand does not grip the steering wheel within a preset time period determined based on the contact area, then the adjustment of the ESC column will stop.

[0110] In some possible implementations, the device further includes: The adjustment unit is used to determine the first rolling rate within a preset time when the rolling direction of the target roller changes, and to determine the first target adjustment speed of the adjustment motor corresponding to the first rolling rate according to the preset correspondence between the rolling rate and the adjustment speed. The adjustment motor is then controlled to adjust the ESC column according to the first target adjustment speed, the adjustment type, and the changed adjustment direction.

[0111] In this embodiment of the device, the first determining unit 610 can be used to determine the rolling direction of the target roller in the steering wheel and the rolling rate within a preset time, wherein the rolling rate is used to characterize the speed at which the target roller rolls. The second determining unit 620 can be used to determine the adjustment type of the target roller and the adjustment direction corresponding to the rolling direction under the adjustment type. The third determining unit 630 can be used to determine the target adjustment speed of the ESC column corresponding to the rolling rate according to a preset correspondence between the rolling rate and the adjustment speed, wherein the rolling rate can be positively correlated with the adjustment speed. Finally, the control unit 640 can be used to control the adjustment motor to adjust the ESC column according to the adjustment type and adjustment direction based on the target adjustment speed. Thus, the device provided in this embodiment can determine the corresponding adjustment speed of the ESC column based on the frequency at which the user rolls the target roller. In this way, when the user slides the roller quickly, the ESC column can be adjusted quickly, and when the user slides the roller slowly, the ESC column can be adjusted slowly, thereby meeting user needs and improving the user experience.

[0112] It should be noted that, Figure 6 The control device 600 of the electrically controlled column shown can execute the various steps in the above method embodiments and realize the various processes and effects in the above method embodiments, which will not be elaborated here.

[0113] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure.

[0114] In this embodiment of the disclosure, Figure 7 The electronic device shown can be a server or a terminal. Specifically, the terminal includes in-vehicle terminals, computers, or tablets, etc., without limitation.

[0115] like Figure 7 As shown, the electronic device may include a processor 710 and a memory 720 storing computer program instructions.

[0116] Specifically, the processor 710 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this disclosure.

[0117] Memory 720 may include a large-capacity storage for information or instructions. For example, and not limitingly, memory 720 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 720 may include removable or non-removable (or fixed) media. Where appropriate, memory 720 may be internal or external to the integrated gateway device. In a particular embodiment, memory 720 is a non-volatile solid-state memory. In a particular embodiment, memory 720 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0118] The processor 710 reads and executes computer program instructions stored in the memory 720 to perform the steps of the control method for the electrically controlled column provided in the embodiments of this disclosure.

[0119] In one example, the electronic device may also include a transceiver 730 and a bus 740. Wherein, as... Figure 7 As shown, the processor 710, memory 720 and transceiver 730 are connected via bus 740 and communicate with each other.

[0120] Bus 740 may include hardware, software, or both. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 740 may include one or more buses.

[0121] This disclosure also provides a computer-readable storage medium that can store a computer program. When the computer program is executed by a processor, the processor enables the processor to implement the control method for the electronically controlled transistor column provided in this disclosure.

[0122] The computer program, when executed by a processor, can perform the following steps: determining the rolling direction and rolling rate of the target wheel in the steering wheel within a preset time, wherein the rolling rate characterizes the speed at which the target wheel rolls; determining the adjustment type of the target wheel and the adjustment direction corresponding to the rolling direction under the adjustment type; then, based on a preset correspondence between the rolling rate and the adjustment speed, determining the target adjustment speed of the ESC (Electronic Speed ​​Regulator) corresponding to the rolling rate, where the rolling rate and adjustment speed are positively correlated; finally, based on the target adjustment speed, controlling the adjustment motor to adjust the ESC according to the adjustment type and direction. In this way, the adjustment speed of the ESC can be determined according to the frequency at which the user rolls the target wheel. This allows for rapid adjustment of the ESC when the user rolls the wheel quickly and slow adjustment when the user rolls the wheel slowly, thus meeting user needs and improving the user experience.

[0123] In some possible implementations, the target adjustment speed of the electronic control column is determined based on the rolling rate and a preset correspondence between the rolling rate and the adjustment speed, including: Based on the preset relationship between rolling rate and driving voltage, the target adjustment voltage of the ESC column corresponding to the rolling rate is determined. Based on the preset correspondence between driving voltage and adjustment speed, the target adjustment speed of the ESC column corresponding to the target driving voltage is determined.

[0124] In some possible implementations, the target roller is an angle adjustment roller, the target adjustment speed is a target angle adjustment speed, and according to the target adjustment speed, the adjustment motor is controlled to adjust the ESC column according to the adjustment type and the adjustment direction, including: When the target roller is rolling upwards, the control angle adjustment motor adjusts the speed according to the target angle to reduce the angle between the ESC column and the horizontal plane; When the target roller is rolling downwards, the control angle adjustment motor increases the angle between the ESC column and the horizontal plane according to the target angle adjustment speed.

[0125] In some possible implementations, the target roller is a length adjustment roller, the target adjustment speed is a target length adjustment speed, and the step of controlling the adjustment motor to adjust the ESC column according to the adjustment type and the adjustment direction based on the target adjustment speed includes: When the target roller rolls upwards, the length adjustment motor is controlled to adjust the electrically adjustable tube column along the direction of tube column extension according to the target length adjustment speed. When the target roller is rolling downwards, the control length adjustment motor adjusts the electrically adjustable tube column along the shortening direction of the tube column according to the target length adjustment speed.

