Steering wheel state control method and device in automatic parking process and vehicle

Abstract

The invention relates to the technical field of vehicle automatic parking, and discloses a steering wheel state control method and device in the automatic parking process and a vehicle. The control method is applied to the vehicle with a steering wheel state control mechanism and comprises the steps that in response to an automatic parking instruction, when an automatic parking system takes over vehicle steering control, a steering wheel state signal used for representing the stress state of a steering wheel is obtained; determining whether a steering wheel is in a stress state allowing state switching or not based on the steering wheel state signal; and when the steering wheel is in the stress state allowing state switching, a steering wheel state control mechanism is controlled, so that the steering wheel is switched to the target state from the current state. Effective constraint is applied to the triggering time of state switching of the steering wheel, state switching is prevented from being executed under the condition that the steering wheel is still subjected to manual or external force, and the safety and reliability of the state control process of the steering wheel are improved.

Description

Technical Field

[0001] This application relates to the field of automatic parking technology, such as a steering wheel state control method and device, and a vehicle, during automatic parking. Background Technology

[0002] Currently, with the development of automatic parking technology, automatic parking systems can automatically complete vehicle steering and parking operations with minimal or no driver intervention. During automatic parking, the steering wheel is usually controlled by the automatic parking system. However, in terms of space utilization, human-machine interaction comfort, and cockpit safety, there is a growing need for automatic adjustment of the steering wheel's position. For example, the steering wheel can be folded or retracted during automatic parking to reduce its impact on the driver's space and improve the parking experience.

[0003] To address the aforementioned needs, a steering wheel folding control method has been disclosed. The system includes a folding controller, vehicle signals required for performing the folding operation, and a steering wheel folding actuator. By judging the vehicle's status, different folding steering wheel control modes are output. The control modes include three types: welcome mode, rest mode, and folding zero-point position calibration mode, thereby realizing the automatic folding or retraction of the steering wheel in a specific mode.

[0004] In the process of implementing the embodiments of this disclosure, at least the following problems were found in the related art: During automatic parking, the triggering and execution of steering wheel state switching lacks effective constraints on the current force state of the steering wheel, resulting in insufficient coordination between the timing of steering wheel state switching and the automatic parking takeover process, which in turn affects the safety and reliability of the steering wheel state control process.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0007] This disclosure provides a method, device, and vehicle for controlling the steering wheel state during automatic parking, thereby improving the reliability of the steering wheel state control process during automatic parking.

[0008] In some embodiments, the steering wheel state control method during automatic parking is applied to a vehicle equipped with a steering wheel state control mechanism; the control method includes: in response to an automatic parking command, when the automatic parking system takes over the vehicle steering control, acquiring a steering wheel state signal characterizing the force state of the steering wheel; determining, based on the steering wheel state signal, whether the steering wheel is in a force state that allows state switching; and when the steering wheel is in a force state that allows state switching, controlling the steering wheel state control mechanism to switch the steering wheel from the current state to the target state.

[0009] Thus, by acquiring a steering wheel state signal that characterizes the force state of the steering wheel when the automatic parking system takes over the vehicle steering control, and determining whether the steering wheel is in a force state that allows state switching based on the steering wheel state signal, the steering wheel state switching operation is only performed when the steering wheel is in a force state that allows state switching. This effectively avoids the problem of triggering state switching when the steering wheel is still subject to manual or external force intervention, and improves the safety and reliability of the steering wheel state control process.

[0010] Optionally, the steering wheel state signal includes a steering wheel torque signal; determining whether the steering wheel is in a force state that allows state switching based on the steering wheel state signal includes: determining whether the steering wheel torque signal is within a preset torque threshold range; if it is within the preset torque threshold range, then determining that the steering wheel is in a force state that allows state switching.

[0011] Optionally, the steering wheel state control mechanism includes a folding actuator; the steering wheel state control mechanism includes: Obtain preset execution process parameters, including the target folding rate; Based on the execution process parameters, the folding actuator is controlled to perform the steering wheel folding action.

[0012] Optionally, the execution process parameters may further include the target folding angle and the target extension / retraction stroke; During the process of controlling the folding actuator to perform the steering wheel folding action Based on the target folding angle and target extension / retraction stroke, the steering wheel is controlled to reach the folded / retracted state.

[0013] Optionally, preset execution process parameters are obtained, including: Obtain the parameter range calibrated at the factory; the parameter range includes the steering wheel's folding angle threshold, extension travel threshold, and folding rate threshold; The system receives a custom adjustment command from the human-computer interaction module and determines the target folding rate, target folding angle, and target extension stroke as the preset execution process parameters within the parameter range according to the custom adjustment command.

[0014] Optionally, the steering wheel state control method during automatic parking further includes: The determined target folding rate, target folding angle, and target extension stroke are stored. When the automatic parking command is triggered again, the stored parameters will be automatically called as preset control parameters for execution.

[0015] In this way, by presetting the parameters of the steering wheel state switching process and allowing them to be adjusted and stored within the parameter range, the steering wheel state switching process can be adapted to different driver needs and vehicle operating conditions, thereby improving the flexibility of steering wheel state control and user experience.

[0016] Optionally, before acquiring the steering wheel state signal used to characterize the steering wheel force state, the method further includes: determining whether the vehicle meets preset safety conditions; and acquiring the steering wheel state signal used to characterize the steering wheel force state if the vehicle meets the preset safety conditions.

[0017] Optionally, in the process of controlling the steering wheel state control mechanism to switch the steering wheel from the current state to the target state, the method further includes: monitoring the operating status signal of the steering wheel state control mechanism; and terminating the steering wheel state switching operation when an abnormal operating status signal is detected.

