CN112722055A - Vehicle, control method and device thereof, and storage medium - Google Patents

Vehicle, control method and device thereof, and storage medium Download PDF

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Publication number
CN112722055A
CN112722055A CN201911032628.9A CN201911032628A CN112722055A CN 112722055 A CN112722055 A CN 112722055A CN 201911032628 A CN201911032628 A CN 201911032628A CN 112722055 A CN112722055 A CN 112722055A
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Prior art keywords
vehicle
steering wheel
mode
game
steering
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CN112722055B (en
Inventor
杨钊
钟益林
吴春芬
石为利
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BYD Co Ltd
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BYD Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/22—Alternative steering-control elements, e.g. for teaching purposes
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • A63F13/245—Constructional details thereof, e.g. game controllers with detachable joystick handles specially adapted to a particular type of game, e.g. steering wheels
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/40—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment
    • A63F13/42—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/80—Special adaptations for executing a specific game genre or game mode
    • A63F13/803—Driving vehicles or craft, e.g. cars, airplanes, ships, robots or tanks

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention provides a vehicle and a control method, a control device and a storage medium thereof, wherein the method comprises the following steps: acquiring a current running mode of a vehicle; controlling the coupling mode of a steering wheel and a steering wheel according to the current running mode; wherein the current operation mode comprises an on-board game mode and a normal driving mode. Therefore, the control method of the vehicle provided by the embodiment of the invention controls the coupling mode of the steering wheel and the steering wheel according to the vehicle-mounted game mode and the normal driving mode, so that the abrasion of the steering wheel is reduced in the vehicle-mounted game mode, the service life of the steering system is prolonged, and the reliable vehicle steering system is provided in the normal driving mode, and the driving safety is ensured.

Description

Vehicle, control method and device thereof, and storage medium
Technical Field
The present invention relates to the field of automotive technologies, and in particular, to a method for controlling a vehicle, a device for controlling a vehicle, and a computer-readable storage medium.
Background
Some vehicles of the prior art generally have an entertainment function with an on-board system, for example, when the vehicle is stationary, the experiencer can control the racing car in the game system by using the steering wheel of the car.
However, the related art has a problem that the steering wheel and the steering wheel are always in a coupled state after the vehicle starts the entertainment function of the in-vehicle system (i.e., the vehicle is in a stationary state), and at this time, if the steering wheel is repeatedly operated, unnecessary loss of the steering system may be generated, which may result in a reduction in the service life of the steering system, and at the same time, excessive wear of the steering wheel may occur, which may affect driving safety.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, an object of the present invention is to provide a control method for a vehicle, which can select a coupling mode suitable for a current operation mode of the vehicle, thereby improving the service life of a steering wheel and the service life of a steering system and ensuring driving safety.
A second object of the present invention is to provide a control device for a vehicle.
A third object of the invention is to propose a vehicle.
A fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, a control method for a vehicle according to an embodiment of a first aspect of the present invention includes: acquiring a current running mode of a vehicle; controlling the coupling mode of the steering wheel and the steering wheel according to the current running mode; wherein the current operation mode includes an in-vehicle game mode and a normal driving mode.
According to the control method of the vehicle, the current running mode of the vehicle is obtained, and the coupling mode of the steering wheel and the steering wheel is controlled according to the current running mode. Therefore, the coupling mode of the steering wheel and the steering wheel is controlled according to the vehicle-mounted game mode and the normal driving mode, so that the abrasion of the steering wheel is reduced in the vehicle-mounted game mode, the service life of a steering system is prolonged, the reliable vehicle steering system is provided in the normal driving mode, and the driving safety is ensured.
In addition, the control method of the vehicle according to the above embodiment of the invention may also have the following additional technical features:
according to an embodiment of the present invention, the control method of a vehicle further includes: receiving a vehicle-mounted game starting instruction; judging whether a first starting condition is met or not according to the vehicle-mounted game starting instruction; if the first starting condition is met, starting a game device of the vehicle, and judging whether the game device of the vehicle successfully enters a vehicle-mounted game mode; and decoupling the steering wheel from the steering wheel if the gaming device of the vehicle successfully enters an on-board gaming mode.
According to one embodiment of the invention, the decoupling the steering wheel from the steered wheels comprises: acquiring a torque value and a rotation angle value of a torque rotation angle sensor of the vehicle; detecting whether the steering wheel is in a free state or not according to the torque value and the rotation angle value of the torque rotation angle sensor; if the steering wheel is in the free state, recording the current turning angle value of the steering wheel, and carrying out decoupling prompt on an experiencer; and decoupling the steering wheel from the steered wheels.
According to an embodiment of the present invention, the control method of a vehicle further includes: receiving a vehicle-mounted game quitting instruction; and restoring the angle of the steering wheel to the current turning angle value, and coupling the steering wheel with the steering wheel.
According to one embodiment of the present invention, the determining whether the game device of the vehicle successfully enters the in-vehicle game mode includes: starting a safety actuator of the vehicle and entering a vehicle-mounted game mode when a second starting condition is met; after the safety executor enters the vehicle-mounted game mode, feeding back a game pre-preparation mode success message to the game main controller; and the game main controller starts a vehicle-mounted game mode according to the game pre-preparation mode success message.
According to one embodiment of the invention, the safety actuator comprises one or more of a gear system, an electronic parking system, a vehicle control unit, an electronic body stabilization system or an electronic power steering system.
According to an embodiment of the present invention, the control method of a vehicle further includes: judging whether the corner check activation condition is satisfied or not; if the corner checking activation condition is satisfied, acquiring a steering wheel corner value range; and correcting the steering angle zero value according to the steering wheel steering angle value range.
According to one embodiment of the invention, the decoupling position is located between the electronic control unit and the motor-integrated pack and the steering wheel or between the electronic control unit and the motor-integrated pack and the steered wheel.
In order to achieve the above object, a control device for a vehicle according to an embodiment of a second aspect of the present invention includes: the acquisition module is used for acquiring the current running mode of the vehicle; the control module is used for controlling the coupling mode of the steering wheel and the steering wheel according to the current running mode; wherein the current operation mode includes an in-vehicle game mode and a normal driving mode.
According to the control device of the vehicle, the current running mode of the vehicle is obtained through the obtaining module, and the control module is used for controlling the coupling mode of the steering wheel and the steering wheel according to the current running mode, wherein the current running mode comprises a vehicle-mounted game mode and a normal driving mode. Therefore, the coupling mode of the steering wheel and the steering wheel is controlled according to the vehicle-mounted game mode and the normal driving mode, so that the abrasion of the steering wheel is reduced in the vehicle-mounted game mode, the service life of a steering system is prolonged, the reliable vehicle steering system is provided in the normal driving mode, and the driving safety is ensured.
