Steering-by-wire LED steering wheel prompting method, device and system and vehicle

Abstract

The invention discloses a steer-by-wire LED steering wheel prompting method, device and system and a vehicle, and the method comprises the steps: obtaining a target signal transmitted from a vehicle CAN bus, and obtaining automatic driving information, steering torque information, tire slip angle information, road adhesion coefficient information, vehicle speed information and steer-by-wire system state information; judging whether automatic driving exists or not; if yes, determining a current target hue parameter, a target brightness parameter and a target saturation parameter; otherwise, calculating a current target hue parameter, a target brightness parameter and a target saturation parameter; judging whether the steer-by-wire system is in a fault state or not, if so, determining a current target hue parameter, a target lightness parameter and a target saturation parameter according to the fault type, and entering an execution step; otherwise, entering an execution step; the execution step comprises the step of outputting the indicating light according to the current target hue parameter, the target brightness parameter and the target saturation parameter. And confusion of drivers can be avoided. Mainly used in the technical field of vehicles.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a steer-by-wire LED steering wheel prompting method, device, system and vehicle. BACKGROUND

[0002] In the related technical solutions of vehicles, the road feel of steer-by-wire is realized by providing a reverse torque by a road feel simulator, and a larger torque or steering wheel vibration is provided when encountering an obstacle to prompt, and the road surface information perception is not obvious only by traditional tactile feedback (steering wheel vibration or damping) transmission. In addition, the current alarm strategy of steer-by-wire is various, and the meanings include early warning, drivable, and undrivable, etc. When the instrument feedback is in words and sound, it is difficult to immediately distinguish, and it is easy to cause the driver to be confused. Moreover, if the failure prompt components such as the instrument panel fail, there is no backup prompt channel. Therefore, how to solve the problems existing in the related art is an urgent research topic in the industry. SUMMARY

[0003] The present application provides a steer-by-wire LED steering wheel prompting method, device, system and vehicle to solve one or more technical problems existing in the prior art, at least to provide a beneficial choice or create conditions.

[0004] The present application provides a steer-by-wire LED steering wheel prompting method, comprising: acquiring a signal transmitted from a vehicle CAN bus, and recording the signal as a target signal; From the target signal, the current automatic driving information, steering torque information, tire side slip angle information, road surface adhesion coefficient information, vehicle speed information and steer-by-wire system state information are parsed; According to the automatic driving information, it is judged whether the current vehicle is in automatic driving; When it is determined that the current vehicle is in automatic driving, the HSV parameters set in advance are acquired, and the current target hue parameter, target lightness parameter and target saturation parameter are determined according to the HSV parameters; When it is determined that the current vehicle is not in automatic driving, the hue parameter is calculated according to the steering torque information, the hue parameter is taken as the current target hue parameter; the lightness parameter is calculated according to the tire side slip angle information and the vehicle speed information, and the lightness parameter is taken as the current target lightness parameter; the saturation parameter is calculated according to the road surface adhesion coefficient information, and the saturation parameter is taken as the current target saturation parameter; According to the steer-by-wire system state information, it is judged whether the steer-by-wire system is in a fault state, and when it is determined that the steer-by-wire system is in a fault state, the corresponding HSV parameters are acquired according to the fault type, the current target hue parameter, target lightness parameter and target saturation parameter are determined according to the HSV parameters, and the execution step is entered. When it is determined that the steer-by-wire system is not in a fault state, then entering an execution step; The execution step includes: passing the current target hue parameter, target lightness parameter and target saturation parameter to an optical assistance processor, and controlling an indicator LED ring matrix through the optical assistance processor to achieve output of indicator light meeting the current target hue parameter, target lightness parameter and target saturation parameter.

[0005] Further, calculating the hue parameter according to the steering torque information specifically includes: obtaining the current steering torque through the steering torque information, substituting the steering torque value into a first mathematical model, and obtaining the hue parameter through the first mathematical model; The first mathematical model is: H represents the hue parameter, A represents the steering torque, and the unit of A is Nm.

[0006] Further, calculating the lightness parameter according to the tire side slip angle information and the vehicle speed information specifically includes: obtaining the current tire deflection angle through the tire deflection angle signal, substituting the tire deflection angle into a second mathematical model, and obtaining the basic lightness through the second mathematical model; The second mathematical model is: ; Analyzing the vehicle speed information to obtain the current vehicle speed; When the vehicle speed is greater than a first vehicle speed threshold value, the basic lightness is taken as the current lightness parameter; When the vehicle speed is less than or equal to the first vehicle speed threshold value and greater than a second vehicle speed threshold value, the lightness parameter is obtained through a third mathematical model; The third mathematical model is: ; When the vehicle speed is less than or equal to the second vehicle speed threshold value, the lightness parameter is obtained through a fourth mathematical model; The fourth mathematical model is: ; Wherein, B represents the tire deflection angle, the unit of B is °, C represents the vehicle speed, and the unit of C is km / h.

[0007] Further, the steer-by-wire LED steering wheel prompting method further includes: performing lightness compensation on the obtained lightness parameter according to ambient light and pupil tracking information to prevent glare.

[0008] Further, the first vehicle speed threshold value has a value range of ≥80 km / h and ≤120 km / h, and the second vehicle speed threshold value has a value range of ≥10 km / h and ≤50 km / h.