[0018] In this way, during the steering wheel state switching process, the operating status signal of the steering wheel state control mechanism is monitored, and the steering wheel state switching operation is terminated when an abnormality is detected, which reduces the risk of abnormalities or malfunctions during execution and improves the safety and stability of the steering wheel state control process.

[0019] In some embodiments, the steering wheel state control device during automatic parking includes a processor and a memory storing program instructions, the processor being configured to execute the steering wheel state control method during automatic parking as described above when running the program instructions.

[0020] In some embodiments, the vehicle includes a vehicle body; and a steering wheel state control device for automatic parking is mounted on the vehicle body.

[0021] The steering wheel state control method, device, and vehicle provided in this disclosure for automatic parking can achieve the following technical effects: By acquiring a steering wheel state signal characterizing the force applied to the steering wheel during the automatic parking system's takeover of vehicle steering control, and determining whether the steering wheel is in a permissible state-switching state based on this signal, the system executes a steering wheel state-switching operation only when the steering wheel is in such a state. This effectively constrains the timing of steering wheel state-switching, preventing it from occurring while the steering wheel is still under manual or external force, thus improving the safety and reliability of the steering wheel state control process. Furthermore, by linking the steering wheel state-switching operation to the automatic parking system's takeover of vehicle steering control, the system ensures that the steering wheel state-switching occurs at the expected time during automatic parking, enhancing the coordination between steering wheel state control and automatic parking steering control, and preventing inappropriate steering wheel state-switching timing from affecting the automatic parking process.

[0022] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0023] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein: Figure 1 This is a schematic diagram of the implementation environment of the embodiments of this disclosure; Figure 2 This is a flowchart illustrating a method for controlling the state of a steering wheel during automatic parking, as provided in an embodiment of this disclosure. Figure 3 This is a flowchart illustrating another method for controlling the steering wheel state during automatic parking provided in this embodiment of the present disclosure. Figure 4 This is a flowchart illustrating another method for controlling the steering wheel state during automatic parking provided in this embodiment of the present disclosure. Figure 5 This is a flowchart illustrating another method for controlling the steering wheel state during automatic parking provided in this embodiment of the present disclosure. Figure 6 This is a schematic diagram of a steering wheel state control device during automatic parking provided in an embodiment of this disclosure. Detailed Implementation

[0024] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0025] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0026] Unless otherwise stated, the term "multiple" means two or more.

[0027] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0028] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0029] The term "correspondence" can refer to an association or binding relationship. The correspondence between A and B means that there is an association or binding relationship between A and B.

[0030] As steer-by-wire technology matures, the steering wheel and wheels will be decoupled, transforming the car into a private space for rest, entertainment, and work, making a spacious cockpit a necessity for users. Steering wheel folding technology will transform the vehicle from a "driving tool" into a "living space," becoming a differentiating feature of high-end intelligent vehicles and gradually penetrating the mainstream market. While existing technologies offer steering wheel folding control methods, they do not cover folding control methods for parking scenarios, lack calibration methods for the folding system's adjustment angle and extension range parameters, and do not include fault detection methods for the folding system, making the folding system incomplete.

[0031] This solution provides a method for controlling the state of the steering wheel during automatic parking, enabling the steering wheel to fold and fold automatically in automatic parking scenarios.

[0032] Figure 1 This is a schematic diagram of the implementation environment of an embodiment of this disclosure. For example... Figure 1As shown, the implementation environment relates to a vehicle control system 100, including a human-machine interaction module 110, an automatic parking system control module 120, a gateway module 130, a steering wheel state control mechanism 140, and a steering wheel folding actuator module 150.

[0033] The human-computer interaction module 110 is used to receive automatic parking commands and other user input information. Automatic parking system control module 120 is used to control the automatic parking function; Gateway module 130 is used to provide vehicle status signals, such as gear position signal, vehicle speed signal, door signal, and power signal, and provides a calibration interface for calibrating the folding parameters of the steering wheel folding controller; The steering wheel status control mechanism 140, namely the steering wheel folding actuator module, is used to perform the folding steering wheel operation and provides steering wheel position signals, torque signals, motor speed and current signals.

[0034] The steering wheel folding controller 150 is used to receive signals, calculate and determine whether the steering wheel folding action has been performed and whether it has been performed in place, record fault data, and send alarm signals. This steering wheel folding controller 150, as a control module, is connected to the human-machine interface module 110, the automatic parking system control module 120, the steering wheel folding actuator module (steering wheel status control mechanism 140), and the gateway module 130 via a CAN network.

[0035] Figure 2 This is a flowchart illustrating a steering wheel state control method during automatic parking provided in an embodiment of this disclosure. This control method is applied to vehicles equipped with a steering wheel state control mechanism. In this embodiment, it is applied to… Figure 1 In the vehicle control system shown.

[0036] like Figure 2 As shown, the control methods include: Step S201: In response to the automatic parking command, when the automatic parking system takes over the vehicle steering control, a steering wheel state signal is acquired to characterize the force state of the steering wheel.

[0037] Automatic parking commands refer to control commands that are input by the driver through the vehicle's human-machine interface or generated by the vehicle's automatic parking system when preset conditions are met, used to trigger the automatic parking function.

[0038] When an automatic parking system takes over vehicle steering control, it means that the automatic parking system enters a state where it controls the vehicle's steering actuators. In this state, the steering wheel is controlled by the automatic parking system, rather than by the driver.

[0039] Steering wheel status signal refers to at least one sensing signal used to reflect the current force state of the steering wheel, such as steering wheel torque signal, and may also include steering wheel angle signal, speed signal or position signal, etc.

