阅读说明：本技术 方向盘控制方法、装置、存储介质及车辆 (Steering wheel control method, steering wheel control device, storage medium and vehicle ) 是由 何其洪 于 2019-09-29 设计创作，主要内容包括：本公开涉及一种方向盘控制方法、装置、存储介质及车辆。该方法包括：接收待模拟的路感信息；根据所述路感信息,控制方向盘转动,以为驾驶员模拟所述路感信息对应的路感。通过上述技术方案,驾驶员在利用车辆进行驾驶技能的训练或进行驾驶游戏等操作时,控制器可以通过控制车辆的方向盘转动,使得驾驶员感受到真实的路面反馈信息,从而能够为驾驶员提供与真实驾驶接近的驾驶感受,满足驾驶员的使用需求。(The disclosure relates to a steering wheel control method, a steering wheel control device, a storage medium and a vehicle. The method comprises the following steps: receiving road feel information to be simulated; and controlling the steering wheel to rotate according to the road feel information so as to simulate the road feel corresponding to the road feel information for the driver. Through the technical scheme, when a driver utilizes the vehicle to train driving skills or perform operations such as driving games, the controller can control the steering wheel of the vehicle to rotate, so that the driver feels real road feedback information, driving feeling close to real driving can be provided for the driver, and the using requirement of the driver is met.)

1. A steering wheel control method, characterized in that the method comprises:

receiving road feel information to be simulated;

and controlling the steering wheel to rotate according to the road feel information so as to simulate the road feel corresponding to the road feel information for the driver.

2. The method of claim 1, wherein said controlling steering wheel rotation based on said road feel information comprises:

determining first rotation information of a driving motor for driving a steering wheel to rotate according to the road feel information;

and controlling the driving motor to rotate at least according to the first rotation information so as to drive the steering wheel to rotate.

3. The method of claim 2, wherein controlling steering wheel rotation based on the road feel information further comprises:

acquiring real-time current of the driving motor and current corner information of the steering wheel;

if the current corner information does not meet the preset corner information, determining second rotation information of the driving motor according to the real-time current and the current corner information, wherein the second rotation information is used for enabling the steering wheel to provide damping force and aligning force;

the controlling the driving motor to rotate at least according to the first rotation information comprises:

and controlling the driving motor to rotate according to the first rotation information and the second rotation information.

4. The method of claim 3, wherein controlling the drive motor to rotate based on the first rotation information and the second rotation information comprises:

determining target rotation information according to the first rotation information and the second rotation information;

controlling the driving motor to rotate according to the target rotation information; wherein the content of the first and second substances,

the first rotation information comprises a first rotation direction, a first rotation angle and a first rotation speed;

the second rotation information comprises a second rotation direction, a second rotation angle and a second rotation speed;

the target rotation information comprises a target rotation direction, a target rotation angle and a target rotation speed, wherein the target rotation direction is the first rotation direction, the target rotation angle is determined according to the sum of the first rotation angle and the second rotation angle, and the target rotation speed is determined according to the sum of the first rotation speed and the second rotation speed.

5. The method according to claim 3, wherein the current rotation angle information is directly acquired by an angle sensor provided on a steering column of a steering wheel, or the current rotation angle information is acquired by detecting current rotation angle information of the drive motor.

6. A steering wheel control apparatus, characterized in that the control apparatus comprises:

the receiving module is used for receiving road feel information to be simulated;

and the control module is used for controlling the steering wheel to rotate according to the road feel information so as to simulate the road feel corresponding to the road feel information for the driver.

7. The apparatus of claim 6, wherein the control module comprises:

the first determining submodule is used for determining first rotation information of a driving motor for driving a steering wheel to rotate according to the road feel information;

and the first control submodule is used for controlling the driving motor to rotate at least according to the first rotation information so as to drive the steering wheel to rotate.

8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.

9. A steering wheel control apparatus, characterized by comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 5.

10. A vehicle including a steering wheel, the vehicle further comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 5.

Technical Field

The present disclosure relates to the field of vehicles, and in particular, to a steering wheel control method, device, storage medium, and vehicle.

Background

The vehicle is a common vehicle in people's daily life, and along with the continuous improvement of vehicle configuration, the user also has higher and higher requirements to vehicle functions.

When using a vehicle, a driver may use the vehicle to perform training learning of driving skills, or perform driving games and the like. At present, when a driver trains driving skills or plays a driving game, a steering wheel lacks relevant feedback actions, driving experience under a real driving scene is difficult to provide for the driver, and the use requirement of the driver cannot be met.