[0126] In some possible implementations, determining the scrolling rate within a preset time period includes: The number of scroll signals received within a preset time is obtained, and the target scroll wheel receives one scroll signal when it rolls a preset angle; The scrolling rate is determined based on the number of times the scrolling signal is received, and the number of times the scrolling signal is received is positively correlated with the scrolling rate.

[0127] In some possible implementations, the method further includes: Obtain the vehicle's speed; If the driving speed is greater than or equal to the threshold speed, then the adjustment of the ESC column is stopped.

[0128] In some possible implementations, stopping the adjustment of the electrically controlled column includes: Continuously monitor the contact area and duration between the palm and the steering wheel; If the hand does not grip the steering wheel within a preset time period determined based on the contact area, then the adjustment of the ESC column will stop.

[0129] In some possible implementations, this application may also: When the rolling direction of the target roller changes, determine the first rolling rate within a preset time. Based on the preset correspondence between the rolling rate and the adjustment speed, the first target adjustment speed of the adjustment motor corresponding to the first rolling rate is determined. The control motor adjusts the ESC column according to the first target adjustment speed, adjustment type, and the changed adjustment direction.

[0130] The aforementioned storage medium may, for example, include a memory 720 containing computer program instructions, which can be executed by a processor 710 of an electronic device to perform the control method of the electrically scalable tube provided in the embodiments of this disclosure. Optionally, the storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), external cache memory, compact disc ROM (CD-ROM), magnetic tape, floppy disk, flash memory, and optical data storage device. By way of illustration and not limitation, RAM is available in various forms, such as static random access memory (SRAM) and dynamic random access memory (DRAM).

[0131] This disclosure also provides a vehicle that includes electronic devices that can implement the various processes and effects described in the above embodiments of this disclosure, which will not be elaborated here.

[0132] This disclosure also provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, they implement the control method of the ESC column provided in this disclosure and can achieve the various processes and effects in the above embodiments of this disclosure, which will not be elaborated here.

[0133] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for an electrically controlled tube column, characterized in that, include: The direction of the target roller in the steering wheel and the rolling rate within a preset time are determined, wherein the rolling rate is used to characterize how fast the target roller rolls. Determine the adjustment type of the target roller and the adjustment direction corresponding to the rolling direction under the adjustment type; Based on the preset correspondence between the rolling rate and the adjustment speed, the target adjustment speed of the ESC column corresponding to the rolling rate is determined, wherein the rolling rate and the adjustment speed are positively correlated. According to the target adjustment speed, the control motor adjusts the ESC column according to the adjustment type and the adjustment direction.

2. The method according to claim 1, characterized in that, The step of determining the target adjustment speed of the electronic control column based on the rolling rate and the preset correspondence between the rolling rate and the adjustment speed includes: Based on the preset relationship between rolling rate and driving voltage, the target adjustment voltage of the ESC column corresponding to the rolling rate is determined. Based on the preset correspondence between driving voltage and adjustment speed, the target adjustment speed of the ESC column corresponding to the target driving voltage is determined.

3. The method according to claim 2, characterized in that, The target roller is an angle adjustment roller, the target adjustment speed is a target angle adjustment speed, and the step of controlling the adjustment motor to adjust the ESC column according to the target adjustment speed and the adjustment type and the adjustment direction includes: When the target roller is rolling upwards, the control angle adjustment motor adjusts the speed according to the target angle to reduce the angle between the ESC column and the horizontal plane; When the target roller is rolling downwards, the control angle adjustment motor increases the angle between the ESC column and the horizontal plane according to the target angle adjustment speed.

4. The method according to claim 2, characterized in that, The target roller is a length adjustment roller, the target adjustment speed is a target length adjustment speed, and the step of controlling the adjustment motor to adjust the ESC column according to the adjustment type and the adjustment direction based on the target adjustment speed includes: When the target roller rolls upwards, the length adjustment motor is controlled to adjust the electrically adjustable tube column along the direction of tube column extension according to the target length adjustment speed. When the target roller is rolling downwards, the control length adjustment motor adjusts the electrically adjustable tube column along the shortening direction of the tube column according to the target length adjustment speed.

5. The method according to any one of claims 1-4, characterized in that, Determine the scrolling rate within a preset time period, including: The number of scroll signals received within a preset time is obtained, and the target scroll wheel receives one scroll signal when it rolls a preset angle; The scrolling rate is determined based on the number of times the scrolling signal is received, and the number of times the scrolling signal is received is positively correlated with the scrolling rate.

6. The method according to claim 1, characterized in that, The method further includes: Obtain the vehicle's speed; If the driving speed is greater than or equal to the threshold speed, then the adjustment of the ESC column is stopped.

7. The method according to claim 6, characterized in that, The step of stopping the adjustment of the electrically controlled column includes: Continuously monitor the contact area and duration between the palm and the steering wheel; If the hand does not grip the steering wheel within a preset time period determined based on the contact area, then the adjustment of the ESC column will stop.

8. The method according to claim 1, characterized in that, The method further includes: When the rolling direction of the target roller changes, determine the first rolling rate within a preset time. Based on the preset correspondence between the rolling rate and the adjustment speed, the first target adjustment speed of the adjustment motor corresponding to the first rolling rate is determined. The control motor adjusts the ESC column according to the first target adjustment speed, adjustment type, and the changed adjustment direction.

9. An electronic device, characterized in that, include: processor; Memory, used to store executable instructions; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the control method of the electrically controlled column according to any one of claims 1-7.

10. A vehicle, characterized in that, Including the electronic device as described in claim 9.

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