[0009] Further, the saturation parameter calculated according to the road adhesion coefficient information specifically comprises: obtaining a friction coefficient between the current tire and the road through the road adhesion coefficient information, substituting the friction coefficient into a fifth mathematical model, and obtaining the saturation parameter through the fifth mathematical model. The fifth mathematical model is: S represents the saturation parameter, and D represents the friction coefficient.

[0010] On the other hand, an LED steering wheel prompting device for steer-by-wire is provided, comprising: a processor and a memory for storing a computer readable program; when the computer readable program is executed by the processor, the processor implements the LED steering wheel prompting method for steer-by-wire in any of the above technical solutions.

[0011] On the other hand, an LED steering wheel prompting system for steer-by-wire is provided, comprising: an acquisition module, an analysis module, a first judgment module, a second judgment module and an execution module. The acquisition module is configured to acquire a signal transmitted from a vehicle CAN bus, and record the signal as a target signal. The analysis module is configured to analyze the current automatic driving information, steering torque information, tire side slip angle information, road adhesion coefficient information, vehicle speed information and steer-by-wire system state information from the target signal. The first judgment module is configured to determine whether the current vehicle is in automatic driving according to the automatic driving information. When it is determined that the current vehicle is in automatic driving, a preset HSV parameter is acquired, and the current target hue parameter, target lightness parameter and target saturation parameter are determined according to the HSV parameter. When it is determined that the current vehicle is not in automatic driving, a hue parameter is calculated according to the steering torque information, the hue parameter is taken as the current target hue parameter, a lightness parameter is calculated according to the tire side slip angle information and vehicle speed information, the lightness parameter is taken as the current target lightness parameter, and a saturation parameter is calculated according to the road adhesion coefficient information, the saturation parameter is taken as the current target saturation parameter. The second judgment module is configured to determine whether the steer-by-wire system is in a fault state according to the steer-by-wire system state information, when it is determined that the steer-by-wire system is in a fault state, a corresponding HSV parameter is acquired according to the fault type, the current target hue parameter, target lightness parameter and target saturation parameter are determined according to the HSV parameter, and the execution module is entered. When it is determined that the steer-by-wire system is not in a fault state, the execution module is entered. The execution module is configured to: transmit the current target hue parameter, the target lightness parameter and the target saturation parameter to an optical assistance processor, and control an indicator LED ring matrix by the optical assistance processor to output the indicator light meeting the current target hue parameter, the target lightness parameter and the target saturation parameter.

[0012] Further, the drive-by-wire LED steering wheel prompting system further comprises a compensation module, which is configured to perform lightness compensation on the obtained lightness parameter according to ambient light and pupil tracking information to prevent glare.

[0013] In another aspect, a vehicle integrated with the drive-by-wire LED steering wheel prompting system according to any one of the above technical solutions is provided.

[0014] The method has at least the following beneficial effects: the method obtains target signals from a vehicle CAN bus, and obtains automatic driving information, steering torque information, tire side slip angle information, road adhesion coefficient information, vehicle speed information and drive-by-wire system state information by analysis. The current target hue parameter, the target lightness parameter and the target saturation parameter are calculated by identifying the automatic driving information, the steering torque information, the tire side slip angle information, the road adhesion coefficient information, the vehicle speed information and the drive-by-wire system state information. The hue, lightness and saturation of the indicator light of the LED ring matrix in the LED steering wheel are controlled to comprehensively realize feedback on the current situation of the vehicle. The light feedback mode makes the driver more noticeable, and solves the problem that the feedback of the drive-by-wire system is difficult to distinguish and easy to confuse the driver in the prior art. Meanwhile, the application also provides corresponding devices, systems and vehicles, which have similar beneficial effects as the method, and will not be described here. The application is mainly used in the field of vehicle technology. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the technical solutions of the application, and constitute a part of the specification, which are used together with embodiments of the application to explain the technical solutions of the application, and do not constitute a limitation on the technical solutions of the application.

[0016] Figure 1 is a step flow chart of the drive-by-wire LED steering wheel prompting method; Figure 2 is a structural schematic diagram of an outdoor sleep mode implementation device; Figure 3 is a hardware structure of an outdoor sleep mode implementation device of another embodiment; Figure 4 is a system structure schematic diagram of the drive-by-wire LED steering wheel prompting system. DETAILED DESCRIPTION

[0017] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0018] It should be noted that although the functional modules are divided in the system schematic diagram, and the logical sequence is shown in the flowchart, in some cases, the steps shown or described can be performed in a manner different from the module division in the system or the sequence in the flowchart. The terms "first", "second", etc. in the specification and claims and the above drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0019] Before the embodiments of the present application are described in detail, first, some nouns and terms involved in the embodiments of the present application will be explained, and the nouns and terms involved in the embodiments of the present application are applicable to the following explanations.

[0020] LED steering wheel refers to a steering wheel that can emit light as an indication function through LED lamp beads. The general structure is that an LED ring matrix is installed on the inner side of the steering wheel hub.

[0021] LED ring matrix refers to a ring-shaped light-emitting array composed of LED lamp beads.

[0022] CAN bus, full name Controller Area Network, is a serial communication protocol specially designed for automotive applications.

[0023] In the related technical solutions of the vehicle, the feedback of the steering or road conditions is generally in the form of steering wheel vibration. However, this vibration method is easy to cause people to perceive it is not obvious. Moreover, in the existing related technology, there is also a feedback difficult to distinguish for the steer-by-wire, which is easy to cause the driver to confuse.

