Steering wheel control method and device and vehicle

Abstract

The invention discloses a steering wheel control method and device and a vehicle, and relates to the technical field of steering control. The method comprises the steps that when a steering wheel is in a silent mode, steering operation information is obtained in real time and comprises steering force input by a current driver to the steering wheel and the rotating speed of the steering wheel; when the steering operation information exists, warning information is sent out, and subsequent steering operation information is recorded to serve as exit confirmation information; when it is judged that the exit confirmation information meets the preset condition, preset reset operation is executed on the steering wheel, and the static state of the steering wheel is relieved. According to the invention, stable and safe switching between the automatic driving mode and the manual driving mode can be realized, and the driving safety, comfort and convenience are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of steering control, and particularly relates to a steering wheel control method and device and a vehicle. BACKGROUND

[0002] In a conventional EPS system, the steering wheel angle and the rack displacement are connected through a mechanical transmission mechanism, and the two always maintain a fixed transmission ratio relationship. Therefore, in the conventional EPS system, when the vehicle is enabled with an automatic driving function, the steering wheel will follow the offset of the tire position and produce a servo, that is, the rotation of the steering wheel will completely follow the actual steering angle of the tire, and at the same time, the steering wheel will be affected by the vehicle driving state and the road conditions and change.

[0003] In an intelligent driving mode, the servo characteristics of the steering wheel of a conventional EPS vehicle can interfere with the steering state judgment of the driver, thereby increasing the operation risk when the driver takes over the control of the vehicle, and further posing a potential threat to the driving safety. Therefore, there is an urgent need for a technical solution to effectively solve this problem. SUMMARY

[0004] The embodiments of the application provide a steering wheel control method, device and vehicle, which can realize smooth and safe switching between an automatic driving mode and a manual driving mode, and improve the safety, comfort and convenience of driving.

[0005] In a first aspect, the embodiments of the application provide a steering wheel control method, which comprises:

[0006] When the steering wheel is in a silent mode, real-time steering operation information is acquired, and the steering operation information includes a steering force input by a current driver to the steering wheel and a steering wheel speed;

[0007] When the steering operation information exists, a warning information is issued, and subsequent steering operation information is recorded as exit confirmation information;

[0008] When it is determined that the exit confirmation information meets a preset condition, a preset reset operation is performed on the steering wheel, and the silent state of the steering wheel is released.

[0009] In some feasible embodiments, the method further comprises:

[0010] If the steering force is less than a first threshold value, and the steering wheel speed is less than a second threshold value, it is determined that the steering wheel is in a non-driver takeover state, the steering wheel is controlled to maintain the silent mode, and the issuance of the warning information is stopped;

[0011] Otherwise, it is determined that the steering wheel is in a driver takeover state.

[0012] In some feasible embodiments, the method comprises:

[0013] When the steering wheel is in the driver takeover state for a preset time threshold, or the steering force is greater than or equal to a third threshold, or the steering wheel rotation speed is greater than or equal to a fourth threshold, it is determined that the exit confirmation information meets the preset condition, the third threshold is greater than the first threshold, and the fourth threshold is greater than the second threshold.

[0014] In some possible embodiments, the preset reset operation on the steering wheel includes:

[0015] Obtaining the current position of the steering wheel;

[0016] Based on the current position and a preset first control algorithm, the steering wheel is driven to move and restore to the preset position by controlling the first motor.

[0017] In some possible embodiments, the preset reset operation on the steering wheel further includes:

[0018] Obtaining the current rack position as a reference position;

[0019] Obtaining the current rotation angle of the steering wheel in real time;

[0020] Based on the current rotation angle and a preset transmission ratio relationship, calculating a theoretical rack displacement;

[0021] Based on the reference position and a preset closed-loop control algorithm, adjusting the current rotation angle of the steering wheel so that the calculated theoretical rack displacement is consistent with the reference position.

[0022] In some possible embodiments, the release of the idle state includes:

[0023] Canceling the control of the steering wheel based on the preset torque to release the idle state and exit the silent working state;

[0024] When the steering wheel is in the idle state, the second motor is in the silent working state and outputs the preset torque to the steering wheel to control the steering wheel so that the steering wheel is in the idle state, and the preset torque is determined based on the current vehicle speed, the steering wheel rotation speed, the steering angle change amount and a preset parameter query table.

[0025] In some possible embodiments, after the preset reset operation on the steering wheel and the release of the idle state, the method further includes:

[0026] Restoring the following function between the steering wheel and the wheels;

[0027] Controlling the second motor to enter a normal working state;

[0028] When the second motor is in a normal working state, the second motor is controlled to calculate and output a corresponding steering torque according to a force applied by the driver to the steering wheel through a preset control algorithm when the driver performs a steering operation on the steering wheel is detected.

[0029] In some possible embodiments, after the preset reset operation is performed on the steering wheel and the idle state of the steering wheel is released, the method further includes:

[0030] sending information that the silent mode has been exited to the driving assistance system;

[0031] switching to a normal driving mode and receiving a steering request input by the driver when a preset operation instruction input by the driver is acquired;

[0032] controlling the steering wheel based on the steering request in response to the steering request.

[0033] In a second aspect, an embodiment of the present application provides a steering wheel control device, and the device includes:

[0034] A first acquisition module is configured to acquire steering operation information in real time when the steering wheel is in a silent mode, and the steering operation information includes a steering force input by a current driver to the steering wheel and a steering wheel speed.

[0035] A judgment module is configured to judge whether to control the steering wheel to exit the silent mode based on the steering operation information.

[0036] A first exit module is configured to send a warning information when it is determined to control the steering wheel to exit the silent mode, and the warning information is sent until it is determined to control the steering wheel to enter the silent mode.

[0037] A second exit module is configured to perform a preset reset operation on the steering wheel and release an idle state of the steering wheel when it is determined that the steering operation information meets a preset condition.