In order to achieve the above object, a vehicle according to an embodiment of a third aspect of the present invention includes the control device of the vehicle.
According to the vehicle, the control device of the vehicle can control the coupling mode of the steering wheel and the steering wheel according to the vehicle-mounted game mode and the normal driving mode, so that the abrasion of the steering wheel is reduced in the vehicle-mounted game mode, the service life of a steering system is prolonged, and the reliable vehicle steering system is provided in the normal driving mode, so that the driving safety is ensured.
To achieve the above object, a fourth aspect of the present invention provides a computer-readable storage medium having stored thereon a program of a control method of a vehicle, which when executed by a processor, implements the control method of the vehicle described above.
According to the computer-readable storage medium of the embodiment of the invention, the control method program of the vehicle stored on the computer-readable storage medium can control the coupling mode of the steering wheel and the steering wheel according to the vehicle-mounted game mode and the normal driving mode, so that the abrasion of the steering wheel is reduced in the vehicle-mounted game mode, the service life of the steering system is prolonged, and the reliable vehicle steering system is provided in the normal driving mode, and the driving safety is ensured.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart illustrating a control method of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a network architecture according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a network architecture according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of a network architecture according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of a network architecture according to one embodiment of the present invention;
FIG. 6 is a flow chart illustrating a control method of a vehicle according to an embodiment of the present invention;
FIG. 7 is a flowchart illustrating a control method of a vehicle according to an embodiment of the present invention;
fig. 8 is a schematic structural view of a column type electric power steering system according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a belt driven point electric power steering system according to an embodiment of the present invention;
FIG. 10 is a flowchart illustrating a control method of a vehicle according to an embodiment of the present invention;
FIG. 11 is a flowchart illustrating a control method of a vehicle according to an embodiment of the present invention;
FIG. 12 is a flowchart illustrating a control method of a vehicle according to an embodiment of the present invention;
fig. 13 is a flowchart illustrating a control method of a vehicle according to an embodiment of the present invention;
fig. 14 is a flowchart illustrating a control method of a vehicle according to an embodiment of the present invention;
FIG. 15 is a flow chart illustrating a corner value correction according to an embodiment of the present invention;
FIG. 16 is a flow chart illustrating a method of controlling a vehicle according to an embodiment of the present invention;
FIG. 17 is a block schematic diagram of a control system of a vehicle according to an embodiment of the invention;
fig. 18 is a block schematic diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A vehicle, a control method thereof, an apparatus thereof, and a storage medium according to embodiments of the invention are described below with reference to the drawings.
Fig. 1 is a flowchart illustrating a control method of a vehicle according to an embodiment of the present invention.
As shown in fig. 1, a control method of a vehicle includes:
s101, acquiring the current running mode of the vehicle.
Optionally, the current operation mode of the vehicle may be acquired by the vehicle control unit, wherein the current operation mode may include an on-board game mode and a normal driving mode.
And S102, controlling the coupling mode of the steering wheel and the steering wheel according to the current running mode.
Specifically, if the current operation mode is the vehicle-mounted game mode, the control is performed according to the coupling manner of the steering wheel and the steering wheel corresponding to the vehicle-mounted game mode, and if the current operation mode is the normal driving mode, the control is performed according to the coupling manner of the steering wheel and the steering wheel corresponding to the normal driving mode.
Therefore, the coupling mode of the steering wheel and the steering wheel is controlled according to the vehicle-mounted game mode and the normal driving mode, so that the abrasion of the steering wheel is reduced in the vehicle-mounted game mode, the service life of a steering system is prolonged, the reliable vehicle steering system is provided in the normal driving mode, and the driving safety is ensured.
Further, in the embodiment of the present invention, the concept of the system can be understood as that it includes actuators, switches/sensors and controllers, and specifically, as shown in table 1 below, the role (attribute) classification and function definition of the system can be architecturally constructed in association with the electric power steering system, for example, the role (attribute) classification of the system can be divided into a game master controller, a game controller, a safety actuator and a state monitor.
TABLE 1 role Classification and function definition of systems
Figure BDA0002250583780000041
Figure BDA0002250583780000051
Figure BDA0002250583780000061
It should be noted that, part of the system can be set to multiple types of roles (attributes) as required, such as: the electric power steering system can be used as a game controller, a safety actuator and the like, and particularly, when the same system is classified into a plurality of types of characters (attributes) and the plurality of types of characters (attributes) are activated simultaneously, the arbitration of the function activation priority right can be executed according to the system character (attribute) priority level, and the system character (attribute) priority level can include but is not limited to: game master controller > safety actuator > game controller > state monitor, taking an electronic power steering system as an example, as shown in table 1, it has two system roles (attributes): the security executor and the game controller preferentially execute the security executor role (attribute) when the dual roles are simultaneously activated.
Further, as shown in fig. 2, fig. 3, fig. 4 and fig. 5, the entire vehicle network may be divided into a chassis electronic network and a power network, wherein different vehicles may correspond to different network architectures, for example, the network architectures may be designed correspondingly according to system requirements.
Specifically, in the embodiment of the present invention, the network architecture of the vehicle may preferably be as shown in fig. 5, that is, each sub-controller in the electric power steering system is individually connected to each sub-network of the entire vehicle, so as to effectively ensure timeliness of each sub-controller in the electric power steering system for monitoring the safety condition.
Further, according to an embodiment of the present invention, as shown in fig. 6, the control method of a vehicle further includes:
s201, receiving an on-board game starting instruction.
Optionally, the experiencer may start the in-vehicle game mode through the in-vehicle game starting window (i.e., send an in-vehicle game starting instruction), and the vehicle may receive the in-vehicle game starting instruction through the in-vehicle controller.
And S202, judging whether a first starting condition is met according to the vehicle-mounted game starting instruction.
Specifically, after receiving an in-vehicle game starting instruction, first starting condition judgment is carried out to judge whether the current vehicle driving environment is suitable for executing the in-vehicle game function.
S203, if the first starting condition is met, starting the game device of the vehicle, and judging whether the game device of the vehicle successfully enters the vehicle-mounted game mode.
That is, when it is determined that the first starting condition is satisfied according to the received vehicle game starting instruction, the vehicle game may be considered to satisfy a safe pre-starting condition, that is, the current driving environment satisfies a safe pre-starting condition for the vehicle game function, and at this time, the game device of the vehicle is started to determine whether the game device of the vehicle successfully enters the vehicle game mode.