Disclosure of Invention

An object of the present disclosure is to provide a steering wheel control method, apparatus, storage medium, and vehicle that can make a driver feel real road feedback information to provide the driver with a driving feeling close to real driving.

In order to achieve the above object, according to a first aspect of the present disclosure, there is provided a steering wheel control method including:

receiving road feel information to be simulated;

and controlling the steering wheel to rotate according to the road feel information so as to simulate the road feel corresponding to the road feel information for the driver.

Optionally, the controlling the steering wheel to rotate according to the road feel information includes:

determining first rotation information of a driving motor for driving a steering wheel to rotate according to the road feel information;

and controlling the driving motor to rotate at least according to the first rotation information so as to drive the steering wheel to rotate.

Optionally, the controlling the steering wheel to rotate according to the road feel information further includes:

acquiring real-time current of the driving motor and current corner information of the steering wheel;

if the current corner information does not meet the preset corner information, determining second rotation information of the driving motor according to the real-time current and the current corner information, wherein the second rotation information is used for enabling the steering wheel to provide damping force and aligning force;

the controlling the driving motor to rotate at least according to the first rotation information comprises:

and controlling the driving motor to rotate according to the first rotation information and the second rotation information.

Optionally, the controlling the driving motor to rotate according to the first rotation information and the second rotation information includes:

determining target rotation information according to the first rotation information and the second rotation information;

controlling the driving motor to rotate according to the target rotation information; wherein the content of the first and second substances,

the first rotation information comprises a first rotation direction, a first rotation angle and a first rotation speed;

the second rotation information comprises a second rotation direction, a second rotation angle and a second rotation speed;

the target rotation information comprises a target rotation direction, a target rotation angle and a target rotation speed, wherein the target rotation direction is the first rotation direction, the target rotation angle is determined according to the sum of the first rotation angle and the second rotation angle, and the target rotation speed is determined according to the sum of the first rotation speed and the second rotation speed.

Optionally, the current rotation angle information is directly obtained by an angle sensor provided on a steering column of a steering wheel, or the current rotation angle information is obtained by detecting current rotation angle information of the driving motor.

According to a second aspect of the present disclosure, there is provided a steering wheel control apparatus, the apparatus comprising:

the receiving module is used for receiving road feel information to be simulated;

and the control module is used for controlling the steering wheel to rotate according to the road feel information so as to simulate the road feel corresponding to the road feel information for the driver.

Optionally, the control module comprises:

the first determining submodule is used for determining first rotation information of a driving motor for driving a steering wheel to rotate according to the road feel information;

and the first control submodule is used for controlling the driving motor to rotate at least according to the first rotation information so as to drive the steering wheel to rotate.

Optionally, the control module further comprises:

the acquisition submodule is used for acquiring the real-time current of the driving motor and the current corner information of the steering wheel;

the second determining submodule is used for determining second rotation information of the driving motor according to the real-time current and the current corner information if the current corner information does not meet preset corner information, and the second rotation information is used for enabling the steering wheel to provide damping force and aligning force;

the first control sub-module further includes:

and the second control submodule is used for controlling the driving motor to rotate according to the first rotation information and the second rotation information.

Optionally, the second control sub-module includes:

the third determining submodule is used for determining target rotation information according to the first rotation information and the second rotation information;

the third control sub-module is used for controlling the driving motor to rotate according to the target rotation information; wherein the content of the first and second substances,

the first rotation information comprises a first rotation direction, a first rotation angle and a first rotation speed;

the second rotation information comprises a second rotation direction, a second rotation angle and a second rotation speed;

the target rotation information comprises a target rotation direction, a target rotation angle and a target rotation speed, wherein the target rotation direction is the first rotation direction, the target rotation angle is determined according to the sum of the first rotation angle and the second rotation angle, and the target rotation speed is determined according to the sum of the first rotation speed and the second rotation speed.

According to a third aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method provided by the first aspect of the present disclosure.

According to a fourth aspect of the present disclosure, there is provided a steering wheel control device including:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the method provided by the first aspect of the present disclosure.

According to a fifth aspect of the present disclosure, there is provided a vehicle including a steering wheel, the vehicle further including:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the method provided by the first aspect of the present disclosure.