[0040] Here, upon detecting that an automatic parking command has been triggered, the vehicle control system further determines whether the automatic parking system has taken over the vehicle's steering control. If it is confirmed that the automatic parking system is in steering takeover mode, sensors located in the steering wheel or steering system acquire steering wheel status signals characterizing the force applied to the steering wheel, such as steering wheel torque signals acquired via a torque sensor.

[0041] In this way, by limiting the acquisition of steering wheel status signals to after the automatic parking system takes over vehicle steering control, it can be ensured that subsequent steering wheel status switching operations are consistent with the automatic parking process in terms of timing, avoiding accidental triggering of steering wheel status switching during the non-automatic parking takeover phase, thereby improving the coordination between steering wheel status control and automatic parking steering control.

[0042] Step S202: Determine whether the steering wheel is in a force state that allows state switching based on the steering wheel status signal.

[0043] The force state that allows state switching refers to a steering wheel force state determined based on the steering wheel state signal. In this state, the steering wheel is not subject to significant human or external force intervention and is suitable for performing steering wheel state switching operations.

[0044] Here, the control system determines the current force condition of the steering wheel based on the steering wheel state signal obtained in step S201. By introducing a force condition determination step before performing the steering wheel state switch, the state switch operation can be effectively avoided when the steering wheel is still under manual or external force, thereby imposing constraints on the triggering conditions of the steering wheel state switch and improving the safety and reliability of the steering wheel state switch process.

[0045] Step S203: When the steering wheel is in a force-bearing state that allows state switching, control the steering wheel state control mechanism to switch the steering wheel from the current state to the target state.

[0046] Steering wheel state control mechanism refers to the actuator used to switch the state of the steering wheel, such as a steering wheel folding actuator or a retractable actuator.

[0047] The current state refers to the state of the steering wheel before the state switch is executed, such as the driver's seat state.

[0048] The target state refers to the preset state that the steering wheel needs to switch to during automatic parking, such as the folded / retracted state.

[0049] When step S202 determines that the steering wheel is in a force state that allows state switching, the control system sends a control command to the steering wheel state control mechanism and controls the steering wheel state control mechanism to act according to the preset execution process parameters, thereby driving the steering wheel to gradually switch from the current state to the target state.

[0050] By performing the steering wheel state switching operation only when the steering wheel is in a force state that allows for state switching, it can be ensured that the steering wheel state switching is carried out under safe and controllable conditions. At the same time, the automatic switching of the steering wheel state by the steering wheel state control mechanism is beneficial to realize the automatic adjustment of the steering wheel state during automatic parking, thereby improving the space utilization and user experience during parking.

[0051] Thus, by adopting the steering wheel state control method during automatic parking provided in this embodiment, when the automatic parking system takes over the vehicle steering control, it acquires a steering wheel state signal that characterizes the force state of the steering wheel, and determines whether the steering wheel is in a force state that allows state switching based on the steering wheel state signal. The steering wheel state switching operation is only performed when the steering wheel is in a force state that allows state switching, which effectively avoids the problem of triggering state switching when the steering wheel is still subject to manual or external force intervention, and improves the safety and reliability of the steering wheel state control process.

[0052] Optionally, the steering wheel status signal includes a steering wheel torque signal; determining whether the steering wheel is in a force state that allows state switching based on the steering wheel status signal includes: Determine whether the steering wheel torque signal is within the preset torque threshold range; if it is within the preset torque threshold range, determine that the steering wheel is in a force state that allows state switching.

[0053] Here, the steering wheel torque signal can be obtained by a torque sensor located in the steering wheel shaft, steering column, or steering actuator, and is used to reflect the magnitude of the steering torque currently applied to the steering wheel.

[0054] When the automatic parking system takes over vehicle steering control, the control system acquires the steering wheel torque signal in real time and compares it with a preset torque threshold range. The preset torque threshold range can be calibrated based on the characteristics of the vehicle steering system, steering wheel structural parameters, and safety requirements, and is used to characterize the torque range in which the steering wheel is not subject to significant manual or external force intervention.

[0055] When the steering wheel torque signal is within the preset torque threshold range, the control system determines that the steering wheel is currently in a force state that allows for state switching; conversely, when the steering wheel torque signal exceeds the preset torque threshold range, it is considered that the steering wheel is still subjected to manual or external force, and the conditions for executing the steering wheel state switching are not met.

[0056] By using the steering wheel torque signal as a basis for judgment, the force state of the steering wheel can be quantitatively determined, thus providing clear and executable triggering conditions for subsequent steering wheel state switching operations.

[0057] In other embodiments, the steering wheel status signal may also include one of the following: angle change signal, steering wheel assembly signal, steering actuator load signal, steering wheel position change signal, driver contact status signal, or any combination thereof, to comprehensively characterize the current force state of the steering wheel and whether there is human or external intervention.

[0058] For example, the steering wheel status signal includes an angle change signal. Steering wheel angle or angular velocity information is acquired via an angle sensor at the steering wheel shaft or steering column. Based on the change signal of the angle or angular velocity information, it is determined whether there is a non-system-controlled change in the steering wheel angle during the automatic parking takeover phase. If the rate of change of the steering wheel angle is less than a preset threshold, it is considered that the steering wheel has not been subjected to significant manual rotation, and the steering wheel is in a force state that allows for state switching. This embodiment can be used to identify situations where the driver actively rotates the steering wheel, and is suitable for scenarios where torque signals are unavailable or insufficient in accuracy.

[0059] For example, the steering wheel status signal includes a steering wheel rotation speed signal, which can be obtained through a steering wheel rotation speed sensor or by differentiating the angle signal. The steering wheel's rotation rate per unit time is monitored; if the steering wheel rotation speed is within a preset speed threshold range, the steering wheel is determined to be in a force state where state switching is permitted. This embodiment reacts more quickly to rapid, sudden manual intervention and can serve as a supplement or alternative to torque determination.