S204, if the game device of the vehicle successfully enters the vehicle-mounted game mode, the steering wheel and the steering wheel are decoupled.
Specifically, when the game device of the vehicle successfully enters the vehicle-mounted game mode, the current running mode of the vehicle can be considered as the vehicle-mounted game mode, and further, the steering wheel and the steering wheel are decoupled, namely, the steering wheel and the steering wheel are separated in the vehicle-mounted game mode, so that the steering wheel is kept in a static state when the steering wheel rotates, the abrasion of the steering wheel is reduced, and the service life of a steering system is prolonged.
It will be appreciated that if the play set of the vehicle is not successfully put into the on-board play mode, in other words, the current running mode of the vehicle is still the normal driving mode, then the coupling of the steering wheel to the steering wheel is maintained, i.e. the steering wheel is maintained in mechanical connection with the steering wheel, thereby providing a reliable vehicle steering system ensuring driving safety.
Specifically, according to an embodiment of the present invention, as shown in fig. 7, decoupling a steering wheel from a steered wheel includes:
s301, a torque value and a rotation angle value of a torque rotation angle sensor of the vehicle are obtained.
Alternatively, a torque angle sensor may be provided to acquire a torque value and a rotation angle value of a steering system of the vehicle.
And S302, detecting whether the steering wheel is in a free state or not according to the torque value and the rotation angle value of the torque rotation angle sensor.
Specifically, in the embodiment of the present invention, when the torque value is less than 0.2N/m and the change in the rotation angle value is less than ± 5 ° and lasts for 100ms, it may be considered that the experiencer does not operate the steering wheel or the operation range is small, and at this time, it may be determined that the steering wheel is in the free state.
Alternatively, the free-state steering wheel may be any position, in other words, the steering wheel is in a free state, i.e. the experiencer does not perform any operation on the steering wheel, such as the steering wheel is stationary and is under little or no force.
And S303, if the steering wheel is in a free state, recording the current turning angle value of the steering wheel, and performing decoupling prompt on the experiencer.
That is, when the steering wheel is in the free state, the current turning angle value of the steering wheel is recorded, and decoupling prompt is performed on the experiencer, such as text or voice prompt can be performed through an on-board computer or a combination instrument, so as to inform the experiencer that the steering wheel and the steering wheel are performing decoupling control, and remind the experiencer not to touch the steering wheel.
And S304, decoupling the steering wheel and the steering wheel.
It should be understood that the steering wheel and the steering wheel are decoupled, that is, the steering wheel and the steering wheel are disconnected in the vehicle-mounted game mode, so that the steering wheel is kept in a static state when the steering wheel rotates, the abrasion of the steering wheel is reduced, and the service life of the steering system is prolonged.
Further, according to an embodiment of the invention, the decoupling position is located between the electronic control unit and the motor integrated package and the steering wheel or between the electronic control unit and the motor integrated package and the steered wheel.
Specifically, taking a column type electric power steering system and a belt-driven point electric power steering system as examples, as shown in fig. 8 and 9, to further explain the decoupling position of the control method of the vehicle according to the embodiment of the present invention, when the current operation mode of the vehicle is in the normal driving mode, the functions and actions of each type of electric power steering system are the same, when the electric power steering system is a column type electric power steering system and the current running mode of the vehicle is in the vehicle-mounted game mode, the decoupled position is between the electronic control unit and the motor integrated package and the steering wheel (as in (r) in fig. 8 and (c) in fig. 9), and, when the electric power steering system is a belt-driven point electric power steering system and the current running mode of the vehicle is in the vehicle-mounted game mode, the decoupled position is between the electronic control unit and the motor integrated package and the steering wheel (as in the position of (c) in fig. 8 and (c) in fig. 9).
Alternatively, the decoupling position can be set accordingly depending on the mechanical embodiment of the decoupling mode or the available space around the steering system.
Specifically, the electric power steering system may include: the electronic control unit and the motor are integrated into electronic components such as a package, a hand feeling simulator, and a connection controller, and their respective function definitions are shown in table 2.
TABLE 2 definition table of functions of electronic components in electric power steering system
Figure BDA0002250583780000081
It is understood that, as shown in fig. 8, 9 and table 2, the functional roles of the electronic control unit and the motor integrated package in the electric power steering system can be correspondingly positioned according to the relationship between the decoupling position and the position of the electronic control unit and the motor integrated package in the electric power steering system.
Also, the roles (attributes) of the electronic components within the electric power steering system can be set differently, such as: when the hand-feeling simulator is not provided, the electronic control unit and the motor integrated package role (attribute) can be classified into the game controller and the safety actuator, and when the hand-feeling simulator is provided, the electronic control unit and the motor integrated package role (attribute) can be classified into the safety actuator, and the connection controller role can be classified into the safety actuator.
Specifically, according to an embodiment of the present invention, as shown in fig. 10, determining whether the game device of the vehicle successfully enters the in-vehicle game mode includes:
s401, starting a safety actuator of the vehicle and entering an in-vehicle game mode when a second starting condition is met.
That is, if the safety actuator of the vehicle is activated and meets the second activation condition, the current driving environment may be considered to meet the safety requirement of the safety actuator, and at this time, the safety actuator of the vehicle enters the in-vehicle game mode.
S402, after the safety executor enters the game mode, a game pre-preparation mode success message is fed back to the game main controller.
S403, the game main controller starts the vehicle-mounted game mode according to the game pre-preparation mode success message.
That is, after the safety executor of the vehicle enters the in-vehicle game mode, a game pre-preparation mode success message is also fed back to the game master controller, further, the game master controller starts the in-vehicle game mode according to the game pre-preparation mode success message, for example, in the embodiment of the invention, if the number of the safety executors of the vehicle is 2, the game master controller starts the vehicle-mounted game mode after receiving 2 pre-preparation mode success messages, if the number of the safety executors of the vehicle is 4, the game master starts the in-vehicle game mode after receiving 4 ready-mode success messages, in other words, the safety actuators of the vehicle may be multiple, and the vehicle-mounted game mode is started only when the safety actuators of the vehicles enter the vehicle-mounted game mode and the game master controller feeds back a game pre-preparation mode success message.
Specifically, according to one embodiment of the present invention, as shown in table 1, the safety actuator may include one or more of a gear system, an electronic parking system, a vehicle control unit, an electronic body stabilization system, and an electronic power steering system.
Further, in the embodiment of the invention, from the aspect of overall vehicle safety control, the safety entry of the vehicle game mode is considered by the game main controller and the safety actuator related to driving safety, so that on one hand, the double-redundancy safety condition check is effectively carried out on the system related to driving safety, the mistaken entry of the vehicle game mode is effectively prevented to influence the driving or parking safety, and on the other hand, the vehicle state stability in the vehicle game mode is effectively ensured, thereby ensuring the safety in the vehicle game mode.