[0038] In a third aspect, an embodiment of the present application provides a vehicle, and the vehicle includes a processor and a memory storing computer program instructions; and the processor implements any one of the above steering wheel control methods when executing the computer program instructions.

[0039] In a fourth aspect, an embodiment of the present application provides an electronic device, and the device includes a processor and a memory storing computer program instructions; and the processor implements any one of the above steering wheel control methods when executing the computer program instructions.

[0040] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, and the computer readable storage medium stores computer program instructions; and the computer program instructions are executed by a processor to implement any one of the above steering wheel control methods.

[0041] In a sixth aspect, the embodiments of the present application provide a computer program product. Instructions in the computer program product, when executed by a processor of an electronic device, cause the electronic device to perform the steering wheel control method according to any one of the above.

[0042] Inventive action and effect

[0043] The steering wheel control method, device and vehicle provided by the embodiments of the present application, the method comprises: when the steering wheel is in a silent mode, real-time acquisition of steering operation information, the steering operation information comprising the steering force input by the current driver to the steering wheel and the steering wheel speed; when there is steering operation information, issuing a warning information, and recording the subsequent steering operation information as exit confirmation information; when it is determined that the exit confirmation information meets a preset condition, performing a preset reset operation on the steering wheel and releasing the silent state thereof. In this way, in the embodiments of the present application, by accurately monitoring the operation intention of the driver and responding in real time, smooth and safe switching between the automatic driving mode and the manual driving mode can be realized, and the potential risks caused by mode switching can be effectively reduced. At the same time, by issuing a warning information to remind the driver to pay attention to the takeover operation, and performing a reset operation after confirming the intention of the driver, it is ensured that the driver can obtain clear feedback and stable driving experience when taking over the vehicle, which not only improves the safety of driving, but also optimizes the comfort and convenience of driving. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. For those skilled in the art, without creative labor, other drawings can also be obtained according to these drawings.

[0045] Figure 1 is one of the flowcharts of the steering wheel control method provided by the embodiments of the present application;

[0046] Figure 2 is the second flowchart of the steering wheel control method provided by the embodiments of the present application;

[0047] Figure 3 is the third flowchart of the steering wheel control method provided by the embodiments of the present application;

[0048] Figure 4 is the fourth flowchart of the steering wheel control method provided by the embodiments of the present application;

[0049] Figure 5 is the flowchart of the steering wheel entering the non-silent mode provided by the embodiments of the present application;

[0050] Figure 6 is the fifth flowchart of the steering wheel control method provided by the embodiments of the present application;

[0051] Figure 7 is a structural schematic diagram of a steering wheel control device provided by an embodiment of the present application.

[0052] Figure 8 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0053] The features and exemplary embodiments of various aspects of the present application will be described below in detail, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0054] It should be noted that, in this paper, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0055] The present application relates to a steering wheel mute function exit control method, in particular, the present application mainly solves the intelligent judgment problem of how the steering wheel exits from the mute mode. In order to fully explain the technical solution of the present application, it is necessary to understand the entering mechanism of the mute mode first, which will be described in detail in combination with the application scenario and system architecture, Figure 1 shows one of the flowcharts of the steering wheel control method provided by an embodiment of the present application, which specifically shows the control flow of the steering wheel entering the mute mode provided by an embodiment of the present application, as shown in Figure 1 The steering wheel control method comprises the following steps:

[0056] S101, in response to the mute instruction issued by the driving assistance system, acquiring the current vehicle speed and steering wheel speed.

[0057] The driving assistance system refers to an intelligent system on a vehicle for assisting a driver in driving operation. It can realize intelligent functions such as adaptive cruise, automatic parking, lane keeping assistance, etc. through the integration of various sensors and algorithms, so as to improve the safety and convenience of driving. The mute instruction refers to an instruction issued by the driving assistance system in a specific automatic driving mode (such as L2 or higher level) to control the steering wheel to enter a mute mode, so that it remains stationary during automatic driving, avoiding unnecessary shaking or deflection of the steering wheel due to the rotation of the steering wheel, thereby ensuring that the steering wheel does not interfere with the driver during automatic driving, and improving the safety and comfort of driving.

[0058] Specifically, in the embodiments of the present application, the driving assistance system selects an ADAS system. The ADAS system can judge whether to enter the intelligent driving mode by comprehensively monitoring the driver state, vehicle state and environmental conditions, so as to ensure the safety and reliability of driving. Please refer to Figure 2 , which shows a flowchart of a steering wheel control method provided by an embodiment of the present application, as shown in Figure 2 When the ADAS system judges not to enter the intelligent driving mode, the steering wheel will be controlled to enter a preset first non-mute mode (i.e. non-mute mode A). In this mode, the steering wheel will remain in a normal working state (neither stowed nor actively maintained torque applied), and the steering wheel actuator (HWA) and the wheel end actuator (RWA) maintain mechanical linkage, ensuring that the steering control right is completely handed over to the driver operation. When the ADAS system judges to enter the intelligent driving mode, it will issue a mute instruction to the steering wheel actuator (HWA) to indicate that the steering wheel opens the mute function.

[0059] Figure 3 , which shows a flowchart of a steering wheel control method provided by an embodiment of the present application, as shown in Figure 3 After receiving the mute instruction from the ADAS system, the HWA will identify the validity of the mute instruction by analyzing the specific message issued by the ADAS system. Figure 4 , which shows a flowchart of the steering wheel entering the first non-mute mode provided by an embodiment of the present application, as shown in Figure 4 If the HWA identifies that the mute instruction is invalid (including but not limited to ADAS instruction abnormal jump or existence of fault state prohibiting mute function activation), the steering wheel will be controlled to enter a preset first non-mute mode (i.e. non-mute mode A). In this mode, the steering wheel will remain in a normal working state (neither stowed nor actively maintained torque applied), and the steering wheel actuator (HWA) and the wheel end actuator (RWA) maintain mechanical linkage, ensuring that the steering control right is completely handed over to the driver operation.