[0024] Reference Figure 1 , Figure 1 is a step flowchart of the LED steering wheel prompting method of the steer-by-wire.

[0025] In order to solve the technical problems existing in the prior art, the present application discloses a LED steering wheel prompting method of the steer-by-wire, which can be run through a software program. When the software program is running, the steps implemented by it include: Step 1, obtaining the signal transmitted from the vehicle CAN bus, and recording the signal as a target signal.

[0026] The software program establishes contact with the vehicle CAN bus and obtains the signals transmitted by the vehicle CAN bus through the corresponding interface. For the convenience of description, the signals are referred to as target signals.

[0027] Step 2, the current automatic driving information, steering torque information, tire side slip angle information, road adhesion coefficient information, vehicle speed information and steer-by-wire system state information are parsed from the target signals.

[0028] The information recorded in the target signals is various, among which the software program parses the target signals through the set rules to separate the recorded information. The separated information includes: automatic driving information, steering torque information, tire side slip angle information, road adhesion coefficient information, vehicle speed information and steer-by-wire system state information.

[0029] The software program can determine whether the current vehicle is in an automatic driving state by identifying the automatic driving information. The software program can know the steering torque of the current vehicle by identifying the steering torque information. The software program can know the side slip angle of the tire of the current vehicle by identifying the tire side slip angle information. The software program can know the friction between the tire of the current vehicle and the road surface by identifying the road adhesion coefficient information. The software program can know the speed of the current vehicle by identifying the vehicle speed information. The software program can know whether the steer-by-wire system of the current vehicle has a fault by identifying the steer-by-wire system state information.

[0030] Step 3, determining whether the current vehicle is in automatic driving according to the automatic driving information; When it is determined that the current vehicle is in automatic driving, the pre-set HSV parameters are obtained, and the current target hue parameter, target lightness parameter and target saturation parameter are determined according to the HSV parameters. When it is determined that the current vehicle is not in automatic driving, the hue parameter is calculated according to the steering torque information, and the hue parameter is taken as the current target hue parameter; the lightness parameter is calculated according to the tire side slip angle information and the vehicle speed information, and the lightness parameter is taken as the current target lightness parameter; the saturation parameter is calculated according to the road adhesion coefficient information, and the saturation parameter is taken as the current target saturation parameter.

[0031] In order to realize the light indication of the LED steering wheel, the software program determines the current vehicle state through the automatic driving information. When it is determined from the automatic driving information that the current vehicle is in the automatic driving state, the light feedback and prompt are given to the driver. The form of the light prompt of the LED steering wheel includes hue, brightness, saturation and flicker.

[0032] When the software program determines that the current vehicle is in the automatic driving state, the preset HSV parameter is called, which records the corresponding hue parameter, brightness parameter and saturation parameter. The corresponding hue parameter, brightness parameter and saturation parameter are separated by analyzing the HSV parameter. The data variables carrying these parameter information are preset, and these data variables are respectively recorded as the current hue parameter, target brightness parameter and target saturation parameter for convenience of description.

[0033] In some further embodiments, when it is determined that the vehicle is in the automatic driving state, the preset target hue parameter is 300° and the target saturation parameter is 0.7. The breathing light is displayed.

[0034] For subsequent use, the hue parameter is recorded in the target hue variable to obtain the current target hue variable. The brightness parameter is loaded into the target brightness parameter to obtain the current target brightness parameter. The saturation parameter is loaded into the target saturation parameter to obtain the current target saturation parameter.

[0035] Of course, when the software program determines that the current vehicle is not in the automatic driving state, the light indication of the LED steering wheel needs to be determined according to the current vehicle operation, so as to realize the combination of the light indication and the vehicle operation to give the driver intuitive feedback.

[0036] For the hue parameter, the software program calculates it through the steering torque information. For the brightness parameter, the software program calculates it through the tire side slip angle information and the vehicle speed information. For the saturation parameter, the software program calculates it through the road adhesion coefficient information.

[0037] In the calculation of the hue parameter, in some further embodiments, the calculation of the hue parameter from the steering torque information specifically includes: obtaining the current steering torque from the steering torque information, substituting the steering torque value into the first mathematical model, and obtaining the hue parameter through the first mathematical model.

[0038] The first mathematical model is: H represents the hue parameter, and A represents the steering torque. The unit of A is Nm.

[0039] For the steering torque, it can respond in the range of 0 to 10 Nm.

[0040] After the hue parameter is obtained, the hue parameter is recorded in the target hue parameter to obtain the current target hue parameter.

[0041] In the calculation of the lightness parameter, in some further embodiments, the calculation of the lightness parameter according to the tire side slip angle information and the vehicle speed information specifically includes: obtaining the current tire deflection angle through the tire deflection angle signal, substituting the tire deflection angle into the second mathematical model, and obtaining the basic lightness through the second mathematical model.

[0042] The second mathematical model is: ; The vehicle speed information is analyzed to obtain the current vehicle speed.

[0043] When the vehicle speed is greater than a first vehicle speed threshold, the basic lightness is taken as the current lightness parameter.

[0044] When the vehicle speed is less than or equal to the first vehicle speed threshold and greater than a second vehicle speed threshold, the lightness parameter is obtained through a third mathematical model.