Specifically, as shown in table 3, differentiated security entry conditions may be set for each system according to its own functional security requirements.
TABLE 3 safe entry conditions for the in-vehicle Game mode for the Master controller and for each safety actuator
Figure BDA0002250583780000091
Figure BDA0002250583780000101
Specifically, according to an embodiment of the present invention, as shown in table 3, the first start-up condition includes: the method comprises the following steps that the speed of a vehicle is equal to zero, the gear of the vehicle is in a P gear, the current state of the vehicle is a parking state, the gradient of a road where the vehicle is located is smaller than a first preset gradient threshold value, and the battery electric quantity of the vehicle is larger than a preset electric quantity threshold value.
It should be noted that, based on the safety redundant control of the vehicle, the first starting condition of the embodiment of the present invention may preferably be that the vehicle speed of the vehicle is equal to zero, the gear of the vehicle is in the P range, the current state of the vehicle is the parking state, the gradient of the road where the vehicle is located is less than the first preset gradient threshold, and the battery power of the vehicle is greater than the preset power threshold.
Specifically, when the vehicle speed is equal to zero, the gear of the vehicle is in the P range, the current state of the vehicle is the parking state, the gradient of the road where the vehicle is located is smaller than a first preset gradient threshold value, and the battery power of the vehicle is larger than a preset power threshold value, the road where the vehicle is located is considered to be flat and is in a static state, the battery power of the vehicle is sufficient, the vehicle-mounted entertainment pre-entry safety condition is met, and the game device is started and enters the vehicle-mounted game mode.
Optionally, the first preset gradient threshold and the preset electric quantity threshold may be set accordingly according to actual conditions, in an embodiment of the present invention, the first preset gradient threshold may preferably be 15%, and the preset electric quantity threshold may preferably be 10%.
It should be understood that when the gradient of the road on which the vehicle is located is less than 15%, and the battery level of the vehicle is greater than 10%, the vehicle can be considered to be on the road with a small gradient, the vehicle has no driving demand, and the battery level of the vehicle is sufficient to meet the power demand of the vehicle.
It should be noted that the battery level of the vehicle may include a starting battery level and a power battery level.
In other words, in the embodiment of the invention, the battery capacity of the vehicle is monitored from the aspect of the whole vehicle comfort control, so that the entertainment experiencer is effectively reminded of the energy state of the whole vehicle, and the condition that the vehicle cannot start to run due to excessive games is avoided.
Further, according to an embodiment of the present invention, as shown in table 3, the safety executor performs self-checking according to the in-vehicle game mode command, specifically as follows:
specifically, when the safety actuator is a gear system, a vehicle controller, or an electronic vehicle body stabilization system, as shown in table 2, since the corresponding second starting condition is included in the first starting condition, in other words, when the safety actuator is a gear system, a vehicle controller, or an electronic vehicle body stabilization system, and receives the vehicle-mounted game mode command sent by the game master controller, the gear system, the vehicle controller, or the electronic vehicle body stabilization system is started and directly enters the vehicle-mounted game mode.
Further, as shown in table 3, when the safety actuator is an electronic parking system, the second starting condition includes: the speed of the vehicle is equal to zero, the gear of the vehicle is in a P gear, the current state of the vehicle is a parking state, and the gradient of a road where the vehicle is located is smaller than a first preset gradient threshold value.
It should be noted that, based on the safety redundant control of the vehicle, when the safety actuator is an electronic parking system, the second starting condition of the embodiment of the present invention may preferably be that the vehicle speed of the vehicle is equal to zero, the gear of the vehicle is in the P-range, the current state of the vehicle is the parking state, and the gradient of the road where the vehicle is located is less than the first preset gradient threshold value.
Specifically, when the vehicle speed is equal to zero, the gear of the vehicle is in the P range, the current state of the vehicle is the parking state, and the gradient of the road where the vehicle is located is less than a first preset gradient threshold value, the vehicle can be considered to be located on the flat ground and be in the stationary state, so that the parking safety requirement of the electronic parking system is met, and at this time, the electronic parking system of the safety actuator is started and enters the vehicle-mounted game mode.
Alternatively, the first preset gradient threshold may be set according to actual conditions, and in an embodiment of the present invention, the first preset gradient threshold may preferably be 15%.
It should be understood that when the vehicle is on a road having a slope less than 15%, the vehicle may be considered to be on a road having a lesser slope, with little or no parking demand on the vehicle.
Further, as shown in table 3, when the safety actuator is an electric power steering system, the second starting condition includes: the speed of the vehicle is equal to zero, the gear of the vehicle is in a P gear, the hand torque of a driver is smaller than a first preset torque threshold value, and the rotating speed of a steering wheel of the vehicle is smaller than a first preset rotating speed threshold value.
Specifically, when the vehicle speed is equal to zero, the gear of the vehicle is in a P gear, the driver hand torque is smaller than a first preset torque threshold value, and the rotating speed of the steering wheel of the vehicle is smaller than a first preset rotating speed threshold value, the vehicle can be considered to be in a static state, and the entertainment experience person does not operate the steering wheel of the vehicle, so that the steering safety requirement of the electric power steering system is met, and at the moment, the electric power steering system of the safety actuator is started and enters a vehicle-mounted game mode.
It should be noted that the hand torque of the driver is the rotation torque applied to the steering wheel by the entertaining experiencer through operating the steering wheel.
Alternatively, the first preset torque threshold and the first preset rotation speed threshold may be set accordingly according to actual conditions, in the embodiment of the present invention, the first preset torque threshold may preferably be 2N/m, and the first preset rotation speed threshold may preferably be 100 °/s.
It will be appreciated that the steering demand of the electric power steering system may be considered to be less or no steering demand when the driver hand torque is less than 2N/m and the rotational speed of the steering wheel is less than 100 deg./s.
Further, according to an embodiment of the present invention, as shown in fig. 11, the control method of a vehicle further includes:
s501, receiving an in-vehicle game quitting instruction.
Alternatively, the gaming experience may turn off the in-vehicle gaming mode (i.e., send an in-vehicle game exit instruction) through the in-vehicle game close window.
And S502, restoring the angle of the steering wheel to the current turning angle value, and coupling the steering wheel with the steering wheel.