[0060] For example, the steering wheel status signal includes steering actuator load signals, such as the current and power of the power steering motor. Current, voltage, or power signals can be obtained from the power steering motor or actuator to reflect changes in the steering system load. When the steering actuator load signal is within the normal no-load range, the steering wheel is considered to be unaffected by external interference. This embodiment is an indirect force determination method, suitable for vehicles without additional sensors.

[0061] Furthermore, at least two steering wheel state signals are acquired simultaneously, and a comprehensive judgment is made using logical AND / OR or weighted OR state machine methods. Determining whether the steering wheel is in a force state that allows state switching includes: determination based on the joint judgment result of at least two steering wheel state signals.

[0062] Optionally, the steering wheel state control mechanism includes a folding actuator; controlling the steering wheel state control mechanism includes: acquiring preset execution process parameters, the execution process parameters including a target folding rate; and controlling the folding actuator to perform a steering wheel folding action according to the execution process parameters.

[0063] Here, the folding actuator is used to drive the steering wheel to switch between the driver's seat state and the folded state. Before performing the steering wheel folding operation, the control system first acquires preset execution process parameters. These parameters define the characteristics of the steering wheel folding action, including at least a target folding rate. The target folding rate can be pre-calibrated or configured based on vehicle structural parameters, safety requirements, or user preferences, and is used to limit the speed of the folding actuator during the folding process.

[0064] After obtaining the execution process parameters, the control system generates corresponding control commands based on the execution process parameters and sends the control commands to the folding actuator to control the folding actuator to perform the steering wheel folding action according to the target folding rate.

[0065] During the steering wheel folding action performed by the folding actuator, the control system can adjust the output of the folding actuator based on the feedback signal from the folding actuator through closed-loop control to ensure that the steering wheel folding process conforms to the preset execution parameters.

[0066] The above method enables parameterized control of the steering wheel folding action, giving the steering wheel folding process clear and controllable execution characteristics.

[0067] Thus, by introducing a target folding rate as an execution process parameter during steering wheel folding, the execution speed of the steering wheel folding action can be clearly defined, avoiding folding actions that are too fast or too slow, thereby improving the controllability of the steering wheel folding process. Simultaneously, controlling the folding actuator's action according to the preset target folding rate can reduce mechanical shocks or safety risks caused by sudden speed changes during steering wheel folding, making the steering wheel state transition process smoother and improving safety and comfort.

[0068] In one embodiment, while controlling the folding actuator to perform the steering wheel folding action according to the execution process parameters, the control system can also obtain the operating status or position feedback information of the folding actuator in real time, and adjust the output of the folding actuator based on the feedback information, so that the steering wheel can smoothly complete the folding action according to the preset target folding rate.

[0069] In another embodiment, the steering wheel folding process can be divided into at least two execution stages, with different folding rates used in different execution stages, in order to reduce mechanical impact and safety risks during the folding process while ensuring folding efficiency.

[0070] Optionally, the execution process parameters also include the target folding angle and the target extension / retraction stroke; During the process of controlling the folding actuator to perform the steering wheel folding action Based on the target folding angle and the target extension / retraction stroke, control the steering wheel to achieve the folding / retraction state.

[0071] Here, the target folding angle is used to limit the rotational amplitude of the steering wheel in the folding direction, and the target extension / retraction stroke is used to limit the displacement range of the steering wheel in the extension / retraction direction. These parameters together define the folding / retraction state that the steering wheel needs to achieve during automatic parking. Using the target folding angle, target extension / retraction stroke, and target folding rate as execution process parameters helps to form a multi-dimensional collaborative control strategy, providing a foundation for introducing more complex steering wheel state control schemes in the future.

[0072] During the steering wheel folding motion controlled by the folding actuator, the control system controls the actuator's movement based on the target folding angle and target extension / retraction distance. Specifically, the control system can acquire angle and extension feedback signals from the folding actuator or steering wheel to determine the steering wheel's current folding angle and extension / retraction distance in real time, and compare them with the target folding angle and target extension / retraction distance. When the control system determines that the steering wheel's current folding angle and current extension / retraction distance are gradually approaching and reaching the target folding angle and target extension / retraction distance, it controls the folding actuator to reduce its output or stop its movement, thereby allowing the steering wheel to stably reach the folded / retracted state.

[0073] By using the target folding angle and target extension / retraction stroke as the basis for execution termination and state determination, precise control of the steering wheel folding / retraction state is achieved.

[0074] Thus, by simultaneously defining the folding and retraction movements of the steering wheel using both the target folding angle and the target extension stroke, the folding and retraction states have clear geometric and displacement boundaries, preventing the steering wheel from remaining in an uncertain state due to execution errors. Furthermore, real-time monitoring and control of the folding angle and extension stroke ensure that the steering wheel consistently reaches the same folding and retraction state across different execution cycles, improving the consistency and repeatability of steering wheel state control. As the steering wheel gradually approaches the target folding angle and target extension stroke, controlling the folding actuator to reduce output or stop the movement avoids mechanical impact or structural wear caused by overshoot, thereby improving the safety and reliability of the steering wheel folding and retraction process.

[0075] Figure 3 This is a flowchart illustrating another method for controlling the steering wheel state during automatic parking, provided in an embodiment of this disclosure. This control method is applied to vehicles equipped with a steering wheel state control mechanism. In this embodiment, it is applied to... Figure 1 The system environment shown.

[0076] like Figure 3 As shown, the control methods include: Step S301: In response to the automatic parking command, when the automatic parking system takes over the vehicle steering control, a steering wheel state signal is acquired to characterize the force state of the steering wheel.