[0045] The third mathematical model is: ; When the vehicle speed is less than or equal to the second vehicle speed threshold, the lightness parameter is obtained through a fourth mathematical model.

[0046] The fourth mathematical model is: ; Wherein, B represents the tire deflection angle, the unit of B is °, C represents the vehicle speed, the unit of C is km / h.

[0047] The first vehicle speed threshold and the second vehicle speed threshold are pre-set. The value range of the first vehicle speed threshold is ≥80 km / h and ≤120 km / h. In the embodiment, the value of the first vehicle speed threshold is 100 km / h. The value range of the second vehicle speed threshold is ≥10 km / h and ≤50 km / h. In the embodiment, the value of the second vehicle speed threshold is 30 km / h.

[0048] For the tire deflection angle, it can respond in the range of -15° to +15°. For the vehicle speed, it can respond in the range of 0 to 200 km / h.

[0049] After the lightness parameter is obtained, the lightness parameter is recorded in the target lightness parameter to obtain the current target lightness parameter.

[0050] In the calculation of the saturation parameter, in some further embodiments, the calculation of the saturation parameter according to the road adhesion coefficient information specifically comprises: obtaining the friction coefficient between the current tire and the road through the road adhesion coefficient information, substituting the friction coefficient into the fifth mathematical model, and obtaining the saturation parameter through the fifth mathematical model.

[0051] The fifth mathematical model is: ; wherein S represents the saturation parameter, and D represents the friction coefficient.

[0052] For the friction coefficient, the response range thereof can be 0.1 to 1.

[0053] After the saturation parameter is obtained, the saturation parameter is recorded into the target saturation parameter to obtain the current target saturation parameter.

[0054] Step 4, determining whether the steer-by-wire system is in a fault state according to the steer-by-wire system state information, when it is determined that the steer-by-wire system is in a fault state, obtaining the corresponding HSV parameter according to the fault type, determining the current target hue parameter, target lightness parameter and target saturation parameter according to the HSV parameter, and entering step 5; when it is determined that the steer-by-wire system is not in a fault state, entering step 5.

[0055] The state of the steer-by-wire system includes normal, pre-warning, emergency and fault.

[0056] After the software program obtains the current target hue parameter, target lightness parameter and target saturation parameter, it needs to determine the current state of the steer-by-wire system in order to determine whether to pass the obtained current target hue parameter, target lightness parameter and target saturation parameter to the optical assistance processor.

[0057] The software program determines whether the current steer-by-wire system is in a fault state by identifying the steer-by-wire system state information.

[0058] It is obvious that when the steer-by-wire system is in a fault state, the primary light-emitting indication of the LED steering wheel is the feedback to the fault state. Therefore, when it is determined that the steer-by-wire system is in a fault state, the corresponding preset HSV parameters need to be obtained according to the fault condition. According to the HSV parameters, the preset hue parameter, the lightness parameter and the saturation parameter are obtained. The hue parameter is loaded into the target hue parameter to obtain the current target hue parameter. The lightness parameter is loaded into the target lightness parameter to obtain the current target lightness parameter. The saturation parameter is loaded into the target saturation parameter to obtain the current target saturation parameter. At this time, since the current target hue parameter, the target lightness parameter and the target saturation parameter all record the display information corresponding to the fault, at this time, step 5 can be entered for execution.

[0059] For different state conditions of the steer-by-wire system, the prescribed light effect scheme is not the same, and Table 1 below is some reference light effect scheme.

[0060]

[0061] Table 1.

[0062] When the software program determines that the steer-by-wire system is not in a fault state, the current target hue parameter, the target lightness parameter and the target saturation parameter do not need to be updated, and step 5 is directly entered.

[0063] Step 5, the current target hue parameter, the target lightness parameter and the target saturation parameter are transmitted to the optical assistance processor, and the LED ring matrix is controlled by the optical assistance processor to realize output of the indicating light meeting the current target hue parameter, the target lightness parameter and the target saturation parameter.

[0064] After the software program determines the current target hue parameter, the target lightness parameter and the target saturation parameter, the current target hue parameter, the target lightness parameter and the target saturation parameter can be transmitted to the optical assistance processor. The optical assistance processor will control the LED ring matrix in the LED steering wheel, so that the LED ring matrix outputs the indicating light meeting the current target hue parameter, the target lightness parameter and the target saturation parameter. Thus, the current vehicle condition is fed back through the indicating light.

[0065] The application obtains target signals from a vehicle CAN bus, and obtains automatic driving information, steering torque information, tire side slip angle information, road adhesion coefficient information, vehicle speed information and steer-by-wire system state information by analysis. The current target hue parameter, target lightness parameter and target saturation parameter are calculated by identifying the automatic driving information, steering torque information, tire side slip angle information, road adhesion coefficient information, vehicle speed information and steer-by-wire system state information. The feedback of the current situation of the vehicle is comprehensively realized by controlling the hue, lightness and saturation of the indicating light of the LED ring matrix in the LED steering wheel. The light feedback in at least three dimensions makes the driver more noticeable, and solves the problem that the feedback of the steer-by-wire system is difficult to distinguish and easy to cause confusion of the driver in the prior art.

