CN115214771B - Steering angle adjusting method of steering wheel and related equipment - Google Patents
Steering angle adjusting method of steering wheel and related equipment Download PDFInfo
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- CN115214771B CN115214771B CN202210396516.7A CN202210396516A CN115214771B CN 115214771 B CN115214771 B CN 115214771B CN 202210396516 A CN202210396516 A CN 202210396516A CN 115214771 B CN115214771 B CN 115214771B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application provides a steering angle adjusting method of a steering wheel and related equipment, wherein in the turning process of a vehicle, a target steering angle of the steering wheel at a target moment is determined, and the target moment is a time point when the vehicle finishes turning; acquiring steering wheel operation information of a current steering wheel of a driver in real time, and pre-judging the steering angle of the steering wheel at a target moment according to the steering wheel operation information; if the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment, the diameter of the steering wheel is adjusted according to the target steering angle and the steering angle of the steering wheel at the target moment so that the steering angle of the steering wheel at the target moment is consistent with the target steering angle. The invention can adjust the steering angle of the steering wheel under the condition that the driver has poor judging capability on the curvature of the road and the like, thereby avoiding traffic accidents.
Description
Technical Field
The invention relates to the technical field of vehicle driving, in particular to a steering angle adjusting method of a steering wheel and related equipment.
Background
With the continuous development of economy, automobiles gradually become necessary vehicles for people to travel daily, and steering wheels are necessary components for driving automobiles.
During turning of the vehicle, the rotation angle of the steering wheel directly affects the steering of the vehicle, and if the rotation angle of the steering wheel is too large, oversteer of the vehicle is easily caused. If the rotation angle is too small, a problem of understeer of the vehicle is liable to occur as shown in fig. 1. The control energy of the driver on the steering wheel is seriously dependent on the experience of the driver, and the judgment capability of a new hand or a driver with insufficient experience on the curvature of a road and the like is poor, so that the force applied to steering of the steering wheel cannot be accurately controlled, and traffic accidents are easy to occur.
Therefore, how to provide a steering angle adjustment method of a steering wheel, so as to adjust the steering angle of the steering wheel to avoid traffic accidents under the condition that the driver has poor judging ability on road curvature and the like is a problem to be solved currently in the present application.
Disclosure of Invention
In view of this, the present invention provides a steering angle adjusting method and system for a steering wheel, which aims to adjust the steering angle of the steering wheel and avoid traffic accidents when the driver has poor judging ability on road curvature and the like.
The first aspect of the invention discloses a steering angle adjusting method of a steering wheel, which comprises the following steps:
in the turning process of the vehicle, determining a target steering angle of a steering wheel at a target moment; the target moment is a time point when the vehicle finishes turning;
acquiring steering wheel operation information of a driver for currently operating the steering wheel in real time, and pre-judging the steering angle of the steering wheel at the target moment according to the steering wheel operation information;
and if the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment, adjusting the diameter of the steering wheel according to the target steering angle and the steering angle of the steering wheel at the target moment so as to enable the steering angle of the steering wheel at the target moment to be consistent with the target steering angle.
Optionally, in the turning process of the vehicle, determining a target steering angle of the steering wheel at a target moment; the target time is a time point when the vehicle finishes turning, and the method comprises the following steps:
in the turning process of the vehicle, acquiring the road information of the current road of the vehicle and the vehicle information of the vehicle in real time; wherein the vehicle information comprises a current vehicle speed and/or a vehicle weight;
predicting the vehicle posture when the vehicle turns according to the road information;
and determining the target steering angle of the steering wheel at the target moment according to the vehicle posture and the vehicle information.
Optionally, the predicting the vehicle posture when the vehicle turns according to the road information includes:
determining the curvature, gradient and road state of the road according to the road information;
and predicting the vehicle posture when the vehicle turns according to the curvature, the gradient and the road state of the road.