Specifically, after the electric power steering system successfully executes steering wheel decoupling control, an electronic control unit and a motor integrated package/hand feeling simulator in the electric power steering system are controlled to enter a vehicle-mounted game mode, whether a first exit condition and a second exit condition for exiting the vehicle-mounted game mode are met or not is continuously monitored (a reference table), if yes, the electronic control unit and the motor integrated package/hand feeling simulator in the electric power steering system are controlled to execute steering wheel return control, text/voice reminding is carried out through a vehicle-mounted computer or a combined instrument, if the steering wheel executes coupling control, a user is reminded of not touching the steering wheel, at the moment, the electric power steering system judges whether the angle value of the steering wheel is equal to a recorded angle value +/-2 degrees or not, if not, the return control is continuously executed until the angle value of the steering wheel is equal to the recorded angle value +/-2 degrees, and then, controlling a connection controller of the electric power steering system to execute mechanical connection coupling of a steering wheel and a steering wheel, and after the electric power steering system successfully executes steering wheel coupling control, controlling an electronic control unit and a motor integrated package/hand feeling simulator in the electric power steering system to exit from a vehicle-mounted game mode, and carrying out text/voice reminding through a vehicle-mounted computer or a combination instrument, if the steering wheel successfully executes coupling control.
Further, according to an embodiment of the present invention, as shown in fig. 12, after the game device of the vehicle successfully enters the in-vehicle game mode, the method further includes:
s601, judging whether a first exit condition is met.
Optionally, after the game device of the vehicle enters the in-vehicle game mode, the first exit condition of the game device may be monitored in real time to quickly respond to the first exit condition, so that the game device exits the in-vehicle game mode in time.
S602, if the first exit condition is satisfied, the game device of the vehicle exits the vehicle-mounted game mode.
Specifically, when the first exit condition is met, the potential safety hazard exists in the current driving environment of the vehicle, at the moment, the exit instruction of the vehicle-mounted game mode needs to be responded quickly, and the game device exits the vehicle-mounted game mode to ensure the safety of using the vehicle.
Further, according to an embodiment of the present invention, as shown in fig. 13, after controlling the safety actuator of the vehicle to enter the in-vehicle game mode, the method further includes:
and S701, judging whether the safety actuator of the vehicle meets a second exit condition.
Optionally, after the safety actuator of the vehicle enters the in-vehicle game mode, the second exit condition of the safety actuator may be monitored in real time to quickly respond to the second exit condition, so that the safety actuator exits the in-vehicle game mode in time.
S702, if the second exit condition is met, the safety executor of the vehicle exits the vehicle-mounted game mode and informs the game main controller to exit the vehicle-mounted game mode.
Specifically, when the second exit condition is satisfied, it may be considered that the current driving environment does not satisfy the safety requirement of the safety actuator, and at this time, the vehicle-mounted game mode exit instruction needs to be responded quickly, so that the safety actuator exits the vehicle-mounted game mode, so as to ensure the vehicle-using safety.
Specifically, in the embodiment of the invention, from the aspect of vehicle safety control, the system related to driving safety and the main controller are considered to safely exit the vehicle-mounted game mode, so that the system related to driving safety can be effectively verified under dual redundant safety conditions, the safety system can be effectively guaranteed to timely exit the vehicle-mounted game mode to ensure the safety of a vehicle, and the vehicle-mounted game mode can be effectively identified and timely exited to ensure the safety of the vehicle in relation to the requirement of driving emergency takeover.
Further, as shown in table 4, differentiated safe exit conditions can be set for each system according to the functional safety requirements of the system.
TABLE 4 safe Exit Condition for in-vehicle Game mode for Master controller and safety executors
Figure BDA0002250583780000131
Specifically, as shown in table 4, the first exit condition includes: the speed of the vehicle is larger than zero, or the gear of the vehicle is not in the P gear, or the current state of the vehicle is not in the parking state, or the gradient of the road where the vehicle is located is larger than a second preset gradient threshold value.
Specifically, when the speed of the vehicle is greater than zero, or the gear of the vehicle is not in the P gear, or the current state of the vehicle is not in the parking state, or the gradient of the road on which the vehicle is located is greater than a second preset gradient threshold value, it may be considered that the vehicle has a moving trend, or the road on which the vehicle is located is a slope, which does not meet the safety requirements of the game master controller, and at this time, if the vehicle still maintains the vehicle-mounted game mode, there is a potential safety hazard, and the master controller needs to exit the vehicle-mounted game mode in time, so as to avoid the vehicle moving or meet the safety requirements of the.
Alternatively, the second preset gradient threshold may be set according to actual conditions, and in an embodiment of the present invention, the second preset gradient threshold may preferably be 20%.
It should be understood that when the vehicle is on a road having a slope greater than 20%, it may be considered that the vehicle is on a road having a greater slope, and there is a risk of the vehicle rolling, at which point the main controller exits the in-vehicle game mode and brakes the vehicle.
Further, as shown in table 4, when the safety actuator is a gear system, the second exit condition includes: the speed of the vehicle is greater than zero, or the gear of the vehicle is in a D gear and lasts for a first preset time.
Specifically, when the speed of the vehicle is greater than zero, or the gear of the vehicle is in the D gear and lasts for a first preset time, the vehicle can be considered to be in a running state, the gear safety requirement of the gear system is not met, and at the moment, the gear system needs to timely exit the vehicle-mounted game mode to meet the gear safety requirement.
Optionally, the first preset time may be set according to actual needs, and in an embodiment of the present invention, the first preset time may preferably be 5 s.
It should be understood that when the gear of the vehicle is in D gear and lasts for 5s, the vehicle can be considered to have a gear requirement, and at this time, the gear system exits the on-board game mode to meet the gear requirement of the vehicle.
Further, as shown in table 4, when the safety actuator is the electronic parking system, the second exit condition includes: the speed of the vehicle is larger than zero, or the gradient of the road where the vehicle is located is larger than a second preset gradient threshold value.
Specifically, when the speed of the vehicle is greater than zero, or the gradient of the road where the vehicle is located is greater than a second preset gradient threshold value, the vehicle can be considered to have a moving trend, or the road where the vehicle is located is a slope, and the parking safety requirement of the electronic parking system is not met, at this time, if the vehicle still keeps the vehicle-mounted game mode, a potential safety hazard exists, and the electronic parking system needs to exit the vehicle-mounted game mode in time to meet the parking safety requirement.
Alternatively, the second preset gradient threshold may be set according to actual conditions, and in an embodiment of the present invention, the second preset gradient threshold may preferably be 20%.
It should be understood that when the vehicle is located on a road with a gradient greater than 20%, the vehicle may be considered to be on a road with a greater gradient, and at this time, the electronic parking system exits the in-vehicle game mode to meet the parking demand of the vehicle.