[0077] Step S302: Determine whether the steering wheel is in a force state that allows state switching based on the steering wheel status signal.

[0078] Step S303: When the steering wheel is in a force state that allows state switching, obtain the parameter range calibrated by the factory; the parameter range includes the steering wheel's folding angle threshold, extension stroke threshold, and folding rate threshold.

[0079] Step S304: Receive a custom adjustment command from the human-computer interaction module, and determine the target folding rate, target folding angle, and target extension stroke within the parameter range according to the custom adjustment command as preset execution process parameters.

[0080] Here, obtaining the preset execution process parameters includes obtaining the parameter range calibrated by the factory and determining the specific execution process parameters within the parameter range based on the custom adjustment instructions received by the human-machine interaction module.

[0081] The control system first retrieves the factory-calibrated parameter range from the storage unit. This parameter range is calibrated at the vehicle's factory based on the steering wheel's structural characteristics, the folding actuator's performance, and safety requirements, and is used to define the value boundaries of each execution parameter during steering wheel folding. The parameter range includes the steering wheel's folding angle threshold, extension / retraction travel threshold, and folding rate threshold.

[0082] After obtaining the parameter range, the control system receives customized adjustment commands from the driver through the human-machine interface module. These customized adjustment commands instruct the driver to personalize the execution characteristics of the steering wheel folding process, such as adjusting the folding speed or the degree of folding.

[0083] The control system constrains and verifies the custom adjustment commands based on the parameter range, determines the target folding rate, target folding angle, and target extension stroke within the parameter range, and uses the determined parameters as preset execution process parameters for subsequent steering wheel folding control.

[0084] Step S305: Based on the target folding rate, control the folding actuator to perform the steering wheel folding action.

[0085] The control system generates corresponding execution control commands based on the target folding rate and sends these commands to the folding actuator to control the folding actuator to drive the steering wheel to perform the folding action according to the target folding rate. During the folding process, the control system can adjust the output power, speed, or drive frequency of the folding actuator to keep the steering wheel folding speed within the target folding rate range.

[0086] In some embodiments, the control system may also combine the feedback signal of the folding actuator to dynamically adjust the output of the folding actuator in order to achieve stable control of the folding rate.

[0087] Step S306: Based on the target folding angle and the target extension / retraction stroke, control the steering wheel to achieve the folded / retracted state.

[0088] By simultaneously using the target folding angle and target extension stroke as the basis for state determination and execution termination, the folding and retraction state has a clear spatial and displacement definition. During the process of the folding actuator performing the steering wheel folding action, the control system acquires the angle feedback signal and stroke feedback signal of the steering wheel or folding actuator in real time, and compares the acquired current folding angle and current extension stroke with the target folding angle and target extension stroke.

[0089] When the current folding angle and current extension stroke of the steering wheel are detected to reach or approach the target folding angle and target extension stroke, the control system controls the folding actuator to reduce the output or stop the action, so that the steering wheel can stably reach the folded and retracted state.

[0090] Step S307: Store the determined target folding rate, target folding angle, and target extension stroke.

[0091] Once the target folding rate, target folding angle, and target extension / retraction stroke are determined, the control system writes the parameters into a storage unit for storage. This storage unit can be a non-volatile memory within the vehicle control system, used to retain the parameters even after the vehicle is powered off or restarted.

[0092] Step S308: When the automatic parking command is triggered again, the stored parameters are automatically called as preset control parameters for execution.

[0093] When the automatic parking command is detected to be triggered again, the control system reads the target folding rate, target folding angle and target extension stroke stored in step S307 from the storage unit, and uses the read parameters as preset control parameters to directly control the folding actuator to perform the steering wheel folding operation.

[0094] In some embodiments, if the stored parameters are detected to be missing or do not meet the current operating conditions, the control system may also revert to the default parameters or re-execute the parameter determination process.

[0095] Thus, by introducing factory-calibrated parameter ranges to constrain custom adjustment commands, drivers can avoid setting execution parameters beyond safety boundaries. This ensures the safety and reliability of the steering wheel folding process while enabling flexible configuration of execution parameters. On one hand, it allows drivers to customize target folding speed, target folding angle, and target extension / retraction distance through the human-machine interface module, helping to adapt to different drivers' varying needs for folding speed, folding degree, and space allocation, thereby improving the user experience. On the other hand, limiting the determination of execution parameters to the factory-calibrated range ensures that the control strategy is both adjustable and conforms to the design constraints of the vehicle structure and actuators, which is beneficial for improving the stability and feasibility of the steering wheel state control scheme in actual vehicles.

[0096] Furthermore, by using the determined target folding rate, target folding angle, and target extension stroke as preset execution process parameters, a foundation is provided for storing these parameters and recalling them upon re-triggering automatic parking. By automatically recalling the stored execution process parameters when automatic parking is triggered again, the reuse of steering wheel state control parameters is achieved, ensuring consistent execution characteristics during steering wheel state switching, reducing repetitive setting operations for the driver, and improving the overall user experience and system response efficiency.

[0097] Figure 4 This is a flowchart illustrating another method for controlling the steering wheel state during automatic parking, provided in an embodiment of this disclosure. This control method is applied to vehicles equipped with a steering wheel state control mechanism. In this embodiment, it is applied to... Figure 1 The system environment shown.

[0098] like Figure 4 As shown, the control methods include: Step S401: In response to the automatic parking command, when the automatic parking system takes over the vehicle steering control, it is determined whether the vehicle meets the preset safety conditions.

[0099] Step S402: Under the condition that the vehicle meets the preset safety conditions, acquire the steering wheel state signal used to characterize the steering wheel force state.