Optionally, the acquiring, in real time, steering wheel operation information of the steering wheel currently operated by the driver, and predicting, according to the steering wheel operation information, a steering angle of the steering wheel at the target moment includes:
acquiring steering wheel operation information of a driver on the steering wheel in real time, wherein the steering wheel operation information at least comprises the current state of the steering wheel, the rotating speed and the steering force applied by the driver on the steering wheel;
and predicting the steering angle of the steering wheel at the target moment according to the current state, the rotation angle and the steering force of the steering wheel.
Optionally, if the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment, adjusting the diameter of the steering wheel according to the target steering angle and the steering angle of the steering wheel at the target moment, so that the steering angle of the steering wheel at the target moment is consistent with the target steering angle, including:
if the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment, judging whether the steering angle of the steering wheel at the target moment is larger than the target steering angle;
if the steering angle of the steering wheel at the target moment is larger than the target steering angle, reducing the diameter of the steering wheel until the steering angle of the steering wheel at the target moment is equal to the target steering angle, so that the steering angle of the steering wheel at the target moment is consistent with the target steering angle;
and if the steering angle of the direction at the target moment is not greater than the target steering angle, increasing the diameter of the steering wheel until the steering angle of the steering wheel at the target moment is equal to the target steering angle, so that the steering angle of the steering wheel at the target moment is consistent with the target steering angle.
A second aspect of the present invention discloses a steering adjustment system for a steering wheel, the system comprising:
the target steering angle determining unit is used for determining the target steering angle of the steering wheel at the target moment in the turning process of the vehicle; the target moment is a time point when the vehicle finishes turning;
the steering angle pre-judging unit is used for acquiring steering wheel operation information of a driver for operating the steering wheel in real time and pre-judging the steering angle of the steering wheel at the target moment according to the steering wheel operation information;
and the adjusting unit is used for adjusting the diameter of the steering wheel according to the target steering angle and the steering angle of the steering wheel at the target moment if the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment so as to enable the steering angle of the steering wheel at the target moment to be consistent with the target steering angle.
Optionally, the target steering angle determining unit includes:
the information real-time acquisition unit is used for acquiring the road information of the current road of the vehicle and the vehicle information of the vehicle in real time in the turning process of the vehicle; wherein the vehicle information comprises a current vehicle speed and/or a vehicle weight;
a vehicle posture predicting unit configured to predict a vehicle posture when the vehicle turns, based on the road information;
and the target steering angle determining subunit is used for determining the target steering angle of the steering wheel at the target moment according to the vehicle posture and the vehicle information.
A third aspect of the present invention discloses an electronic device, comprising: the device comprises a processor and a memory, wherein the processor and the memory are connected through a communication bus; the processor is used for calling and executing the program stored in the memory; the memory is used for storing a program for realizing the steering angle adjusting method of the steering wheel disclosed in the first aspect of the invention.
A fourth aspect of the present invention discloses a computer-readable storage medium having stored therein computer-executable instructions for performing the steering angle adjustment method of a steering wheel as disclosed in the first aspect of the present invention described above.
A fifth aspect of the invention discloses a vehicle including the steering angle adjustment system of the steering wheel disclosed in the second aspect of the invention described above, the electronic apparatus disclosed in the third aspect of the invention described above, or the computer-readable storage medium disclosed in the fourth aspect of the invention described above.
The invention provides a steering angle adjusting method of a steering wheel and related equipment, wherein in the turning process of a vehicle, the target steering angle of the steering wheel at a target moment is determined; the target moment is a time point when the vehicle finishes turning; acquiring steering wheel operation information of a current steering wheel of a driver in real time, and pre-judging the steering angle of the steering wheel at a target moment according to the steering wheel operation information; if the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment, the driver is poor in judging capability on the curvature of the current road, and the diameter of the steering wheel can be adjusted according to the target steering angle and the steering angle of the steering wheel at the target moment, so that the steering angle of the steering wheel at the target moment is consistent with the target steering angle, the steering angle of the steering wheel is ensured to achieve the expected effect, and traffic accidents are avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram illustrating an example of oversteer, normal driving, and understeer of a vehicle according to the prior art;
fig. 2 is a schematic flow chart of a steering angle adjusting method of a steering wheel according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating an exemplary diameter of a steering wheel according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of steering wheel adjustment according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a steering angle adjusting system of a steering wheel according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by these devices, modules, or units.