In the technical scheme, the road feel information to be simulated is received firstly, and then the steering wheel is controlled to rotate according to the road feel information, so that the road feel corresponding to the road feel information can be simulated for the driver. Therefore, when a driver utilizes the vehicle to train driving skills or perform operations such as driving games, the controller can control the steering wheel of the vehicle to rotate, so that the driver feels real road feedback information, driving feeling close to real driving can be provided for the driver, and using requirements of the driver are met.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a flow chart illustrating a steering wheel control method according to an exemplary embodiment;

FIG. 2 is a flow chart illustrating a steering wheel control method according to another exemplary embodiment;

FIG. 3 is a flow chart illustrating a steering wheel control method according to another exemplary embodiment;

FIG. 4 is a block diagram illustrating a steering wheel control apparatus according to an exemplary embodiment;

fig. 5 is a block diagram illustrating a steering wheel control apparatus according to another exemplary embodiment.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

Fig. 1 is a flow chart illustrating a steering wheel control method according to an exemplary embodiment. The control method can be applied to a controller in a vehicle, wherein the controller can be a vehicle controller in the vehicle, and can also be a steering controller and the like. As shown in fig. 1, the method may include:

in S11, road feel information to be simulated is received.

The road feel information may be road surface feedback information felt by a driver. For example, when the driver trains the driving skill through the vehicle computer, the road feel information to be simulated may be sent to the controller by the vehicle computer according to the road information of the training scene. For another example, when the driver plays a driving game through the smart phone, the road feel information to be simulated may be sent to the controller by the smart phone according to the road information in the driving game.

For example, for uneven road surfaces, such as stone roads, potholes, and the like, the road feel information may include a road feel corresponding to bumps. For a slope curve road surface, such as a mountain road, the road feel information may include a road feel corresponding to a slope. For a road surface with obstacles, the road feel information may include a road feel corresponding to the impact.

In S12, the steering wheel is controlled to turn based on the road feel information.

In order to provide real driving experience for the driver, the road feeling can be provided for the driver through the steering wheel, so that the driver feels the road surface feedback information through the steering wheel. Therefore, the controller can control the steering wheel to rotate according to the received road feel information so as to simulate the road feel corresponding to the road feel information for the driver.

For example, in a driving skill training scenario, the steering wheel may be controlled to turn left and right to provide a road feel corresponding to bumps while traversing uneven roads. When the vehicle passes through a slope curved road surface, the vehicle generally needs to slow down, and if the road curved road surface is turned to the left and is an uphill road surface, the steering wheel can be controlled to turn to the left at a lower speed so as to provide a road feel corresponding to the inclination. When there is an obstacle in front, the driver usually rotates the steering wheel quickly to avoid the obstacle, so that, for the road surface with the obstacle, the steering wheel can be controlled to rotate quickly to the left or to rotate quickly to the right to provide a road feel corresponding to the impact.

It should be noted that, for the safety of vehicles and personnel, the steering wheel control method provided by the present disclosure may simulate the road feel corresponding to the road feel information for the driver by controlling the steering wheel to rotate when the vehicle satisfies a preset state. The preset condition may be, for example, a state in which the vehicle is stopped, or an automatic driving state, etc., that is, a state in which the normal driving of the vehicle is not affected, so as to ensure the safety of the driving process of the vehicle.

In the technical scheme, the road feel information to be simulated is received firstly, and then the steering wheel is controlled to rotate according to the road feel information, so that the road feel corresponding to the road feel information can be simulated for the driver. Therefore, when a driver utilizes the vehicle to train driving skills or perform operations such as driving games, the controller can control the steering wheel of the vehicle to rotate, so that the driver feels real road feedback information, driving feeling close to real driving can be provided for the driver, and using requirements of the driver are met.

Alternatively, fig. 2 is a flowchart illustrating a steering wheel control method according to another exemplary embodiment. As shown in fig. 2, in one embodiment, S12 may include:

in S21, first rotation information of a drive motor for rotating a steering wheel is determined based on the road feel information.

In S22, the drive motor is controlled to rotate based on at least the first rotation information.

Wherein, driving motor can be used for driving the steering wheel and rotate, consequently, the controller can rotate through control driving motor to make driving motor drive steering wheel rotate. Specifically, the correspondence between the road feel information and the first rotation information of the drive motor may be set in advance. After receiving the road feel information to be simulated, the first rotation information corresponding to the road feel information can be determined according to the corresponding relationship. The first rotation information may include a first rotation direction, a first rotation angle, a first rotation speed, and the like of the driving motor. For example, when the first rotation direction of the driving motor is a first preset direction (e.g. forward rotation), the steering wheel may be driven to turn left; when the first rotation direction of the driving motor is a second preset direction (for example, reverse rotation), the steering wheel can be driven to rotate to the right. The steering wheel driving device comprises a driving motor, a steering wheel, a first rotating angle, a second rotating speed and a driving motor, wherein the first rotating angle of the driving motor can be controlled to control the rotating angle of the steering wheel, and the first rotating speed of the driving motor is controlled to control the rotating speed of the steering wheel.