[0066] In order to make the driver have better adaptability to the light feedback and avoid glare, in some further specific embodiments, the LED steering wheel prompting method of the steer-by-wire system further comprises: performing lightness compensation on the obtained lightness parameter according to ambient light and pupil tracking information to prevent glare. The current indoor ambient light is obtained by the set illuminance sensor, the pupil tracking information is determined by the set camera, the lightness correction factor is obtained by comprehensive judgment according to the indoor ambient light and the pupil tracking information, and the current target lightness parameter is corrected by the lightness correction factor, so as to prevent glare.

[0067] Reference Figure 2 , Figure 2 is a structural schematic diagram of an outdoor sleep mode implementation device.

[0068] On the other hand, an outdoor sleep mode implementation device is provided, comprising: a processor and a memory, the memory being used to store a computer readable program. When the computer readable program is executed by the processor, the processor realizes the LED steering wheel prompting method of the steer-by-wire system as described in any one of the above specific embodiments.

[0069] Those of ordinary skill in the art will appreciate that all or certain steps, systems in the methods disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Certain physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on computer readable media, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those of ordinary skill in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. As is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

[0070] Please refer to Figure 3 , Figure 3 is a hardware structure of an outdoor sleep mode implementation device of another embodiment. The outdoor sleep mode implementation device comprises a processor 901, a memory 902, an input / output interface 903, a communication interface 904, and a bus 905.

[0071] The processor 901 can be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is configured to execute related programs to implement the LED steering wheel prompting method of the steer-by-wire provided in the embodiments of the present application.

[0072] The memory 902 can be implemented in the form of read only memory (ROM), static storage device, dynamic storage device or random access memory (RAM), etc. The memory 902 can store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 902 and are called and executed by the processor 901 to perform the above-mentioned method of the embodiments of the present application.

[0073] The input / output interface 903 is used to realize information input and output.

[0074] The communication interface 904 is used to realize the communication interaction between the device and other devices, which can realize communication through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0075] The bus 905 transmits information between various components (such as the processor 901, the memory 902, the input / output interface 903 and the communication interface 904) of the device.

[0076] The processor 901, the memory 902, the input / output interface 903 and the communication interface 904 are connected to each other through the bus 905 for internal communication connection in the device.

[0077] Reference Figure 4 , Figure 4 is a system structure schematic diagram of the LED steering wheel prompt system of the steer-by-wire.

[0078] An LED steering wheel prompt system of steer-by-wire is provided, comprising: an acquisition module, an analysis module, a first judgment module, a second judgment module and an execution module. The acquisition module is used to acquire signals transmitted from the vehicle CAN bus, and the signals are recorded as target signals.

[0079] The acquisition module establishes contact with the vehicle CAN bus and acquires the signals transmitted from the vehicle CAN bus through the corresponding interface. In order to facilitate description, the signals are recorded as target signals.

[0080] The analysis module is used to analyze the current automatic driving information, steering torque information, tire side slip angle information, road adhesion coefficient information, vehicle speed information and steer-by-wire system state information from the target signals.

[0081] The information recorded in the target signal is various, wherein the analysis module analyzes the target signal through the set rules to separate the recorded information. The separated information includes: autonomous driving information, steering torque information, tire side slip angle information, road adhesion coefficient information, vehicle speed information and steer-by-wire system state information.

[0082] The analysis module can determine whether the current vehicle is in an autonomous driving state through the identification of the autonomous driving information. The software program can know the steering torque condition of the current vehicle through the identification of the steering torque information. The analysis module can know the side slip angle condition of the tire of the current vehicle through the identification of the tire side slip angle information. The analysis module can know the friction condition between the tire of the current vehicle and the road surface through the identification of the road adhesion coefficient information. The analysis module can know the speed condition of the current vehicle through the identification of the vehicle speed information. The analysis module can know whether the steer-by-wire system of the current vehicle has a fault condition through the identification of the steer-by-wire system state information.

[0083] The first judgment module is used to determine whether the current vehicle is in autonomous driving according to the autonomous driving information.

[0084] When it is determined that the current vehicle is in autonomous driving, the pre-set HSV parameters are obtained, and the current target hue parameter, target lightness parameter and target saturation parameter are determined according to the HSV parameters.

[0085] When it is determined that the current vehicle is not in autonomous driving, the hue parameter is calculated according to the steering torque information, and the hue parameter is taken as the current target hue parameter; the lightness parameter is calculated according to the tire side slip angle information and the vehicle speed information, and the lightness parameter is taken as the current target lightness parameter; and the saturation parameter is calculated according to the road adhesion coefficient information, and the saturation parameter is taken as the current target saturation parameter.

[0086] In order to realize the light indication of the LED steering wheel, the first judgment module determines the current vehicle state through the autonomous driving information. When it is determined from the judgment of the autonomous driving information that the current vehicle is in an autonomous driving state. In order to give the driver light feedback and prompt. The form of the light prompt of the LED steering wheel includes: hue, lightness, saturation and flicker condition.

[0087] When the first judging module determines that the current vehicle is in automatic driving, the preset HSV parameter is called, and the HSV parameter records corresponding hue parameter, brightness parameter and saturation parameter. The corresponding hue parameter, brightness parameter and saturation parameter are separated by analyzing the HSV parameter. Data variables carrying these parameter information are preset, and for the convenience of description, these data variables are respectively recorded as: current hue parameter, target brightness parameter and target saturation parameter.