[0100] Here, the control system further determines whether the vehicle currently meets the preset safety conditions. The preset safety conditions are used to constrain the execution of the steering wheel state switching operation from the perspective of the overall vehicle operating state and the execution environment.

[0101] Step S403: Determine whether the steering wheel is in a force state that allows state switching based on the steering wheel status signal.

[0102] Step S404: When the steering wheel is in a force-bearing state that allows state switching, the operation of the steering wheel state control mechanism is executed, and the steering wheel is switched from the current state to the target state.

[0103] Here, the control system acquires the steering wheel state signal only when step S402 determines that the vehicle meets the preset safety conditions, in order to execute the steering wheel state switching operation. The steering wheel state control mechanism may include a folding actuator, a telescopic actuator, or other actuators used to change the steering wheel state. By limiting the execution of the steering wheel state control mechanism to the condition that the vehicle meets the preset safety conditions, it is possible to effectively avoid triggering the steering wheel state switching operation when the vehicle state or execution environment is unsuitable, thereby reducing the safety risks caused by improper timing of state switching and improving the overall safety and system stability of the steering wheel state control process.

[0104] Thus, using the control method provided in this embodiment, the steering wheel state switching operation must simultaneously meet two conditions: force allowable and system safety, effectively avoiding safety hazards caused by triggering a single condition. By strictly limiting the execution of steering wheel state switching to scenarios where the automatic parking system has taken over and safety conditions are met, steering wheel state control and the automatic parking process are kept consistent at the system level. Furthermore, introducing a preset safety condition judgment before the execution phase helps reduce the probability of erroneous steering wheel state switching under abnormal operating conditions, improving the reliability of the overall control strategy in actual vehicles.

[0105] Optionally, the preset safety conditions include: determining, based on the vehicle's dynamic state and operating signals, that the driver has not applied any intervention force to the steering wheel.

[0106] The control system determines whether the driver has applied intervention force to the steering wheel by acquiring vehicle dynamic state signals and driver operation-related signals. Dynamic state signals may include information such as changes in vehicle steering angle and steering actuator load; operation signals may include steering wheel torque signals, driver contact state signals, or steering wheel angular velocity signals. Based on these signals, the control system determines whether there is abnormal force or active operation on the steering wheel. When the determination result indicates that the steering wheel has not been subjected to any actively applied steering force or intervention force by the driver, the preset safety condition is deemed met.

[0107] In this way, by combining the vehicle's dynamic state with the driver's operation signals, it is possible to effectively identify whether the driver is still physically controlling the steering wheel, thereby avoiding triggering the steering wheel state switching operation before the driver has released control of the steering wheel, and improving the safety of the steering wheel state control process.

[0108] Optionally, the preset safety conditions may also include: determining that the vehicle has been handed over to the automatic parking system based on the vehicle's gear position and stationary status signals.

[0109] The control system determines whether the vehicle is in the automatic parking system takeover state by acquiring the vehicle's current gear position signal and vehicle stationary status signal. When the vehicle is in the preset gear position required for automatic parking and is at low speed or stationary, it can be determined that the basic conditions for automatic parking system takeover have been met. The control system can further confirm whether the vehicle has been handed over to the automatic parking system by combining the automatic parking system's operating status indicators.

[0110] In this way, by determining the vehicle takeover status through gear position and stationary status signals, it can be ensured that the steering wheel state switching operation is only performed when the vehicle has been taken over by the automatic parking system, thereby avoiding triggering the steering wheel state switching under manual driving or non-automatic parking conditions, and improving system coordination and safety.

[0111] Optionally, the preset safety conditions may also include: determining that the vehicle is in a closed safety operation environment by using the vehicle's passenger compartment boundary signal.

[0112] The control system determines the execution environment for steering wheel state switching by acquiring boundary signals related to the vehicle's passenger compartment. Passenger compartment boundary signals may include door status signals, window status signals, seat position status signals, or seatbelt status signals, reflecting whether the passenger compartment is in a closed or restricted state. When the determination indicates that the vehicle's passenger compartment is closed or meets preset safety execution environment conditions, the control system determines that the preset safety conditions are met.

[0113] Here, by judging the state of the passenger compartment boundary, it can be ensured that the steering wheel state switching operation is carried out in a safe and controllable environment in the passenger compartment, avoiding interference or potential risks to the occupants during the folding or extension of the steering wheel, and improving the human-machine safety of the steering wheel state control process.

[0114] Furthermore, multiple conditions from the aforementioned preset safety conditions can be combined to form a multi-dimensional safety judgment mechanism. By comprehensively judging the dynamic state, gear shifting state, and passenger compartment environment state, the steering wheel state switching operation is subject to multiple safety constraints, reducing the risk of accidental triggering.

[0115] In one embodiment, the vehicle is equipped with a steering wheel folding controller for controlling the steering wheel to fold during automatic parking. The steering wheel folding function is disabled by default when the vehicle leaves the factory. The driver can manually activate the steering wheel folding function via a soft switch or physical switch in the human-machine interface module. The steering wheel folding function has a state memory function, meaning that it retains the on / off state from the previous ignition cycle after the vehicle is powered on again, eliminating the need for the driver to repeat the settings.

[0116] When the steering wheel folding controller detects that the steering wheel folding function is in the activated state, it enters the execution process of the steering wheel folding function.

[0117] First, the steering wheel folding controller detects whether the vehicle's automatic parking function is activated. When the automatic parking function is not activated, the steering wheel folding function enters standby mode and continuously monitors the activation status of the automatic parking function; when the automatic parking function is detected to be activated, the steering wheel folding function is activated and proceeds to the subsequent judgment process.