Further, as shown in table 4, when the safety actuator is the vehicle control unit, the second exit condition includes: the speed of the vehicle is greater than zero, or the gear of the vehicle is not in the P gear, or the current state of the vehicle is not in the parking state.
Specifically, when the vehicle speed of the vehicle is greater than zero, or the gear of the vehicle is not in the P gear, or the current state of the vehicle is not in the parking state, the vehicle can be considered to have a moving trend and not meet the vehicle safety requirement of the vehicle controller, at this time, if the vehicle still maintains the vehicle-mounted game mode, a potential safety hazard exists, and the vehicle controller needs to exit the vehicle-mounted game mode in time to meet the vehicle safety requirement.
Further, as shown in table 4, when the safety actuator is an electronic body stabilization system, the second exit condition includes: the vehicle speed of the vehicle is greater than zero, or the gear of the vehicle is not in the P gear, or the change rate of the brake depth signal of the vehicle exceeds a preset change rate threshold, or the brake depth value of the vehicle is greater than a preset depth value threshold.
Specifically, when the vehicle speed of the vehicle is greater than zero, or the gear of the vehicle is not in the P gear, it may be considered that the vehicle has a movement trend, and when the change rate of the braking depth signal of the vehicle exceeds a preset change rate threshold, or the braking depth value of the vehicle is greater than a preset depth value threshold, it may be considered that the vehicle has a vehicle emergency braking demand (a user needs to take over the vehicle actively), at this time, it may be considered that the vehicle does not satisfy the vehicle body stabilization safety demand of the electronic vehicle body stabilization system, and at this time, the electronic vehicle body stabilization system needs to exit the vehicle-mounted game mode in time to satisfy the vehicle body stabilization safety demand.
Optionally, the preset change threshold and the preset depth value threshold may be set according to the actual operation experience of the user, in other words, the preset change threshold and the preset depth value threshold may be fixed values or variable values.
Further, as shown in table 4, when the safety actuator is an electric power steering system, the second exit condition includes: the speed of the vehicle is greater than zero, or the gear of the vehicle is not in the P gear, or the hand torque of the driver is greater than a second preset torque threshold, or the rotating speed of the steering wheel is greater than a second preset rotating speed threshold.
Specifically, when the vehicle speed is greater than zero, or the gear of the vehicle is not in the P gear, it can be considered that the vehicle has a moving trend, or the driver hand torque is greater than a second preset torque threshold, or the steering wheel rotation speed is greater than a second preset rotation speed threshold, it can be considered that the vehicle has an emergency steering demand (the user needs to take over the vehicle actively), at this time, it can be considered that the vehicle does not meet the steering safety demand of the electric power steering system, and the electric power steering system needs to exit the vehicle-mounted game mode in time, so as to meet the steering safety demand.
Optionally, the second preset torque threshold and the second preset rotation speed threshold may be set accordingly according to actual needs, and in an embodiment of the present invention, the second preset torque threshold may preferably be 8N/m, and the second preset rotation speed threshold may preferably be 800 °/s.
It should be understood that when the driver's hand torque is greater than 8N/m or the second predetermined rotational speed threshold is greater than 800 °/s, it may be considered that the user has a willingness to take over the vehicle (there is driving control required for the vehicle), and at this time, the electric power steering system exits the on-board game mode to meet the steering demand of the vehicle.
It can be understood that, in the embodiment of the present invention, if a network communication failure occurs in the whole vehicle, such as the vehicle speed signal is invalid or lost, or the gear signal is invalid or lost, or the parking state signal is invalid or lost, the game master controller and the safety actuator are controlled to exit the vehicle-mounted game mode.
In addition, the preset delay time needs to be waited for, so that the first starting condition and the second starting condition can be judged, wherein in the embodiment of the invention, the preset delay time can be preferably 3s, specifically, after the game main controller and the safety actuator exit the vehicle-mounted game mode and wait for 3s, the first starting condition and the second starting condition of the next round are judged, so that the quick jump between the vehicle-mounted game mode and the normal driving mode of the game main controller and the safety actuator is effectively avoided.
Further, according to an embodiment of the present invention, as shown in fig. 14, the control method of a vehicle further includes:
and S801, judging whether the corner checking activation condition is satisfied.
Specifically, the rotation angle check activation condition may include: 1) the brake pedal is not stepped on; 2) the electronic parking system is in a release state; 3) each wheel speed value is valid and 4 wheel speed values are equal (it should be understood that, because of a certain error of the actual wheel speed value, the error of the wheel speed value may preferably be within ± 0.5km/h) and each wheel speed value is within the range of 30-80 km/h (it should be understood that, because of the correction of an excessive wheel speed, a small change of the turning angle may cause a large transient of the posture of the vehicle body, which causes a safety hazard; correcting when the wheel speed is too small, the real driving posture of the vehicle cannot be accurately reflected, and the value of the wheel speed range can be preferably 30-80 km/h); 4) the electric power steering system is not activated and is in an effective state; 5) the anti-lock braking system is not activated and is in an effective state; 6) the tracking control system is not activated and is in an effective state; 7) the yaw rate value is effectively equal to 0 (since there is some error in the actual yaw rate value, the yaw rate value error may be preferentially ± 0.1 rad/s).
Alternatively, the steering angle correction activation condition and the configuration of the electric power steering system may be defined in combination with the overall vehicle message, for example, a relevant signal that the vehicle is in an unstable state may be added.
S802, if the corner checking activation condition is satisfied, a steering wheel corner value range is obtained.
That is, when the rotation angle verification activation condition is established, that is, the aforementioned all rotation angle verification activation conditions are satisfied, the steering wheel rotation angle value range is acquired.
And S803, correcting the steering angle zero value according to the steering wheel steering angle value range.
Specifically, correcting the steering angle zero value according to the steering wheel steering angle value range may include the following cases: 1) when the electric power steering system judges that the steering wheel rotation angle value range is within the range of +/-5 degrees, the electric power steering system starts the rotation angle zero value correction, sets the current rotation angle value as the zero value and takes effect in the current ignition cycle; 2) when the electric power steering system judges that the steering wheel rotation angle value range is not within the range of +/-5 degrees, the EPS system does not start the rotation angle zero value correction; 3) when the electric power steering system judges that the steering wheel rotation angle value range is not within the range of +/-15 degrees, the electric power steering system records the rotation angle deviation fault code and lights the fault lamp, and then the vehicle-mounted computer or the combination instrument is used for carrying out text/voice reminding, and if the steering wheel rotation angle is deviated, the vehicle-mounted computer or the combination instrument is requested to go to a service shop to overhaul the steering system.