[0060] If the silence instruction is identified as valid, the silence instruction is responded to, and the current vehicle speed and steering wheel rotation speed are obtained, so as to subsequently determine whether the steering wheel enters the silence mode, and to realize stable control of the steering wheel in the intelligent driving process. It should be noted that the specific obtaining manner of the vehicle speed and the steering wheel rotation speed is not limited in the embodiments of the present application. Those skilled in the art should understand that the collection of these parameters can adopt conventional detection means such as a wheel speed sensor, a steering angle sensor, or other equivalent measurement technologies (such as vehicle speed calculation based on inertial navigation, visual recognition of steering angle detection, etc.). The above technical means all belong to mature technologies in the field of vehicle control, and the present application will not expand on this.

[0061] S102, at least based on the current vehicle speed, it is determined in real time whether to control the steering wheel to enter the silence mode.

[0062] In the embodiments of the present application, as shown in Figure 2 , after the ADAS system determines to enter the intelligent driving mode, the HWA first determines the current vehicle speed in real time. When the current vehicle speed is in a suitable range of the steering wheel silence and storage mode, it is further determined in real time whether the driver is in the takeover state. Specifically, as shown in Figure 3 , when the HWA detects that the current vehicle speed is less than a preset first threshold (for example, 15 kph), it is determined that the vehicle speed is in a reasonable range in which the silence function can be started, and then steering operation information is obtained in real time, including but not limited to the steering force (TAS hand force) input by the driver and the steering wheel rotation speed. Based on these information, the HWA determines in real time whether to control the steering wheel to enter the silence mode: if the steering force is less than a second threshold and the steering wheel rotation speed is less than a third threshold, it is identified that the driver does not take over the steering wheel, and it is determined to control the steering wheel to enter the silence mode. Through the multi-determination mechanism, the embodiments of the present application can ensure the driving safety and reliability through hierarchical verification, prevent false triggering while meeting the activation conditions of the steering wheel silence function, and ensure that the driver can take over the control right in time when necessary. In some embodiments, the determination process can be executed in a preset period to ensure real-time response to driving intention.

[0063] Figure 4 b shows a flowchart of the steering wheel entering the second non-silence mode provided by an embodiment of the present application, as shown in Figure 4As shown in FIG. b, when the HWA detects that the current vehicle speed is greater than or equal to the fourth threshold value, it is determined that the current vehicle speed is not within the appropriate range of the steering wheel mute and storage mode, and then the steering wheel is controlled to enter the preset second non-mute mode (i.e., non-mute mode B). In this mode, the driving system completely follows the working logic of the traditional EPS (Electric Power Steering System): the steering wheel actuator (HWA) and the wheel end actuator (RWA) remain in real-time mechanical linkage, maintaining the standard steering transmission ratio and force feedback characteristics, ensuring that the ADAS system can respond to the driver's steering input request in real time, providing seamless transition for manual takeover. At the same time, by maintaining the complete force transmission chain of the steering system, it not only meets the requirements of steering accuracy at high speed, but also provides the driver with the expected road feel and control feedback, fully guaranteeing driving safety and natural human-computer interaction.

[0064] S103, when it is determined to control the steering wheel to enter the mute mode, record the steering angle change amount of the steering wheel.

[0065] In this step, it includes obtaining a first current steering angle of the steering wheel; after a preset time interval, obtaining a second current steering angle of the steering wheel; calculating the difference between the first current steering angle and the second current steering angle to obtain the steering angle change amount. Specifically, as shown in FIG. Figure 3 In the embodiments of the present application, the HWA obtains the steering angle value of the steering wheel at the current time through the steering angle sensor (TAS) as the initial reference angle (i.e., the first current steering angle), and during the mute mode operation, when detecting that the driver applies a steering operation, the HWA calculates the angle deviation value between the real-time steering angle value output by the TAS (i.e., the second current steering angle) and the initial reference angle, thereby accurately obtaining the real-time TAS angle change amount of the steering wheel (i.e., the steering angle change amount).

[0066] S104, determining a target torque based on the current vehicle speed, the steering wheel speed, the steering angle change amount, and a preset parameter correspondence relationship.

[0067] The parameter correspondence relationship includes a damping coefficient correspondence relationship, a spring force correspondence relationship, and a torque upper limit correspondence relationship. The damping coefficient correspondence relationship and the spring force correspondence relationship are both two-dimensional dynamic correspondence relationships defined based on the steering angle change amount and the vehicle speed. The torque upper limit correspondence relationship is a dynamic correspondence relationship defined based on the vehicle speed. In this step, it includes determining the damping coefficient and the spring force through the damping coefficient correspondence relationship and the spring force correspondence relationship, respectively, based on the steering angle change amount and the current vehicle speed; multiplying the damping coefficient and the steering wheel speed to obtain the damping force; determining the torque upper limit through the torque upper limit correspondence relationship based on the current vehicle speed; and determining the target torque based on the damping force, the spring force, and the torque upper limit.

[0068] Specifically, in the embodiment of the present application, the corresponding damping coefficient is searched in the preset two-dimensional damping coefficient lookup table according to the TAS angle change amount and the vehicle speed, and the corresponding elastic force is searched in the preset two-dimensional elastic force lookup table according to the TAS angle change amount and the vehicle speed, and the elastic force is initially limited. The damping coefficient is a parameter related to the system characteristics, which can reflect the damping force generated by the HWA system per unit speed. The elastic force reflects the restoring force or holding force required by the HWA system at a specific position or angle, which is used to ensure that the steering wheel can be kept stable at a specific angle, or restored to the neutral position when needed. In the embodiment of the present application, to ensure the stability and safety of the steering system, the elastic force value will be limited within a certain range to ensure that it does not exceed the reasonable range. In the embodiment of the present application, the preset two-dimensional lookup table is used to store the parameter correspondence. Specifically, the above lookup table is based on experimental and simulation data, and the HWA system damping coefficient and elastic force parameters corresponding to different vehicle speeds and TAS angle change amounts are pre-established to ensure the dynamic stability and response performance of the system. It should be noted that the two-dimensional lookup table used in the embodiment of the present application is only an example of a parameter correspondence, and in other embodiments, the above parameter correspondence can also be determined based on a parameterized mathematical model or a machine learning model, etc.