It should be noted that references to "one" or "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be interpreted as "one or more" unless the context clearly indicates otherwise.
Referring to fig. 2, a flow chart of a steering angle adjustment method of a steering wheel provided by an embodiment of the present invention is shown, where the steering angle adjustment method of the steering wheel is applied to a whole vehicle control unit ECU, and the steering angle adjustment method of the steering wheel specifically includes the following steps:
s201: in the turning process of the vehicle, determining a target steering angle of a steering wheel at a target moment; the target moment is a time point when the vehicle finishes turning.
In the embodiment of the application, the whole vehicle control unit ECU can monitor the road on which the vehicle runs in real time through the vehicle-outside camera, so that in the turning process of the vehicle, the road information of the road on which the vehicle is currently located is acquired through the vehicle-outside camera, a high-precision map or a road mapping database related to the road information is acquired through the ADAS system, and then the curvature, gradient and road state of the road on which the vehicle is currently located can be determined from the high-precision map or the road mapping database according to the acquired road information.
As a preferred mode of the embodiment of the present application, a correspondence between a vehicle posture and a curvature, a gradient and a road state of a road may be preset, and the preset correspondence may be stored in a database; thus, after the curvature, gradient and road state of the road where the vehicle is currently located are determined, the vehicle posture which should be realized when the vehicle turns can be predicted according to the corresponding relation between the preset vehicle posture and the curvature, gradient and road state of the road.
As another preferable mode of the embodiment of the application, the simulation system can also be used for carrying out simulation according to the curvature, gradient and road state of the road where the vehicle is currently located, so as to predict that the vehicle passes through the road as the vehicle posture which should be realized.
The road on which the vehicle is traveling can also be detected and monitored by a laser radar and a high-precision map sensor.
In the embodiment of the application, the corresponding relation between the steering angle of the steering wheel and the vehicle posture and the vehicle information is preset, and the set corresponding relation is stored in a database.
The vehicle information includes at least one of a vehicle speed and a vehicle weight of the vehicle.
After the vehicle attitude when the vehicle passes through the road is predicted, the target steering angle of the steering wheel at the target moment can be determined according to the preset corresponding relation between the steering angle of the steering wheel, the vehicle attitude and the vehicle information. The target steering angle is a steering angle required when the vehicle smoothly passes through a turn.
In the embodiment of the application, the target steering angle of the steering wheel at the target moment can be predicted by performing corresponding simulation according to the vehicle posture and the vehicle information through the simulation system.
Further, in the embodiment of the application, the sensor for monitoring the road surface state can be further arranged on the vehicle, so that the road surface information of the road can be monitored through the sensor for monitoring the road surface state, wherein the road surface information comprises factors such as wet road surface, rough road surface and the like.
In the embodiment of the application, the corresponding relation between the road surface information and the steering angle of the steering wheel can be further set, and then in the turning process of the vehicle, the road surface information of the road can be monitored through the sensor for monitoring the road surface state, and then the target steering angle of the steering wheel at the target moment can be determined through the corresponding relation between the preset road surface information and the steering angle of the steering wheel. Or, the target steering angle of the steering wheel at the target moment can be predicted by a simulation system through simulation according to the road surface information.
S202: and acquiring steering wheel operation information of a driver for currently operating the steering wheel in real time, and pre-judging the steering angle of the steering wheel at the target moment according to the steering wheel operation information.
In the embodiment of the application, the steering wheel operation information of the steering wheel of the driver can be detected in real time through the steering wheel sensor. The steering wheel operation information at least comprises the current state of the steering wheel, the steering angle and the steering force.