For example, for uneven road surface, the first rotation angle of the driving motor can be controlled to be theta₁The first rotational speed is V₁And the first rotating direction is switched between the first preset direction and the second preset direction to drive the steering wheel to rotate left and right back and forth, so that the road feel corresponding to the bump is provided.

For example, for a slope curve road, the first rotation angle of the driving motor can be controlled to be theta₂The first rotational speed is V₂And the first rotating direction is a first preset direction to drive the steering wheel to rotate leftwards, so that a road feel corresponding to the inclination is provided.

For example, for a road surface with an obstacle, the first rotation angle of the driving motor can be controlled to be theta₃The first rotational speed is V₃And the first rotating direction is a second preset direction to drive the steering wheel to rotate rightwards quickly, so that a road feel corresponding to the impact is provided.

By adopting the technical scheme, the driving motor is controlled to rotate, so that the driving motor can drive the steering wheel to rotate, the steering wheel is controlled, the road feel corresponding to the road feel information can be simulated for a driver, the driver can feel real road feedback information, and real driving experience is provided for the driver.

Alternatively, fig. 3 is a flowchart illustrating a steering wheel control method according to another exemplary embodiment. As shown in fig. 3, in an embodiment, S12 may further include:

in S31, the real-time current of the drive motor and the current rotation angle information of the steering wheel are acquired.

The real-time current of the driving motor can be obtained through a current sensor arranged on the driving motor. The current rotation angle information of the steering wheel may indicate a current rotation angle of the steering wheel and may reflect a current position of the steering wheel.

In one embodiment, the current rotation angle information of the steering wheel may be directly obtained by an angle sensor provided on the steering column of the steering wheel, and the angle sensor may directly collect the current rotation angle information of the steering wheel.

In another embodiment, the current rotation angle information of the steering wheel may be obtained by detecting the current rotation angle information of the driving motor. Specifically, the rotation of the steering wheel is driven by the driving motor, so that the current rotation angle information of the driving motor can reflect the current rotation angle information of the steering wheel. For example, the current rotation angle information of the driving motor may be collected by a hall sensor or a rotation change sensor disposed on the driving motor, and the current rotation angle information of the corresponding steering wheel may be determined according to a corresponding relationship between the rotation angle information of the driving motor and the rotation angle information of the steering wheel. The corresponding relation can be obtained in advance through tests and stored in a vehicle memory, and can also be obtained through driving a steering wheel by a driving motor to learn the mechanical stroke and fitting according to learning data.

In S32, if the current rotation angle information does not satisfy the preset rotation angle information, determining second rotation information of the driving motor according to the real-time current and the current rotation angle information.

The preset turning angle information may include turning angle information of the steering wheel at the middle position. If the current rotation angle does not meet the preset rotation angle information, that is, the steering wheel is not at the middle position, the corresponding second rotation information of the driving motor can be determined according to the corresponding relationship among the real-time current of the driving motor, the current rotation angle information of the steering wheel and the second rotation information of the driving motor.

In particular, the second rotational information may be used to cause the steering wheel to provide a damping force and a restoring force. The damping force is the resistance felt by the driver when turning the steering wheel, and the aligning force is the active aligning force when releasing the steering wheel, which is felt by the driver when the steering wheel is not at the middle position. Specifically, the second rotation information may include a second rotation direction of the driving motor, a second rotation angle of the driving motor, a second rotation speed of the driving motor, and the like. The driving motor is controlled to rotate according to the second rotation information, and then the driving motor drives the steering wheel to rotate, so that the steering wheel can provide damping force when the steering wheel turns and aligning force when the steering wheel is released for a driver.

In S33, the drive motor is controlled to rotate based on the first rotation information and the second rotation information.

In the technical scheme, the second rotation information can be used for enabling the steering wheel to provide damping force and aligning force, meanwhile, the driving motor is controlled to rotate according to the first rotation information and the second rotation information, then the driving motor drives the steering wheel to rotate, so that a driver can feel the damping force when the road surface feedback information and the steering wheel steer and the aligning force when the steering wheel releases, and the steering wheel can provide more real driving feeling for the driver.

Alternatively, S33 may include:

determining target rotation information according to the first rotation information and the second rotation information;

and controlling the driving motor to rotate according to the target rotation information.