[0118] After the steering wheel folding function is activated, the steering wheel folding controller continuously monitors the vehicle's overall operating status to ensure that the steering wheel folding operation is performed under preset safety conditions. Specifically, determining whether the vehicle meets the preset safety conditions includes: The steering wheel folding controller detects whether the vehicle speed signal is less than a preset speed threshold. In this embodiment, the preset speed threshold is 3 km / h. When the detected speed is greater than or equal to the preset speed threshold, it is determined that the vehicle is in motion and the driver may be performing a steering wheel operation. At this time, the steering wheel folding function does not perform the folding action, and the vehicle speed detection continues. When the detected speed is less than the preset speed threshold, it is determined that the vehicle has stopped and the steering wheel has not been used for steering, and the process proceeds to the next judgment step.

[0119] The steering wheel folding controller detects whether the vehicle is in P (Park) to confirm whether the vehicle has been handed over to the automatic parking system by the driver. When the vehicle is not in P, it is determined that there may still be a risk of the vehicle continuing to move, the steering wheel folding function will not perform the folding action, and the gear position will continue to be monitored; when the vehicle is in P, it is determined that the driver is ready to perform a parking operation, and the system proceeds to the next judgment step.

[0120] The steering wheel folding controller continuously monitors the vehicle's power supply status to ensure normal power supply during steering wheel folding. If an abnormal power supply is detected, the steering wheel folding function will not perform the folding action and will automatically disengage; if the power supply is detected to be normal, it will proceed to the next judgment step.

[0121] The steering wheel folding controller detects whether all vehicle doors are closed to ensure that no occupants are getting in or out of the vehicle during the steering wheel folding process, thus ensuring parking safety. If an open door is detected, the steering wheel folding function will not perform the folding action and will continue to monitor the door status; when all doors are detected to be closed, it will proceed to the next judgment step.

[0122] Thus, after meeting the preset safety conditions, the steering wheel torque signal is acquired. The steering wheel folding controller continuously monitors whether the steering wheel torque signal is less than a preset torque threshold. In this embodiment, the preset torque threshold is 0.5 Nm, to determine whether the steering wheel is subjected to steering force applied by the driver or comes into contact with other obstacles. When the detected steering wheel torque is greater than or equal to the preset torque threshold, the steering wheel folding function does not perform the folding action and continues to monitor the torque; when the detected steering wheel torque is less than the preset torque threshold, it is determined that the steering wheel has not been subject to human or external force intervention, and the conditions for steering wheel folding are met.

[0123] After determining the overall vehicle status, the steering wheel folding controller controls the steering wheel folding actuator to perform the steering wheel folding operation, automatically folding the steering wheel to the target state. When the steering wheel is detected to be folded to the target state, the steering wheel folding process is considered complete, and then the automatic parking process begins. After parking is completed, the vehicle is powered off and locked.

[0124] Figure 5 This is a flowchart illustrating another method for controlling the steering wheel state during automatic parking, provided in an embodiment of this disclosure. This control method is applied to vehicles equipped with a steering wheel state control mechanism. In this embodiment, it is applied to... Figure 1 The system environment shown.

[0125] like Figure 5 As shown, the control method includes: Step S501: In response to the automatic parking command, when the automatic parking system takes over the vehicle steering control, a steering wheel state signal is acquired to characterize the force state of the steering wheel.

[0126] Step S502: Determine whether the steering wheel is in a force state that allows state switching based on the steering wheel status signal.

[0127] Step S503: When the steering wheel is in a force-bearing state that allows state switching, control the steering wheel state control mechanism to switch the steering wheel from the current state to the target state.

[0128] Step S504: Monitor the operating status signal of the steering wheel status control mechanism.

[0129] During the process of controlling the steering wheel state control mechanism to perform steering wheel state switching operations, the control system acquires the operating status signal of the steering wheel state control mechanism in real time or periodically to reflect the operating status during the steering wheel state switching process.

[0130] Operating status signals may include, but are not limited to, at least one of the following: The drive current, voltage, or power signal of the folding actuator or telescopic actuator; Feedback signals of the actuator's motion position, speed, or acceleration; The operating status indicators of the actuator, such as running, in position, stuck, or faulty; Diagnostic or abnormal detection signals related to the steering wheel status control mechanism.

[0131] The control system collects and analyzes the above-mentioned operating status signals to determine whether the steering wheel status control mechanism is in normal operating condition during the execution of the state switching operation.

[0132] Step S505: When an abnormal operating status signal is detected, the steering wheel status switching operation is terminated.

[0133] When the control system detects an abnormality in the operating status signal of the steering wheel status control mechanism based on step S504, the control system immediately sends an interrupt or stop control command to the steering wheel status control mechanism to terminate the currently executing steering wheel status switching operation.

[0134] Abnormal operating status signals may include, but are not limited to, the following situations: The actuator drive current or power exceeds the preset threshold; The actuator position or speed feedback does not match the expected execution state; The actuator shows signs of blockage, jamming, or fault diagnosis.

[0135] After the steering wheel state switching operation is terminated, the control system can also enter an abnormal handling process, such as maintaining the current steering wheel state, issuing an alarm prompt, or waiting for manual intervention.

[0136] For example, the operating status signals of the steering wheel status control mechanism include the motor speed signal and electrode current signal of the folding actuator; abnormal operating status signals include: The motor current signal exceeds the current threshold; and / or, The motor current signal is below the lower current limit, and the motor speed signal is below the lower speed limit; and / or, The motor current signal and motor speed signal are normal, but the steering wheel has not reached the set position corresponding to the target state.