In the embodiment of the present application, a correspondence between steering wheel operation information and a steering angle of a steering wheel may be preset, and the preset correspondence between steering wheel operation information and the steering angle of the steering wheel may be stored in a database.
In the specific execution of step S202, after the target steering angle of the steering wheel at the target moment is predicted, the steering force currently applied by the driver on the steering wheel, the current state of the steering wheel and the rotation speed are obtained through the steering wheel sensor, so that the steering angle of the steering wheel at the target moment can be predicted according to the preset corresponding relationship between the steering wheel operation information and the steering angle of the steering wheel.
In the embodiment of the application, the steering angle of the steering wheel at the target moment can be pre-judged by performing simulation according to the steering wheel operation information through a simulation system.
S203: judging whether the target steering angle is consistent with the steering angle of the steering wheel at the target moment; the target steering angle is not identical to the steering angle of the steering wheel at the target time, and step S204 is performed.
In the specific execution of step S203, after the target steering angle and the steering angle of the steering wheel at the target time that should be provided when the vehicle passes through the curve are pre-determined, it may be determined whether the target steering angle is consistent with the steering angle of the steering wheel at the target time, and if the target steering angle is consistent with the steering angle of the steering wheel at the target time, it is indicated that the driver has better ability to determine the curvature of the current road, the diameter of the steering wheel is not adjusted, that is, the steering angle of the steering wheel at the target time is not adjusted.
If the target steering angle is inconsistent with the steering angle of the steering wheel at the target time, it indicates that the driver has poor judgment capability on the current road curvature, and the diameter of the steering wheel needs to be adjusted, that is, the steering angle of the steering wheel at the target time is adjusted, so that step S204 is executed.
S204: and adjusting the diameter of the steering wheel according to the target steering angle and the steering angle of the steering wheel at the target moment so as to enable the steering angle of the steering wheel at the target moment to be consistent with the target steering angle.
In this embodiment of the present application, when the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment, it is indicated that the steering angle of the steering wheel at the target moment is insufficient or excessive, and at this time, the increase or decrease of the steering arm force can be achieved by adjusting the diameter of the steering wheel, so as to offset the problem of insufficient or excessive steering angle. Wherein the diameter of the steering wheel is shown in fig. 3.
If the steering angle of the steering wheel at the target moment is smaller than the target steering angle, the situation that the steering angle of the steering wheel at the target moment is insufficient, namely the current steering arm strength of the driver is insufficient, is described, and the steering arm strength can be increased by increasing the diameter of the steering wheel, so that the steering angle of the steering wheel at the target moment is increased. If the steering angle of the steering wheel at the target moment is larger than the target steering angle, the situation that the steering angle of the steering wheel at the target moment is excessive is indicated, the current steering arm force of the driver is excessive, and at the moment, the steering arm force can be reduced by reducing the diameter of the steering wheel, so that the steering angle of the steering wheel at the target moment is reduced. As shown in fig. 4.
Optionally, when the steering angle of the steering wheel at the target moment is not equal to the target steering angle, it may be further determined whether the steering angle of the steering wheel at the target moment is greater than the target steering angle; if the steering angle of the steering wheel at the target moment is larger than the target steering angle, the diameter of the steering wheel can be reduced through the diameter adjusting device until the steering angle of the steering wheel at the target moment is equal to the target steering angle; if the steering angle of the direction at the target moment is not greater than the target steering angle, the diameter of the steering wheel can be increased by the diameter adjusting device until the steering angle of the steering wheel at the target moment is equal to the target steering angle.
In an embodiment of the application, the diameter adjustment device is arranged on the steering wheel.