[0069] Then, the damping coefficient is multiplied by the steering wheel speed to obtain the damping force, which is initially limited, and the direction of the damping force is always opposite to the direction of the steering wheel movement, which can effectively suppress unnecessary movements such as shaking and abnormal shaking of the steering wheel, thereby significantly improving driving stability and comfort. Similarly, to ensure the stability and safety of the steering system, the damping force will be limited within a certain range. In addition, in the embodiment of the present application, the steering wheel speed will also be filtered (such as low-pass filtering), to eliminate the interference of signal jump on the calculation of the damping force.

[0070] The limited damping force and the elastic force are superimposed to obtain the reference torque, which reflects the torque size expected by the HWA system for the steering wheel motor to output under the current working condition, and is used to guide the development of subsequent control strategies.

[0071] After obtaining the reference torque, the reference torque is subjected to secondary amplitude limiting based on a torque upper limit to obtain a target torque. The torque upper limit refers to a maximum holding torque threshold allowed by the vehicle steering system at a specific vehicle speed, which is used to ensure that the steering system does not apply excessive torque in any case, thereby avoiding unnecessary burden on the steering mechanism of the vehicle or the driver. In the embodiments of the present application, the corresponding torque upper limit is obtained in the preset torque upper limit query table according to the current vehicle speed. The torque upper limit query table is a preset table that stores the corresponding torque upper limit values at different vehicle speeds. This query table is generated through experimental or simulation data to ensure that the torque output of the steering system is within a safe and reasonable range at various vehicle speeds. The target torque is used to control the output of the steering wheel motor, and the target torque is obtained by subjecting the reference torque to secondary amplitude limiting, which ensures that the driving demand is met in actual application and the safety threshold of the system is not exceeded.

[0072] S105, control the steering wheel based on the target torque to keep it stationary.

[0073] In this step, the HWA accurately calculates and adjusts the target torque in real time, and controls the steering wheel motor to output the target torque, so that the steering wheel remains stationary in the intelligent driving mode, avoiding the steering wheel from rotating or shaking due to vehicle steering operation. This not only ensures that the state of the steering wheel when the driver takes over is close to that when the power is first turned on, avoiding interference with the driver's direction judgment, but also prevents the potential danger to the driver caused by the rapid rotation of the steering wheel in the traditional EPS vehicle in emergency avoidance, thereby significantly improving the safety and comfort of driving.

[0074] It should be emphasized that the steering wheel control method proposed in the present application can be applied to L2 and above automatic driving modes. The embodiments of the present application take L3 intelligent driving mode as a typical application scenario, but this should not be regarded as a limitation on the application range of the technical solutions of the present application. Specifically, when the ADAS system determines that the vehicle enters the L2 and above automatic driving mode, it will immediately send a mute instruction to the steering wheel actuator (HWA). The HWA receives the mute instruction from the ADAS system and responds to the instruction to make the steering wheel enter a mute mode, in which the steering wheel no longer shakes or deviates due to road bumps or steering wheel rotation, thereby effectively avoiding unnecessary movement of the steering wheel during automatic driving that interferes with the driver, significantly improving system reliability and ride comfort.

[0075] An embodiment of this application provides a steering wheel control method, comprising: responding to a silence command issued by a driving assistance system, acquiring the current vehicle speed and steering wheel rotation speed; determining in real time, at least based on the current vehicle speed, whether to control the steering wheel to enter a silence mode; when it is determined that the steering wheel should enter a silence mode, recording the change in steering wheel angle; determining a target torque based on the current vehicle speed, steering wheel rotation speed, change in steering angle, and a preset parameter correspondence; and controlling the steering wheel based on the target torque to keep it stationary. Thus, in this embodiment, by accurately determining whether to control the steering wheel to enter a silence mode based on vehicle speed and steering wheel rotation speed conditions, the steering wheel control strategy can be dynamically adjusted according to the actual driving state of the vehicle, ensuring that the silence mode is activated at the appropriate time. When the silent mode is activated, the target torque is dynamically calculated based on the change in steering angle and the relationship between preset parameters. By applying this target torque to the steering wheel, the steering wheel is kept stable in silent mode. This effectively avoids the interference of the steering wheel's following characteristics on the driver's sense of direction in traditional EPS vehicles in intelligent driving mode. At the same time, it solves the problem of rapid steering wheel rotation that may occur in traditional EPS vehicles when emergency obstacle avoidance, preventing potential injuries to the driver due to steering wheel kicking, and significantly improving driving safety and driving experience.

[0076] Furthermore, in this embodiment, when the ADAS system determines that the vehicle has entered the intelligent driving mode, the steering wheel not only remains stationary in the silent mode but also activates the intelligent storage function. However, in other embodiments, if the L2 level autonomous driving mode is used as the application scenario, when the ADAS system determines that the vehicle has entered the L2 level autonomous driving mode, the steering wheel only remains stationary in the silent mode without activating the storage function. This is because the intelligent driving mode belongs to the L3 level autonomous driving mode. In L3 or higher levels of autonomous driving, the driver assistance system has full driving capabilities and can fully take over the vehicle's driving control tasks, thereby allowing the driver to completely free their hands in these modes. In L2 level autonomous driving mode, although the driver assistance system can provide a certain degree of driving assistance, such as adaptive cruise control and lane keeping assist, the driver still needs to be ready to take over vehicle control at any time. Therefore, in this mode, the steering wheel only remains stationary after entering the silent mode without activating the intelligent storage function, which can avoid the interference to the driver caused by the steering wheel's following characteristics in the intelligent driving mode of traditional EPS vehicles, and also ensure that the driver can quickly and easily regain control of the vehicle.