[0088] In some further embodiments, when it is determined that the vehicle is in automatic driving, the preset target hue parameter is 300°, and the target saturation parameter is 0.7. The breathing light is shown.

[0089] For subsequent use, the hue parameter is recorded in the target hue variable to obtain the current target hue variable. The brightness parameter is loaded into the target brightness parameter to obtain the current target brightness parameter. The saturation parameter is loaded into the target saturation parameter to obtain the current target saturation parameter.

[0090] Of course, when the first judging module determines that the current vehicle is not in automatic driving, the light-emitting indication of the LED steering wheel needs to be more current according to the running condition of the vehicle, so as to realize the combination of the light-emitting indication and the running condition of the vehicle. Intuitive feedback to the driver.

[0091] Among them, for the hue parameter, the first judging module calculates it through the steering torque information. For the brightness parameter, the software program calculates it through the tire side slip angle information and the vehicle speed information. For the saturation parameter, the first judging module calculates it through the road adhesion coefficient information.

[0092] In the calculation of the hue parameter, in some further embodiments, calculating the hue parameter according to the steering torque information specifically includes: obtaining the current steering torque through the steering torque information, substituting the steering torque value into the first mathematical model, and obtaining the hue parameter through the first mathematical model.

[0093] Among them, the first mathematical model is: H represents the hue parameter, and A represents the steering torque. The unit of A is Nm.

[0094] The steering torque can respond in the range of 0 to 10 Nm.

[0095] After obtaining the hue parameter, the hue parameter is recorded in the target hue parameter to obtain the current target hue parameter.

[0096] In the calculation of the lightness parameter, in some further embodiments, the calculation of the lightness parameter according to the tire side slip angle information and the vehicle speed information specifically comprises: obtaining a current tire deflection angle through the tire deflection angle signal, substituting the tire deflection angle into a second mathematical model, and obtaining a base lightness through the second mathematical model.

[0097] The second mathematical model is: ; The vehicle speed information is analyzed to obtain a current vehicle speed.

[0098] When the vehicle speed is greater than a first vehicle speed threshold, the base lightness is taken as the current lightness parameter.

[0099] When the vehicle speed is less than or equal to the first vehicle speed threshold and greater than a second vehicle speed threshold, a lightness parameter is obtained through a third mathematical model.

[0100] The third mathematical model is: ; When the vehicle speed is less than or equal to the second vehicle speed threshold, a lightness parameter is obtained through a fourth mathematical model.

[0101] The fourth mathematical model is: ; Wherein, The base lightness is represented by V, the lightness parameter is represented by B, the tire deflection angle is represented by C, and the vehicle speed is represented by °.

[0102] The first vehicle speed threshold and the second vehicle speed threshold are pre-set. The value range of the first vehicle speed threshold is ≥80km / h and ≤120km / h. In the embodiment, the value of the first vehicle speed threshold is 100km / h. The value range of the second vehicle speed threshold is ≥10km / h and ≤50km / h. In the embodiment, the value of the second vehicle speed threshold is 30km / h.

[0103] The tire deflection angle can respond in the range of -15° to +15°. The vehicle speed can respond in the range of 0 to 200km / h.

[0104] After the lightness parameter is obtained, the lightness parameter is recorded in the target lightness parameter to obtain a current target lightness parameter.

[0105] In the calculation of the saturation parameter, in some further embodiments, the calculation of the saturation parameter according to the road adhesion coefficient information specifically comprises: obtaining a current friction coefficient between the tire and the road through the road adhesion coefficient information, substituting the friction coefficient into a fifth mathematical model, and obtaining a saturation parameter through the fifth mathematical model.

[0106] The fifth mathematical model is: ; wherein S represents a saturation parameter, and D represents a friction coefficient.

[0107] For the friction coefficient, the response range can be 0.1 to 1.

[0108] After obtaining the saturation parameter, the saturation parameter is recorded in the target saturation parameter to obtain the current target saturation parameter.

[0109] The second determining module is configured to determine whether the steer-by-wire system is in a fault state according to the steer-by-wire system state information, and when it is determined that the steer-by-wire system is in a fault state, obtain a corresponding HSV parameter according to the fault type, determine a current target hue parameter, a target lightness parameter, and a target saturation parameter according to the HSV parameter, and enter the execution module; when it is determined that the steer-by-wire system is not in a fault state, enter the execution module.

[0110] After the second determining module obtains the current target hue parameter, the target lightness parameter, and the target saturation parameter, it needs to determine the current state of the steer-by-wire system in order to determine whether to pass the current target hue parameter, the target lightness parameter, and the target saturation parameter to the optical assistance processor.

[0111] The second determining module determines whether the current steer-by-wire system is in a fault state by identifying the steer-by-wire system state information.

[0112] Obviously, when the steer-by-wire system is in a fault state, the primary light-emitting indication of the LED steering wheel is the feedback to the fault state. Therefore, when it is determined that the steer-by-wire system is in a fault state, the corresponding preset HSV parameter needs to be obtained according to the fault condition. The preset hue parameter, lightness parameter, and saturation parameter are obtained according to the HSV parameter. The hue parameter is loaded into the target hue parameter to obtain the current target hue parameter. The lightness parameter is loaded into the target lightness parameter to obtain the current target lightness parameter. The saturation parameter is loaded into the target saturation parameter to obtain the current target saturation parameter. At this time, since the current target hue parameter, the target lightness parameter, and the target saturation parameter all record the display information corresponding to the fault, at this time, the execution module can be entered for execution.