Specifically, as shown in fig. 15, when the above-mentioned rotation angle checking activation condition is simultaneously satisfied, the steering wheel rotation angle value range is acquired, and the above-mentioned correction of the rotation angle zero value according to the steering wheel rotation angle value range is executed.
It should be understood that, in the embodiment of the present invention, when the entire vehicle is in the vehicle-mounted game mode, the mechanical connection between the steering wheel and the steering wheel is decoupled, and when the entire vehicle exits the vehicle-mounted game mode, the steering wheel and the steering wheel are in connection coupling, because a certain error exists in the system connection coupling control, if the error is accumulated for a plurality of times, the actual corresponding deviation between the steering wheel and the steering wheel is too large, which directly affects that the steering wheel is not in the middle position when the vehicle is running straight, and further, indirectly affects that the EPS return-to-normal control function deviates from the zero point, thereby causing the vehicle to be deviated.
With reference to fig. 16 and a specific embodiment of the present invention, a decoupling/coupling control process of a steering wheel and a steering wheel of an electric power steering system is described below, and after an experiencer starts a vehicle-mounted game mode of a whole vehicle, the experiencer executes the following steps:
and S1, the game master controller and each safety actuator perform monitoring and judgment on the safety condition of game entry.
S2, judging whether the vehicle-mounted game mode of the whole vehicle is started successfully, if so, executing a step S4; if not, step S3 is performed.
And S3, the connection controller of the electric power steering system does not execute mechanical connection decoupling control of the steering wheel and the steering wheel.
S4, the electric power steering system obtains the torque value and the rotation angle value of the torque rotation angle sensor, and judges whether the steering wheel is in a free state, if so, the step S5 is executed; if not, step S3 is performed.
And S5, the electric power steering system records the current turning angle value and carries out text/voice reminding through a vehicle-mounted computer or a combination instrument, if the steering wheel is about to execute decoupling control, the steering wheel is not touched.
And S6, the connection controller of the electric power steering system executes mechanical connection decoupling control of the steering wheel and the steering wheel, and performs text/voice reminding through a vehicle-mounted computer or a combination instrument, if the steering wheel executes decoupling control, the steering wheel is not touched.
And S7, after the electric power steering system successfully executes the steering wheel decoupling control, controlling an electronic control unit and a motor integrated package and/or a hand feeling simulator in the EPS system to enter a vehicle-mounted game mode.
S8, the electric power steering system continuously monitors and judges whether the vehicle-mounted game mode exit condition is met, if yes, the step S9 is executed; if not, step S8 is performed.
S9, the electric power steering system control electronic control unit and the motor integrated package and/or hand feeling simulator execute the steering wheel return control, and through the vehicle computer or the combined instrument, the text/voice reminding is carried out, if the steering wheel is executing the coupling control, the steering wheel is not touched.
S10, the electric power steering system determines whether the steering angle value is equal to the recorded current steering angle value ± 2 °, if so, performs step S11, and if not, performs step S9.
And S11, the connection controller of the electric power steering system executes mechanical connection coupling control of the steering wheel and the steering wheel.
And S12, after the electric power steering system successfully executes the coupling control of the steering wheel, the electric power steering system controls the electronic control unit and the motor to integrate a package and/or a hand feeling simulator and/or a connection controller to exit the vehicle-mounted game mode, and carries out text/voice reminding through a vehicle-mounted computer or a combination instrument, for example, the steering wheel successfully executes the coupling control.
In summary, according to the control method of the vehicle of the embodiment of the invention, the current operation mode of the vehicle is obtained, and the coupling manner of the steering wheel and the steering wheel is controlled according to the current operation mode. Therefore, the coupling mode of the steering wheel and the steering wheel is controlled according to the vehicle-mounted game mode and the normal driving mode, so that the abrasion of the steering wheel is reduced in the vehicle-mounted game mode, the service life of a steering system is prolonged, the reliable vehicle steering system is provided in the normal driving mode, and the driving safety is ensured.
Fig. 17 is a block diagram schematically illustrating a control apparatus of a vehicle according to an embodiment of the present invention.
As shown in fig. 17, the control apparatus 100 of the vehicle includes an acquisition module 1 and a control module 2.
The acquisition module 1 is used for acquiring the current running mode of the vehicle; the control module 2 controls the coupling mode of the steering wheel and the steering wheel according to the current operation mode, wherein the current operation mode comprises a vehicle-mounted game mode and a normal driving mode.
Further, according to the control device of the vehicle in the embodiment of the present invention, the obtaining module 1 is further configured to receive a vehicle-mounted game starting instruction; judging whether a first starting condition is met or not according to a vehicle-mounted game starting instruction; if the first starting condition is met, starting the game device of the vehicle, and judging whether the game device of the vehicle successfully enters the vehicle-mounted game mode; the control module 2 is also used to decouple the steering wheel from the steering wheel if the vehicle's gaming device successfully enters the in-vehicle gaming mode.
Further, according to the control apparatus of a vehicle of the embodiment of the present invention, the obtaining module 1 is further configured to obtain a torque value and a rotation angle value of a torque rotation angle sensor of the vehicle; detecting whether the steering wheel is in a free state or not according to the torque value and the rotation angle value of the torque rotation angle sensor; the control module 2 is also used for recording the current turning angle value of the steering wheel and carrying out decoupling prompt on an experiencer if the steering wheel is in a free state; and decoupling the steering wheel from the steered wheels.
Further, according to the control device of the vehicle in the embodiment of the present invention, the obtaining module 1 is further configured to receive a vehicle-mounted game quitting instruction; the control module 2 is further configured to restore the angle of the steering wheel to the current turning angle value and couple the steering wheel with the steered wheel.
Further, the control apparatus of a vehicle according to an embodiment of the present invention, which determines whether a game device of the vehicle successfully enters an in-vehicle game mode, includes: starting a safety actuator of the vehicle and entering a vehicle-mounted game mode when a second starting condition is met; after the safety executor enters the vehicle-mounted game mode, a game pre-preparation mode success message is fed back to the game main controller; the game main controller starts the vehicle-mounted game mode according to the game pre-preparation mode success message.
Further, according to the control device of the vehicle of the embodiment of the invention, the safety actuator includes one or more of a gear system, an electronic parking system, a vehicle control unit, an electronic body stabilization system or an electronic power steering system.
Further, according to the control device of the vehicle of the embodiment of the present invention, the obtaining module 1 is further configured to determine whether a corner check activation condition is satisfied; if the corner check activation condition is satisfied, acquiring a steering wheel corner value range; the control module 2 is further configured to correct the steering angle zero value according to the steering wheel steering angle value range.