[0077] like Figure 3 As shown, before recording the change in steering angle of the steering wheel, this embodiment of the application further includes: disabling the following function between the steering wheel and the wheel; obtaining the current position of the steering wheel; and, based on the current position and a preset control algorithm, controlling the ESC motor to drive the steering wheel to move and retract it to a preset position.

[0078] In the adjustment process, the HWA system identifies the current position information according to the Hall signal feedback by the motor. The Hall signal is a signal that can reflect the position and motion state of the motor. By monitoring the Hall signal in real time, the HWA system can accurately know the current position of the steering wheel and the motion state of the motor.

[0079] Finally, the HWA system stores the steering wheel to the preset position (e.g. instrument panel) required for silence through a closed-loop angle control algorithm. The closed-loop control algorithm is an algorithm that can adjust the control strategy in real time according to the feedback signal, which can ensure that the steering wheel always stays on the correct path during the storage process and finally accurately reaches the preset silent position. This process ensures the stability and reliability of the entire storage process through accurate control signal output, real-time feedback and adjustment.

[0080] In the intelligent driving mode, the driver's hands are usually not on the steering wheel. If the steering wheel is still in the traditional position and is active, once the vehicle needs to perform emergency avoidance operation, the steering wheel may cause accidental injury to the driver's hands or other body parts due to rapid rotation, such as "hand beating" phenomenon. In addition, the rapid rotation of the steering wheel of the traditional EPS vehicle during emergency avoidance may also cause the driver to lose balance or misoperation, further increasing the safety risk. Therefore, the embodiments of the present application store the steering wheel to the preset silent position, not only saving the space in the cockpit, improving the driving comfort and interior appearance, but also enhancing the safety in the intelligent driving mode and reducing the potential harm to the driver in emergency situations.

[0081] After detailing the control method of the embodiments of the present application for controlling the steering wheel to enter the silent mode, the embodiments of the present application further provide a steering wheel control method, device and vehicle matched therewith. The method can accurately identify the driver's intention to take over when the steering wheel is in the silent mode, and control the steering wheel to exit the silent mode accordingly. The specific implementation of this steering wheel control method will be described in detail below.

[0082]

[0083] Figure 6 ​Fig. 5 shows a flowchart of a steering wheel control method according to an embodiment of the present application. It should be noted that Figure 6 The steps shown are further expanded on the basis of the flowchart shown. Figure 1 The steps shown are further expanded on the basis of the flowchart shown. Figure 6 As shown in Fig. 5, a steering wheel control method comprises the following steps:

[0084] S201, when the steering wheel is in a silent mode, real-time steering operation information is acquired, the steering operation information comprising a steering force input by a driver to the steering wheel and a steering wheel speed.

[0085] In this step, the embodiments of the present application continuously monitor and acquire steering operation information in real time through the HWA system when the steering wheel is in a silent mode. The information includes the steering force input by the driver to the steering wheel (i.e., TAS hand force) and the steering wheel speed (i.e., TAS speed). In the subsequent steps, the steering operation information is used to accurately and in real time determine whether the driver has the intention to take over the steering wheel. This not only improves the safety and comfort of driving, but also ensures a smooth transition when switching between automatic driving and manual driving mode. It should be noted that the specific acquisition method of the steering operation information is not limited in the embodiments of the present application. Those skilled in the art should understand that the collection of these parameters can be obtained by using a torque and angle sensor (TAS). This sensor can measure torque and angle at the same time, and calculate the speed through the angle signal. In addition, a torque sensor (TOS) can be used in combination with an angle sensor to indirectly calculate the speed, or a photoelectric sensor, a magneto-electric sensor, etc. can be used to directly measure the speed. In some embodiments, a data fusion method can also be used to combine multiple sensor data to improve the accuracy and reliability of the measurement. The above technical means all belong to mature technologies in the field of vehicle control, and the present application will not expand on this.

[0086] S202, when the steering operation information exists, a warning information is issued, and subsequent steering operation information is recorded as exit confirmation information.

[0087] In this step, when any one of the steering force and the steering wheel speed is greater than a preset silent threshold, it is determined that there is steering operation information, indicating that the driver is operating the steering wheel. This operation can be a manual driving operation in which the driver consciously takes over the control of the vehicle, or it can be a non-active operation caused by accidental touch or other interference factors. In the embodiments of the present application, the driver consciously taking over the steering wheel is taken as an example for illustration, as shown in Figure 2 When it is determined that there is steering operation information, it is recognized that the driver takes over the steering wheel, and then enters a warning prompt mode (i.e., enters the exit silent mode A), as shown in Figure 5As shown, in this mode, the HWA system sends a warning information to the driver to remind the driver to release the steering wheel, and continues to monitor the subsequent steering operation information to further determine the real operation intention of the driver based on the subsequent steering operation information as the exit confirmation information.

[0088] The HWA system can send the warning information to the driver through conventional means such as visual warning (e.g., displaying prompt information through the vehicle instrument panel), auditory warning (e.g., issuing a sound alarm or voice prompt through the vehicle audio system), and tactile warning (e.g., transmitting tactile feedback to the driver through seat vibration or steering wheel vibration), etc. It should be noted that the above warning methods are widely used in the art, and the embodiments of the present application do not make specific limitations thereon. In other embodiments, different vehicle configurations and application scenarios can be flexibly selected and combined to ensure that the driver can timely and clearly receive the warning information and make corresponding operations.