For example, in the left turning process of the vehicle, the vehicle control unit ECU determines that the target steering angle of the steering wheel at the target moment is 10 °, that is, the steering angle of the vehicle is 10 ° when passing through a curve, that is, the steering arm force of 5N is required to be used by the driver when based on the normal steering wheel diameter, and the vehicle control unit ECU pre-determines that the steering angle of the steering wheel at the target moment is 6 °, that is, the steering angle is 6 ° when passing through the curve, that is, the steering arm force of 3N is only used by the driver when turning the steering wheel, which means that the steering angle of the steering wheel at the target moment is insufficient, that is, the current steering arm force of the driver is insufficient, at this time, the diameter of the steering wheel can be quickly controlled to be increased by the vehicle control unit ECU so as to increase the steering arm force, and the steering angle of the steering wheel at the target moment reaches the target steering angle in the required time when the current effort of the driver is satisfied, thereby avoiding traffic accidents caused by the steering shortage problem.
The invention provides a steering adjustment method of a steering wheel, which is characterized in that in the turning process of a vehicle, the target steering angle of the steering wheel at the target moment is determined; the target moment is a time point when the vehicle finishes turning; acquiring steering wheel operation information of a current steering wheel of a driver in real time, and pre-judging the steering angle of the steering wheel at a target moment according to the steering wheel operation information; if the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment, the driver is poor in judging capability on the curvature of the current road, and the diameter of the steering wheel can be adjusted according to the target steering angle and the steering angle of the steering wheel at the target moment, so that the steering angle of the steering wheel at the target moment is consistent with the target steering angle, the steering angle of the steering wheel is ensured to achieve the expected effect, and traffic accidents are avoided.
The steering adjustment method of the steering wheel disclosed in the above embodiment of the present invention corresponds to, referring to fig. 5, the embodiment of the present invention further provides a schematic structural diagram of a steering adjustment system of the steering wheel, where the steering adjustment system of the steering wheel is applied to an ECU of a vehicle control unit, and the steering adjustment system of the steering wheel includes:
a target steering angle determining unit 51 for determining a target steering angle of the steering wheel at a target time during a turning of the vehicle; the target moment is a time point when the vehicle finishes turning;
a steering angle pre-judging unit 52, configured to obtain, in real time, steering wheel operation information of a steering wheel currently operated by a driver, and pre-judge a steering angle of the steering wheel at a target time according to the steering wheel operation information;
and an adjusting unit 53 for adjusting the diameter of the steering wheel according to the target steering angle and the steering angle of the steering wheel at the target time so that the steering angle of the steering wheel at the target time is consistent with the target steering angle if the target steering angle is inconsistent with the steering angle of the steering wheel at the target time.
The specific principle and execution process of each unit in the steering wheel steering adjustment system disclosed in the above embodiment of the present invention are the same as those of the steering wheel steering adjustment method disclosed in fig. 2 of the above embodiment of the present invention, and reference may be made to corresponding parts in the steering wheel steering adjustment method disclosed in fig. 2 of the above embodiment of the present invention, and no further description is given here.
The invention provides a steering adjustment system of a steering wheel, which is applied to an ECU (electronic control unit), and determines a target steering angle of the steering wheel at a target moment in the turning process of a vehicle; the target moment is a time point when the vehicle finishes turning; acquiring steering wheel operation information of a current steering wheel of a driver in real time, and pre-judging the steering angle of the steering wheel at a target moment according to the steering wheel operation information; if the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment, the driver is poor in judging capability on the curvature of the current road, and the diameter of the steering wheel can be adjusted according to the target steering angle and the steering angle of the steering wheel at the target moment, so that the steering angle of the steering wheel at the target moment is consistent with the target steering angle, the steering angle of the steering wheel is ensured to achieve the expected effect, and traffic accidents are avoided.
Optionally, the target steering angle determining unit includes:
the information real-time acquisition unit is used for acquiring the road information of the current road of the vehicle and the vehicle information of the vehicle in real time in the turning process of the vehicle; wherein the vehicle information includes a current vehicle speed and/or a vehicle weight;
a vehicle posture predicting unit for predicting a vehicle posture when the vehicle turns according to the road information;
and the target steering angle determining subunit is used for determining the target steering angle of the steering wheel at the target moment according to the vehicle posture and the vehicle information.