[0113] When the second determining module determines that the steer-by-wire system is not in a fault state, the current target hue parameter, the target lightness parameter, and the target saturation parameter do not need to be updated, and the execution module is directly entered.

[0114] The execution module is configured to: pass the current target hue parameter, the target lightness parameter and the target saturation parameter to an optical assistance processor; and control an indicator LED ring matrix by using the optical assistance processor to output indicator light meeting the current target hue parameter, the target lightness parameter and the target saturation parameter.

[0115] After the execution module determines the current target hue parameter, the target lightness parameter and the target saturation parameter, the current target hue parameter, the target lightness parameter and the target saturation parameter can be passed to the optical assistance processor. The optical assistance processor controls the LED ring matrix in the LED steering wheel to output indicator light meeting the current target hue parameter, the target lightness parameter and the target saturation parameter. Thus, the current vehicle condition is fed back by using the indicator light.

[0116] In order to make the driver have better adaptability to the light feedback and avoid glare, in some further embodiments, the steer-by-wire LED steering wheel prompting system further comprises a compensation module. The compensation module is configured to perform lightness compensation on the obtained lightness parameter according to ambient light and pupil tracking information to prevent glare. The compensation module is configured to be connected with a light intensity sensor and a camera. The current in-vehicle ambient light is obtained by using the set light intensity sensor, the pupil tracking information is determined by using the set camera, the lightness correction factor is obtained by comprehensively judging the in-vehicle ambient light and the pupil tracking information, and the current target lightness parameter is corrected by using the lightness correction factor to prevent glare.

[0117] In another aspect, the application also provides a vehicle integrated with the steer-by-wire LED steering wheel prompting system according to any one of the above embodiments.

[0118] In another aspect, a computer readable storage medium is provided, wherein a processor executable program is stored in the computer readable storage medium. When the processor executable program is executed by a processor, the processor executable program is configured to implement the steer-by-wire LED steering wheel prompting method according to any one of the above embodiments.

[0119] The application also discloses a computer program product, which comprises a computer program or computer instructions. The computer program or computer instructions are stored in a computer readable storage medium. A processor of a computer device reads the computer program or computer instructions from the computer readable storage medium. The processor executes the computer program or computer instructions, so that the computer device executes the steer-by-wire LED steering wheel prompting method according to any one of the above embodiments.

[0120] The terms "first", "second", "third", "fourth", and the like in the description and in the claims of this application, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of the terms so termed is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of orderly or chronological permutations. Moreover, the terms "comprise", "have" and any variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises, has or includes a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0121] It should be understood that, in the application, "at least one" means one or more, and "multiple" means two or more. "And / or" is used to describe the relationship between associated objects, which means that there can be three relationships, for example, "A and / or B" can represent three cases: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can mean a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be singular or plural.

[0122] In several embodiments provided in the application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described device embodiments are only illustrative, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed objects can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0123] The units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0124] In addition, each of the functional units in each of the embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0125] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0126] Although the description of the present application has been quite detailed and particularly described with respect to several described embodiments, it is not intended to be limited to any of these details or embodiments or any special embodiment, but should be considered to effectively cover the intended scope of the present application by referring to the appended claims, taking into account the broadest possible interpretation of these claims in view of the prior art. In addition, the present application is described above in embodiments that the inventors can foresee, and the purpose is to provide a useful description, and non-essential modifications to the present application that have not yet been foreseen can still represent equivalent modifications to the present application.

[0127] It should be noted that in each of the specific embodiments of the present application, when it is necessary to perform relevant processing according to user information, user behavior data, user history data, and user location information, and other data related to the identity or characteristics of the user, the user's permission or consent will be obtained first, and the collection, use and processing of these data will comply with relevant laws, regulations and standards. In addition, when the embodiments of the present application need to obtain sensitive personal information of the user, the separate permission or separate consent of the user will be obtained through a pop-up window or by jumping to a confirmation page, and after obtaining the separate permission or separate consent of the user, the necessary user-related data for enabling the embodiments of the present application to operate normally will be obtained.

Claims

1. A steer-by-wire LED steering wheel prompt method, characterized in that, The method comprises the following steps: acquiring a signal transmitted from a vehicle CAN bus, and recording the signal as a target signal; resolving the target signal to obtain current automatic driving information, steering torque information, tire side slip angle information, road adhesion coefficient information, vehicle speed information, and steer-by-wire system state information; determining whether the current vehicle is in automatic driving according to the automatic driving information; when it is determined that the current vehicle is in automatic driving, acquiring a preset HSV parameter, and determining a current target hue parameter, a target lightness parameter, and a target saturation parameter according to the HSV parameter; when it is determined that the current vehicle is not in automatic driving, calculating a hue parameter according to the steering torque information, taking the hue parameter as the current target hue parameter, calculating a lightness parameter according to the tire side slip angle information and the vehicle speed information, and taking the lightness parameter as the current target lightness parameter; calculating a saturation parameter according to the road adhesion coefficient information, and taking the saturation parameter as the current target saturation parameter; determining whether the steer-by-wire system is in a fault state according to the steer-by-wire system state information, when it is determined that the steer-by-wire system is in the fault state, acquiring a corresponding HSV parameter according to the fault type, and determining the current target hue parameter, the target lightness parameter, and the target saturation parameter according to the HSV parameter, and entering an execution step; when it is determined that the steer-by-wire system is not in the fault state, entering the execution step; the execution step comprises the following steps: transmitting the current target hue parameter, the target lightness parameter, and the target saturation parameter to an optical assistance processor, and controlling an indicator LED ring matrix through the optical assistance processor to output indicator light meeting the current target hue parameter, the target lightness parameter, and the target saturation parameter.