[0089] S203, when it is determined that the exit confirmation information meets the preset condition, performing a preset reset operation on the steering wheel and releasing the idle state thereof.

[0090] It can be understood that if the above steering operation information is generated by non-active operation due to the driver unintentionally touching the steering wheel, the driver will terminate the steering operation behavior on the steering wheel after receiving the warning information, and then the steering force and the steering wheel speed detected by the HWA system will be reduced to below the preset silent threshold. Therefore, in this step, if the steering force is less than the first threshold value and the steering wheel speed is less than the second threshold value, it is determined that the steering wheel is not in the driver's real intention, and then it is determined that the steering wheel is in the non-driver takeover state, and the steering wheel is controlled to maintain the silent mode and stop sending the warning information, so as to avoid continuous interference to the driver and reduce unnecessary energy consumption.

[0091] In the embodiments of the present application, the driver consciously takes over the steering wheel, so that the driver will not terminate the steering operation behavior on the steering wheel after receiving the warning information. At this time, the steering force and / or the steering wheel speed detected by the HWA system will not be reduced to below the preset silent threshold. Therefore, in this step, if the steering force is greater than or equal to the second threshold value, or the steering wheel speed is greater than or equal to the second threshold value, it is preliminarily determined that the driver's real intention is to take over the steering wheel, and it is preliminarily determined that the steering wheel is in the driver's takeover state. The embodiments of the present application can effectively reduce the false triggering probability caused by single sensor noise or instantaneous interference by fusing the steering force and the steering wheel speed to identify the driver's takeover state.

[0092] When it is preliminarily determined that the steering wheel is in the driver takeover state, a mode of exiting execution (a mode of exiting silence B) is entered, in which the embodiments of the application further determine the driver takeover state of the steering wheel. Only when the preset condition is met, it is finally determined that the steering operation information of the steering wheel is generated from the real operation intention of the driver, and a subsequent control strategy is executed accordingly. For example, Figure 3 As shown in FIG. 21, when the steering wheel is in the warning prompt mode, if the steering wheel is in the driver takeover state for a preset time threshold, or the steering force is greater than or equal to a third threshold, or the steering wheel speed is greater than or equal to a fourth threshold, it is determined that the preset condition of the exit confirmation information is met, wherein the third threshold is greater than the first threshold, and the fourth threshold is greater than the second threshold.

[0093] Specifically, when it is detected that the steering wheel is in the driver takeover state for a preset time threshold, or the steering force is greater than a preset operation threshold, or the steering wheel speed is greater than a preset operation threshold, it is determined that the preset condition of the exit confirmation information is met, indicating that the driver is actively operating the steering wheel, and the takeover of the steering wheel into the manual driving mode is the real intention of the driver. The HWA system immediately performs a preset reset operation on the steering wheel and releases its static state, and switches to the normal driving mode, so that the driver can fully take over the control of the vehicle.

[0094] In the embodiments of the application, when it is detected that the TAS hand force or the TAS speed is greater than a preset threshold, or the steering wheel is in the driver takeover state for a preset time threshold, the vehicle is first stopped at low speed to ensure that the vehicle is in a safe state for subsequent steering wheel reset operation, so that the state of the vehicle is very close to the initial state when the power is turned on, which can significantly reduce the possibility of accidents when the driver takes over the intelligent driving mode, thereby effectively reducing the safety risk when the driver takes over the intelligent driving. Specifically, the low-speed stop and the angle alignment operation ensure that the vehicle is in a stable and predictable state when the driver takes over, avoiding potential dangers caused by high vehicle speed or abnormal steering wheel position, and improving the safety of the takeover process and the overall driving experience.

[0095] When the reset operation of the steering wheel is performed, the HWA system first restores the following function between the HWA and the RWA, and then adjusts the movement of the electric steering motor through a PWM (pulse width modulation) control signal, and monitors the real-time position and state of the motor by using the Hall signal fed back by the electric steering motor. Through the position closed-loop control algorithm, the movement of the electric steering motor can be accurately controlled, so as to restore the steering wheel to the extension and angle positions before storage.

[0096] Meanwhile, the alignment between the HWA and the RWA is completed by the up-conversion motor, which includes: obtaining the current rack position as a reference position; obtaining the current rotation angle of the steering wheel in real time; calculating the theoretical rack displacement based on the current rotation angle and the preset transmission ratio relationship; adjusting the current rotation angle of the steering wheel based on the reference position and the preset closed-loop control algorithm, so that the calculated theoretical rack displacement is consistent with the reference position.

[0097] Specifically, the rack position can be obtained by high-precision position sensors installed in the steering system, which can monitor the lateral movement position of the rack in real time. Taking the current rack position as the reference position can provide a reference for subsequent alignment operations and ensure that the rotation angle of the steering wheel can accurately reflect the steering angle of the wheels. The current rotation angle of the steering wheel can be obtained by an angle sensor installed on the steering wheel shaft. Based on the current rotation angle and the preset transmission ratio relationship, the theoretical rack displacement can be calculated. The transmission ratio is the proportional relationship between the rotation angle of the steering wheel and the displacement of the rack, which is preset according to the design parameters of the vehicle. Then, by comparing the difference between the actual rack displacement and the theoretical rack displacement, and adjusting the current rotation angle of the steering wheel according to the difference, the actual rack displacement is as close to the theoretical value as possible. In the automatic driving mode, the indication of the steering wheel is consistent with the actual steering state of the wheels, so that when the driver needs to take over the control of the vehicle, the steering state of the vehicle can be accurately perceived, thereby realizing smooth and safe mode switching.

[0098] It should be noted that the above-mentioned methods of obtaining the rack position and the rotation angle of the steering wheel, as well as the specific method of alignment, are all conventional technical means in the art. The obtaining methods and alignment methods in the embodiments of the present application are not limited specifically, and can be selected and optimized according to different vehicle configurations and design requirements.