Further, according to the control device of the vehicle of the embodiment of the invention, the decoupling position is located between the electronic control unit and the motor integrated package and the steering wheel or between the electronic control unit and the motor integrated package and the steered wheel.
It should be noted that, the control device of the vehicle according to the embodiment of the present invention corresponds to the specific embodiment of the control method of the vehicle, and details are not repeated herein.
In summary, according to the control apparatus of the vehicle in the embodiment of the present invention, the current operation mode of the vehicle is obtained by the obtaining module, and the control module controls the coupling manner between the steering wheel and the steering wheel according to the current operation mode, where the current operation mode includes an on-vehicle game mode and a normal driving mode. Therefore, the coupling mode of the steering wheel and the steering wheel is controlled according to the vehicle-mounted game mode and the normal driving mode, so that the abrasion of the steering wheel is reduced in the vehicle-mounted game mode, the service life of a steering system is prolonged, the reliable vehicle steering system is provided in the normal driving mode, and the driving safety is ensured.
Based on the same inventive concept, the embodiment of the invention also provides a vehicle corresponding to the control device of the vehicle.
Specifically, as shown in fig. 18, according to a vehicle 1000 according to an embodiment of the present invention, a specific embodiment mode corresponding to the control device 100 of the vehicle described above can be implemented.
According to the vehicle provided by the embodiment of the invention, the control device of the vehicle is adopted, and when the program is executed by the processor, the coupling mode of the steering wheel and the steering wheel can be controlled according to the vehicle-mounted game mode and the normal driving mode, so that the abrasion of the steering wheel is reduced in the vehicle-mounted game mode, the service life of the steering system is prolonged, and the reliable vehicle steering system is provided in the normal driving mode, and the driving safety is ensured.
Since the vehicle described in the embodiment of the present invention is a vehicle used for implementing the control device of the vehicle described in the embodiment of the present invention, based on the device described in the embodiment of the present invention, a person skilled in the art can understand the specific structure and the modification of the vehicle, and thus the detailed description is omitted here. All vehicles adopted by the device in the embodiment of the invention belong to the protection scope of the invention.
Based on the same inventive concept, the embodiment of the invention also provides a computer-readable storage medium corresponding to the control method of the vehicle.
Specifically, according to a computer-readable storage medium provided by an embodiment of the present invention, a control method program of a vehicle is stored thereon, and when the program is executed by a processor, a specific embodiment mode corresponding to the aforementioned control method of the vehicle on a one-to-one basis can be realized.
According to the computer readable storage medium of the embodiment of the invention, the control method program of the vehicle is stored, and when the program is executed by the processor, the coupling mode of the steering wheel and the steering wheel can be controlled according to the vehicle-mounted game mode and the normal driving mode, so that the abrasion of the steering wheel is reduced in the vehicle-mounted game mode, the service life of the steering system is prolonged, and the reliable vehicle steering system is provided in the normal driving mode, and the driving safety is ensured.
Since the computer-readable storage medium described in the embodiment of the present invention is a computer-readable storage medium used for implementing the method for controlling a vehicle described in the embodiment of the present invention, based on the method described in the embodiment of the present invention, a person skilled in the art can understand the specific structure and modification of the computer-readable storage medium, and thus details are not described herein. Any computer readable storage medium used in the above method of the embodiments of the present invention is within the scope of the present invention.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any system that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic system) having one or more wires, a portable computer diskette (magnetic system), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber system, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (11)

1. A control method of a vehicle, characterized by comprising:
acquiring a current running mode of a vehicle;
controlling the coupling mode of the steering wheel and the steering wheel according to the current running mode;
wherein the current operation mode includes an in-vehicle game mode and a normal driving mode.
2. The control method of a vehicle according to claim 1, characterized by further comprising:
receiving a vehicle-mounted game starting instruction;
judging whether a first starting condition is met or not according to the vehicle-mounted game starting instruction;
if the first starting condition is met, starting a game device of the vehicle, and judging whether the game device of the vehicle successfully enters a vehicle-mounted game mode; and
decoupling the steering wheel from the steering wheel if the gaming device of the vehicle successfully enters an on-board gaming mode.
3. The control method of a vehicle according to claim 2, wherein the decoupling the steering wheel from the steered wheels comprises:
acquiring a torque value and a rotation angle value of a torque rotation angle sensor of the vehicle;
detecting whether the steering wheel is in a free state or not according to the torque value and the rotation angle value of the torque rotation angle sensor;
if the steering wheel is in the free state, recording the current turning angle value of the steering wheel, and carrying out decoupling prompt on an experiencer; and
decoupling the steering wheel from the steerable wheel.
4. The control method of a vehicle according to claim 3, characterized by further comprising:
receiving a vehicle-mounted game quitting instruction;
and restoring the angle of the steering wheel to the current turning angle value, and coupling the steering wheel with the steering wheel.
5. The method of controlling a vehicle according to claim 2, wherein the determining whether the game device of the vehicle successfully enters an in-vehicle game mode includes:
starting a safety actuator of the vehicle and entering a vehicle-mounted game mode when a second starting condition is met;
after the safety executor enters the vehicle-mounted game mode, feeding back a game pre-preparation mode success message to the game main controller;
and the game main controller starts a vehicle-mounted game mode according to the game pre-preparation mode success message.
6. The method of controlling a vehicle of claim 5, wherein the safety actuator comprises one or more of a gear system, an electronic parking system, a vehicle control unit, an electronic body stability system, or an electronic power steering system.
7. The control method of a vehicle according to claim 4, characterized by further comprising:
judging whether the corner check activation condition is satisfied or not;
if the corner checking activation condition is satisfied, acquiring a steering wheel corner value range;
and correcting the steering angle zero value according to the steering wheel steering angle value range.
8. A control method of a vehicle according to claim 2 or 3, characterized in that a decoupling position is located between an electronic control unit and a motor integrated package and the steering wheel or between the electronic control unit and a motor integrated package and the steered wheel.
9. A control apparatus of a vehicle, characterized by comprising,
the acquisition module is used for acquiring the current running mode of the vehicle;
the control module is used for controlling the coupling mode of the steering wheel and the steering wheel according to the current running mode;
wherein the current operation mode includes an in-vehicle game mode and a normal driving mode.
10. A vehicle characterized by comprising the control apparatus of the vehicle according to claim 9.
11. A computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed implements the control method of the vehicle according to claims 1-8.
CN201911032628.9A 2019-10-28 2019-10-28 Vehicle, control method and device thereof, and storage medium Active CN112722055B (en)

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