[0137] By promptly terminating the steering wheel state switching operation when an abnormality is detected in the steering wheel state control mechanism, the folding or extension actions can be effectively prevented from continuing under abnormal conditions, thereby reducing the possibility of damage to the actuator or the occurrence of safety risks, and improving the safety and reliability of the steering wheel state control process.

[0138] Here, when the steering wheel fails to fold to the set position, it is determined that there may be an abnormality in the steering wheel folding system, and the steering wheel folding controller enters the fault diagnosis process. Specifically, the steering wheel folding controller detects the motor speed signal and motor current signal of the steering wheel folding actuator to determine the possible fault modes, and records the data and issues alarm prompts.

[0139] When an abnormally high or low motor speed is detected, the steering wheel folding controller records the fault code related to the motor speed and sends an alarm signal, and further continuously monitors the motor current signal; when the motor speed is detected to be within the normal range, the steering wheel folding controller combines the motor current signal to make an auxiliary judgment.

[0140] Figure 6 This is a schematic diagram of a steering wheel state control device during automatic parking provided in an embodiment of this disclosure.

[0141] Combination Figure 6 As shown in the illustration, an embodiment of this disclosure provides a steering wheel state control device during automatic parking, including a processor 600 and a memory 601. Optionally, the device may further include a communication interface 602 and a bus 603. The processor 600, communication interface 602, and memory 601 can communicate with each other via the bus 603. The communication interface 602 can be used for information transmission. The processor 600 can call logical instructions in the memory 601 to execute the steering wheel state control method during automatic parking as described in the above embodiment.

[0142] Furthermore, the logic instructions in the aforementioned memory 601 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0143] The memory 601, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this disclosure. The processor 600 executes functional applications and data processing by running the program instructions / modules stored in the memory 601, that is, it implements the steering wheel state control method during automatic parking in the above embodiments.

[0144] The memory 601 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 601 may include high-speed random access memory and may also include non-volatile memory.

[0145] This disclosure also provides a vehicle, including a vehicle body and the aforementioned steering wheel state control device for automatic parking. The steering wheel state control device for automatic parking is installed on the vehicle body. The installation relationship described herein is not limited to placement inside the vehicle body, but also includes installation and connection with other components of the vehicle, including but not limited to physical connections, electrical connections, or signal transmission connections. Those skilled in the art will understand that the steering wheel state control device for automatic parking can be adapted to suitable vehicle bodies to achieve other feasible embodiments.

[0146] This disclosure provides a computer-readable storage medium storing computer-executable instructions configured to execute the steering wheel state control method described above during automatic parking.

[0147] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0148] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0149] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0150] The methods and products disclosed in the embodiments herein (including but not limited to devices and equipment) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to implement this embodiment according to actual needs. In addition, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0151] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A method for controlling a steering wheel state in an automatic parking process, characterized by, Applied to vehicles equipped with a steering wheel state control mechanism; the control method includes: In response to an automatic parking command, when the automatic parking system takes over the vehicle steering control, it acquires a steering wheel state signal to characterize the force state on the steering wheel. Based on the steering wheel status signal, determine whether the steering wheel is in a force state that allows state switching; When the steering wheel is in a force-bearing state that allows state switching, the steering wheel state control mechanism is controlled to switch the steering wheel from the current state to the target state.

2. The control method according to claim 1, characterized by, The steering wheel status signal includes a steering wheel torque signal; determining whether the steering wheel is in a force state that allows for state switching based on the steering wheel status signal includes: Determine whether the steering wheel torque signal is within a preset torque threshold range; if it is within the preset torque threshold range, determine that the steering wheel is in a force state that allows state switching.

3. The control method according to claim 1, characterized by, The steering wheel state control mechanism includes a folding actuator; the steering wheel state control mechanism includes: Obtain preset execution process parameters, including the target folding rate; Based on the execution process parameters, the folding actuator is controlled to perform the steering wheel folding action.

4. The control method according to claim 3, characterized by, The execution process parameters also include the target folding angle and the target extension / retraction stroke; During the process of controlling the folding actuator to perform the steering wheel folding action Based on the target folding angle and target extension / retraction stroke, the steering wheel is controlled to reach the folded / retracted state.

5. The control method according to claim 4, characterized by Obtain preset execution process parameters, including: Obtain the parameter range calibrated at the factory; the parameter range includes the steering wheel's folding angle threshold, extension travel threshold, and folding rate threshold; The system receives a custom adjustment command from the human-computer interaction module and determines the target folding rate, target folding angle, and target extension stroke within the parameter range according to the custom adjustment command as the preset execution process parameters.

6. The control method according to claim 5, characterized by Also includes: The determined target folding rate, target folding angle, and target extension stroke are stored. When the automatic parking command is triggered again, the stored parameters will be automatically called as preset control parameters for execution.

7. The control method according to claim 1, characterized by, Before acquiring the steering wheel state signal used to characterize the force state of the steering wheel, the process also includes: Determine whether the vehicle meets the preset safety conditions; When the vehicle meets the preset safety conditions, a steering wheel state signal is acquired to characterize the force state of the steering wheel.

8. The control method according to claim 1, characterized by, The process of controlling the steering wheel state control mechanism to switch the steering wheel from its current state to the target state also includes: Monitor the operating status signals of the steering wheel status control mechanism; When an abnormal operating status signal is detected, the steering wheel status switching operation is terminated.

9. A steering wheel state control device in an automatic parking process, comprising a processor and a memory having stored program instructions, characterized in that, The processor is configured to execute the steering wheel state control method during automatic parking as described in any one of claims 1 to 8 when running the program instructions.

10. A vehicle characterized by comprising: include: Vehicle body; The steering wheel state control device during automatic parking as described in claim 9 is installed on the vehicle body.

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