[0099] Subsequently, the HWA system restores the steering wheel to the extension and angle position before storage by the electric adjustment motor, and in other embodiments, if the L2 level automatic driving mode is applied as the application scenario, since the steering wheel only maintains a stationary state in the silent mode without starting the storage function, it is not necessary to move the steering wheel to the position before storage, but the alignment operation between the HWA and the RWA is still required to avoid steering deviation during mode switching and improve the smoothness of the control right transfer.

[0100] After the steering wheel completes the reset operation, the HWA system immediately sends a silent exit completion flag to the bus system of the vehicle, indicating that the steering wheel has recovered from the silent mode to the normal operation state. Thereafter, if the silent function of the steering wheel is to be activated again, the ADAS system must re-initiate the silent request. In the embodiments of the present application, the human-machine interface (HMI) of the vehicle also displays a prompt information to the driver, informing him that the silent operation has successfully exited.

[0101] At this time, the steer-by-wire system will allow the steering request of the driver to be responded, and the silent function of the steering wheel is turned off, and the steering wheel torque is restored to the normal driving state. This process includes canceling the control of the steering wheel based on the preset torque to release its static state. In the steering wheel control method provided in the present application, when the steering wheel is in the silent mode, the ADAS system controls the second motor to enter the silent working state, and the second motor continuously outputs the preset torque to the steering wheel in the silent working state. The preset torque is a torque opposite to the steering operation of the vehicle, so as to offset the influence of the steering system of the vehicle on the steering wheel, so that the steering wheel remains in a static state in the automatic driving mode, and unnecessary rotation or vibration of the steering wheel due to the steering operation of the vehicle is avoided. Not only the safety and comfort of driving are improved, but also the interference to the driver is reduced, and the stability and reliability of the steering wheel in the automatic driving mode are ensured. The preset torque can be determined based on the current vehicle speed, steering wheel speed, steering angle change amount and preset parameter query table. Specifically, the HWA system determines the preset torque to be output in the current state based on the preset torque determination algorithm according to the real-time monitored parameters.

[0102] Meanwhile, the second motor returns to the normal working state. In the working state, when the driver performs the steering operation on the steering wheel, the second motor calculates and outputs the corresponding steering torque according to the force applied by the driver on the steering wheel through the preset control algorithm, so as to provide normal steering force feeling, and ensure that the driver can feel the same steering feedback as in the traditional driving mode when taking over the control of the vehicle, so as to realize smooth and natural mode switching, and improve the safety and comfort of driving. Subsequently, the driver can switch to the normal driving mode by stepping on the brake or the accelerator, so as to continue the manual driving operation.

[0103] The steering wheel control method provided in the embodiment of the present application can acquire steering operation information in real time when the steering wheel is in the silent mode, the steering operation information including the steering force input by the current driver to the steering wheel and the steering wheel speed; when the steering operation information exists, warning information is sent, and subsequent steering operation information is recorded as exit confirmation information; when it is determined that the exit confirmation information meets preset conditions, a preset reset operation is performed on the steering wheel, and the silent state of the steering wheel is released. In this way, in the embodiment of the present application, the operation intention of the driver can be accurately monitored and responded in real time, so that smooth and safe switching between the automatic driving mode and the manual driving mode can be realized, and potential risks caused by mode switching can be effectively reduced. At the same time, the warning information is sent to remind the driver to terminate the steering wheel takeover operation, and the reset operation is performed after the takeover intention of the driver is confirmed, so that the driver can obtain clear feedback and stable driving experience when taking over the vehicle, which not only improves the safety of driving, but also optimizes the comfort and convenience of driving.

[0104] As shown in Figure 7 The steering wheel control device provided in the embodiment of the present application includes:

[0105] The first acquisition module 401 is configured to acquire steering operation information in real time when the steering wheel is in the silent mode, the steering operation information including the steering force input by the current driver to the steering wheel and the steering wheel speed.

[0106] The determination module 402 is configured to determine whether to control the steering wheel to exit the silent mode based on the steering operation information.

[0107] The first exit module 403 is configured to send warning information when it is determined to control the steering wheel to exit the silent mode, until it is determined to control the steering wheel to enter the silent mode.

[0108] The second exit module 404 is configured to perform a preset reset operation on the steering wheel and release the silent state of the steering wheel when it is determined that the steering operation information meets preset conditions.

[0109] Figure 8 The structure of the vehicle provided in the embodiment of the present application is shown.

[0110] The vehicle can include a processor 601 and a memory 602 in which computer program instructions are stored.

[0111] Specifically, the processor 601 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured as one or more integrated circuits that implement the embodiments of the present application.

[0112] The memory 602 can include mass storage for data or instructions. As an example and not by way of limitation, the memory 602 can include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc (e.g., a compact disc (CD) or a digital versatile disc (DVD)), a solid-state drive (SSD), a USB drive, or a combination of two or more of these. Where appropriate, the memory 602 can include removable or non-removable (or fixed) media, where appropriate. The memory 602 can be internal or external to the integrated gateway disaster recovery appliance. In particular embodiments, the memory 602 is non-volatile, solid-state memory.

[0113] In particular embodiments, the memory 602 can include read-only memory (ROM), random-access memory (RAM), a disk storage medium, an optical storage medium, a flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (by one or more processors), is operable to

[0114] The processor 601 implements the steering wheel control method in any of the above embodiments by reading and executing computer program instructions stored in the memory 602.

[0115] In one example, the vehicle can also include a communication interface 603 and a bus 610. Where, as shown, the processor 601, the memory 602, the communication interface 603 are connected through the bus 610 and complete the communication between each other. Figure 8

[0116] The communication interface 603 is mainly used to realize the communication between each module, device, unit and / or equipment in the embodiments of the application.