The first rotation information and the second rotation information are already described above, and are not described herein again. The target rotation information may include a target rotation direction, a target rotation angle, and a target rotation speed. Specifically, the target rotation direction may be a first rotation direction to provide the driver with a road feel corresponding to the road feel information. The target rotation angle may be determined according to a sum of the first rotation angle and the second rotation angle, and the target rotation speed may be determined according to a sum of the first rotation speed and the second rotation speed.

So, according to target rotation direction, target turned angle and target slew velocity, control driving motor rotates, and then driving motor drives the steering wheel and rotates, can make the driver can experience the damping force when road surface feedback information and steering wheel turn to and the aligning force when releasing to the steering wheel can provide more real driving impression for the driver.

Based on the same inventive concept, the present disclosure also provides a steering wheel control apparatus, and fig. 4 is a block diagram illustrating a steering wheel control apparatus according to an exemplary embodiment. As shown in fig. 4, the control device 400 may include:

a receiving module 401, configured to receive road feel information to be simulated;

and the control module 402 is configured to control the steering wheel to rotate according to the road feel information, so as to simulate a road feel corresponding to the road feel information for the driver.

By adopting the device, the road feel information to be simulated is received, and then the steering wheel is controlled to rotate according to the road feel information, so that the road feel corresponding to the road feel information can be simulated for the driver. Therefore, when a driver utilizes the vehicle to train driving skills or perform operations such as driving games, the controller can control the steering wheel of the vehicle to rotate, so that the driver feels real road feedback information, driving feeling close to real driving can be provided for the driver, and using requirements of the driver are met.

Optionally, the control module 402 may include:

the first determining submodule is used for determining first rotation information of a driving motor for driving a steering wheel to rotate according to the road feel information;

and the first control submodule is used for controlling the driving motor to rotate at least according to the first rotation information so as to drive the steering wheel to rotate.

Optionally, the control module 402 may further include:

the acquisition submodule is used for acquiring the real-time current of the driving motor and the current corner information of the steering wheel;

the second determining submodule is used for determining second rotation information of the driving motor according to the real-time current and the current corner information if the current corner information does not meet preset corner information, and the second rotation information is used for enabling the steering wheel to provide damping force and aligning force;

the first control sub-module may further include:

and the second control submodule is used for controlling the driving motor to rotate according to the first rotation information and the second rotation information.

Optionally, the second control sub-module may include:

the third determining submodule is used for determining target rotation information according to the first rotation information and the second rotation information;

the third control sub-module is used for controlling the driving motor to rotate according to the target rotation information; wherein the content of the first and second substances,

the first rotation information comprises a first rotation direction, a first rotation angle and a first rotation speed;

the second rotation information comprises a second rotation direction, a second rotation angle and a second rotation speed;

the target rotation information comprises a target rotation direction, a target rotation angle and a target rotation speed, wherein the target rotation direction is the first rotation direction, the target rotation angle is determined according to the sum of the first rotation angle and the second rotation angle, and the target rotation speed is determined according to the sum of the first rotation speed and the second rotation speed.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

Fig. 5 is a block diagram illustrating a steering wheel control apparatus 500 according to another exemplary embodiment. For example, the steering wheel control device 500 may be provided as an onboard controller, such as a vehicle controller or a steering controller. Referring to fig. 5, the steering wheel control apparatus 500 includes a processor 522, which may be one or more in number, and a memory 532 for storing computer programs executable by the processor 522. The computer programs stored in memory 532 may include one or more modules that each correspond to a set of instructions. Further, the processor 522 may be configured to execute the computer program to perform the steering wheel control method described above.

Additionally, the steering wheel control device 500 may also include a power component 526 and a communication component 550, the power component 526 may be configured to perform power management of the steering wheel control device 500, and the communication component 550 may be configured to enable communication, e.g., wired or wireless communication, of the steering wheel control device 500. In addition, the steering wheel control device 500 may also include an input/output (I/O) interface 558. Steering wheel control 500 may operate based on an operating system stored in memory 532.

In another exemplary embodiment, there is also provided a computer readable storage medium including program instructions which, when executed by a processor, implement the steps of the steering wheel control method described above. For example, the computer readable storage medium may be the memory 532 described above including program instructions that are executable by the processor 522 of the steering wheel control device 500 to perform the steering wheel control method described above.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the steering wheel control method described above when executed by the programmable apparatus.

The present disclosure also provides a vehicle including a steering wheel, the vehicle may further include:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the steering wheel control method provided in any of the above embodiments.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.