2. The steer-by-wire LED steering wheel prompt method of claim 1, wherein, The calculation of the hue parameter according to the steering torque information specifically comprises the following steps: obtaining a current steering torque through the steering torque information, substituting the steering torque value into a first mathematical model, and obtaining the hue parameter through the first mathematical model; Wherein, the first mathematical model is: ; H is expressed as a color phase parameter, A is expressed as a steering torque, and the unit of A is Nm.

3. The steer-by-wire LED direction wheel prompting method according to claim 1, wherein, The calculation of the lightness parameter according to the tire side slip angle information and the vehicle speed information specifically comprises the following steps: obtaining a current tire deflection angle through the tire side slip angle signal, substituting the tire deflection angle into a second mathematical model, and obtaining a basic lightness through the second mathematical model; The second mathematical model is: ; resolving the vehicle speed information to obtain a current vehicle speed; when the vehicle speed is greater than a preset first vehicle speed threshold, taking the basic lightness as the current lightness parameter; when the vehicle speed is less than or equal to the first vehicle speed threshold and greater than a second vehicle speed threshold, obtaining the lightness parameter through a third mathematical model; The third mathematical model is: ; when the vehicle speed is less than or equal to the second vehicle speed threshold, obtaining the lightness parameter through a fourth mathematical model; The fourth mathematical model is: ; wherein, is expressed as base lightness, V is expressed as lightness parameter, B is expressed as tire deflection angle, B is expressed in °, C is expressed as vehicle speed, C is expressed in km / h.

4. The steer-by-wire LED steering wheel prompt method of claim 1, wherein, The method further comprises the following steps: performing lightness compensation on the obtained lightness parameter according to ambient light and pupil tracking information to prevent glare.

5. The steer-by-wire LED direction wheel prompting method according to claim 3, wherein, The first vehicle speed threshold has a value range of ≥80km / h and ≤120km / h, and the second vehicle speed threshold has a value range of ≥10km / h and ≤50km / h.

6. The steer-by-wire LED direction wheel prompting method according to claim 1, wherein, The saturation parameter calculated according to the road adhesion coefficient information specifically comprises: obtaining a friction coefficient between the current tire and the road through the road adhesion coefficient information, substituting the friction coefficient into a fifth mathematical model, and obtaining the saturation parameter through the fifth mathematical model; wherein the fifth mathematical model is: ; S represents a saturation parameter, and D represents a friction coefficient.

7. A steer-by-wire LED steering wheel prompt device, characterized in that, It comprises: a processor; a memory for storing a computer readable program; When the computer readable program is executed by the processor, the processor implements the LED steering wheel prompting method of the steer-by-wire according to any one of claims 1-6.

8. A steer-by-wire LED steering wheel prompt system, characterized in that, It comprises: an acquisition module, an analysis module, a first judgment module, a second judgment module and an execution module; The acquisition module is used to acquire signals transmitted from a vehicle CAN bus, and the signals are recorded as target signals; The analysis module is used to analyze the current automatic driving information, steering torque information, tire side slip angle information, road adhesion coefficient information, vehicle speed information and steer-by-wire system state information from the target signals; The first judgment module is used to determine whether the current vehicle is in automatic driving according to the automatic driving information; When it is determined that the current vehicle is in automatic driving, a preset HSV parameter is acquired, and the current target hue parameter, target lightness parameter and target saturation parameter are determined according to the HSV parameter; When it is determined that the current vehicle is not in automatic driving, a hue parameter is calculated according to the steering torque information, the hue parameter is taken as the current target hue parameter, a lightness parameter is calculated according to the tire side slip angle information and vehicle speed information, the lightness parameter is taken as the current target lightness parameter, and a saturation parameter is calculated according to the road adhesion coefficient information, the saturation parameter is taken as the current target saturation parameter; The second judgment module is used to determine whether the steer-by-wire system is in a fault state according to the steer-by-wire system state information, and when it is determined that the steer-by-wire system is in a fault state, corresponding HSV parameters are acquired according to fault types, the current target hue parameter, target lightness parameter and target saturation parameter are determined according to the HSV parameters, and the execution module is entered; When it is determined that the steer-by-wire system is not in a fault state, the execution module is entered; The execution module is used to transmit the current target hue parameter, target lightness parameter and target saturation parameter to an optical assistance processor, and the indicating LED ring matrix is controlled through the optical assistance processor to output indicating light meeting the current target hue parameter, target lightness parameter and target saturation parameter.

9. A steer-by-wire LED steering wheel prompt system according to claim 8, wherein, It further comprises: a compensation module, which is used to perform lightness compensation on the obtained lightness parameter according to ambient light and pupil tracking information to prevent glare.

10. A vehicle characterized by comprising: The steer-by-wire LED steering wheel prompting system integrates the steer-by-wire according to any one of claims 8-9.

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