[0117] ​Bus 610 includes hardware, software, or both, to couple electronic devices to each other in a communication. By way of example, and not limitation, the bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel 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 (VLB) bus, or another suitable bus or a combination of two or more of these. Where appropriate, bus 610 can include one or more buses. Although the example embodiments described and illustrated herein relate to a particular bus, the application contemplates any suitable bus or interconnect.

[0118] The electronic device can perform the steering wheel control method in the embodiments of the application, thereby realizing the steering wheel control method and device described in combination Figure 1 and Figure 7 with the above embodiments.

[0119] In addition, in combination with the steering wheel control method in the above embodiments, the embodiments of the application can provide a computer readable storage medium to realize. The computer readable storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to realize any one of the steering wheel control methods in the above embodiments.

[0120] In combination with the steering wheel control method in the above embodiments, the embodiments of the application can provide a computer program product, instructions in the computer program product are executed by a processor of an electronic device, so that the electronic device executes the steering wheel control method in any one of the above.

[0121] In combination with the steering wheel control method in the above embodiments, the embodiments of the application can provide a vehicle to realize. The vehicle includes at least one of the following: the steering wheel control device as above; the computer readable storage medium as above; the computer program product as above; the processor and the memory having computer program instructions stored; the processor executes the computer program instructions to realize the steering wheel control method in any one of the above.

[0122] It needs to be clear that the application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the application.

[0123] The functional blocks shown in the structural block diagrams above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, functional cards, and the like. When implemented in software, the elements of the present application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium, or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine-readable medium" includes any medium that can store or transport information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and the like. The code segments can be downloaded via computer networks such as the Internet, intranets, and the like.

[0124] It is also noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the steps mentioned above, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be performed simultaneously.

[0125] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer program instructions can also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other processing devices to operate in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks. The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer program instructions can also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other processing devices to operate in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks.

[0126] The above is merely a specific implementation of the present application. As can be clearly understood by a person skilled in the art from the above description, for the convenience and brevity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described herein again. It should be understood that the protection scope of the present application is not limited in this way, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered in the protection scope of the present application.

Claims

1. A steering wheel control method, characterized in that, The method includes: When the steering wheel is in silent mode, real-time steering operation information is obtained, including the steering force and steering wheel speed input by the current driver. When the steering operation information exists, a warning message is issued, and subsequent steering operation information is recorded as exit confirmation information; When the exit confirmation information is determined to meet the preset conditions, a preset reset operation is performed on the steering wheel, and its stationary state is released.

2. The steering wheel control method according to claim 1, characterized in that, The method further includes: If the steering force is less than a first threshold and the steering wheel speed is less than a second threshold, then the steering wheel is determined to be in a non-driver-controlled state, the steering wheel is controlled to maintain the silent mode, and the warning message is stopped. Otherwise, the steering wheel is determined to be in driver-controlled mode.

3. The steering wheel control method according to claim 2, characterized in that, The method includes: When the steering wheel is in the driver takeover state for a preset time threshold, or the steering force is greater than or equal to a third threshold, or the steering wheel speed is greater than or equal to a fourth threshold, it is determined that the exit confirmation information meets the preset conditions, where the third threshold is greater than the first threshold and the fourth threshold is greater than the second threshold.

4. The steering wheel control method according to claim 1, characterized in that, The preset reset operation on the steering wheel includes: Obtain the current position of the steering wheel; Based on the current position and the preset first control algorithm, the steering wheel is moved and restored to the preset position by controlling the first motor.

5. The steering wheel control method according to claim 1, characterized in that, The preset reset operation on the steering wheel further includes: Get the current rack position and use it as a reference position; The current rotation angle of the steering wheel can be obtained in real time; Based on the current rotation angle and the preset transmission ratio, calculate the theoretical rack displacement; Based on the reference position and the preset closed-loop control algorithm, the current rotation angle of the steering wheel is adjusted so that the calculated theoretical rack displacement is consistent with the reference position.

6. The steering wheel control method according to claim 1, characterized in that, The process of releasing it from its static state includes: Cancel the control of the steering wheel based on the preset torque to release it from its stationary state; When the steering wheel is in the stationary state, the second motor is in a silent working state and outputs the preset torque to the steering wheel to control the steering wheel. The preset torque is determined based on the current vehicle speed, the steering wheel speed, the change in steering angle, and a preset parameter lookup table.

7. The steering wheel control method according to claim 6, characterized in that, After performing a preset reset operation on the steering wheel and releasing it from its stationary state, the method further includes: Restore the following function between the steering wheel and the wheels; Control the second motor to enter normal operating state; When the second motor is in the normal operating state, when the second motor detects that the driver is turning the steering wheel, it calculates and outputs the corresponding steering torque according to the force applied by the driver to the steering wheel through a preset control algorithm.

8. The steering wheel control method according to claim 1, characterized in that, After performing a preset reset operation on the steering wheel and releasing it from its stationary state, the method further includes: Send a message to the driver assistance system that it has exited silent mode; When a preset operation command is received from the driver, the system switches to normal driving mode and receives the steering request input by the driver. In response to the steering request, the steering wheel is controlled based on the steering request.

9. A steering wheel control device, characterized in that, The device includes: The first acquisition module is used to acquire steering operation information in real time when the steering wheel is in silent mode. The steering operation information includes the steering force and steering wheel speed input by the current driver to the steering wheel. The judgment module is used to determine, based on the steering operation information, whether to control the steering wheel to exit the silent mode; The first exit module is used to issue a warning message when it is determined that the steering wheel should exit the silent mode, until it is determined that the steering wheel should enter the silent mode. The second exit module is used to perform a preset reset operation on the steering wheel and release its stationary state after determining that the steering operation information meets the preset conditions.

10. A vehicle, characterized in that, The vehicle includes: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the steering wheel control method as described in any one of claims 1-8.

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