Optionally, the vehicle posture prediction unit includes:
the determining unit is used for determining the curvature, gradient and road state of the road according to the road management information;
and the vehicle posture prediction subunit is used for predicting the vehicle posture when the vehicle turns according to the curvature, the gradient and the road state of the road.
Optionally, the steering angle pre-judging unit includes:
a steering wheel operation information acquisition unit for acquiring steering wheel operation information of a driver on a steering wheel in real time, wherein the steering wheel operation information at least comprises the current state of the steering wheel, the rotation speed and the steering force applied by the driver on the steering wheel;
the steering angle prejudging subunit is used for prejudging the steering angle of the steering wheel at the target moment according to the current state, the rotation angle and the steering force of the steering wheel.
Optionally, the adjusting unit includes:
the judging unit is used for judging whether the steering angle of the steering wheel at the target moment is larger than the target steering angle or not if the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment;
the first adjusting subunit is used for reducing the diameter of the steering wheel if the steering angle of the steering wheel at the target moment is larger than the target steering angle until the steering angle of the steering wheel at the target moment is equal to the target steering angle so as to enable the steering angle of the steering wheel at the target moment to be consistent with the target steering angle;
and the second adjusting subunit is used for increasing the diameter of the steering wheel if the steering angle of the steering wheel at the target moment is not greater than the target steering angle until the steering angle of the steering wheel at the target moment is equal to the target steering angle so as to enable the steering angle of the steering wheel at the target moment to be consistent with the target steering angle.
The embodiment of the invention provides electronic equipment, which comprises a processor and a memory, wherein the memory is used for storing program codes and data of steering angle adjustment of a steering wheel, and the processor is used for calling program instructions in the memory to execute steps shown in a generating method for realizing the steering angle adjustment of the steering wheel in the embodiment.
The embodiment of the invention provides a storage medium, which comprises a storage program, wherein the storage medium is controlled to be arranged in equipment to execute the steering angle adjusting method of the steering wheel shown in the embodiment when the program runs.
An embodiment of the present invention provides a vehicle including the steering angle adjustment system of the steering wheel in the above embodiment, the electronic device in the above embodiment, or the computer-readable storage medium in the above embodiment.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a system or system embodiment, since it is substantially similar to a method embodiment, the description is relatively simple, with reference to the description of the method embodiment being made in part. The systems and system embodiments described above are merely illustrative, wherein elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. A method of steering angle adjustment of a steering wheel, the method comprising:
in the turning process of the vehicle, determining a target steering angle of a steering wheel at a target moment; the target moment is a time point when the vehicle finishes turning;
acquiring steering wheel operation information of a driver for currently operating the steering wheel in real time, and pre-judging the steering angle of the steering wheel at the target moment according to the steering wheel operation information;
and if the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment, adjusting the diameter of the steering wheel according to the target steering angle and the steering angle of the steering wheel at the target moment so as to enable the steering angle of the steering wheel at the target moment to be consistent with the target steering angle.
2. The method of claim 1, wherein the target steering angle of the steering wheel at the target time is determined during a turn of the vehicle; the target time is a time point when the vehicle finishes turning, and the method comprises the following steps:
in the turning process of the vehicle, acquiring the road information of the current road of the vehicle and the vehicle information of the vehicle in real time; wherein the vehicle information comprises a current vehicle speed and/or a vehicle weight;
predicting the vehicle posture when the vehicle turns according to the road information;
and determining the target steering angle of the steering wheel at the target moment according to the vehicle posture and the vehicle information.
3. The method of claim 2, wherein predicting the vehicle pose when the vehicle turns based on the road information comprises:
determining the curvature, gradient and road state of the road according to the road information;
and predicting the vehicle posture when the vehicle finishes turning according to the curvature, the gradient and the road state of the road.
4. The method according to claim 1, wherein the acquiring, in real time, steering wheel operation information of the steering wheel currently operated by the driver and predicting a steering angle of the steering wheel at the target time according to the steering wheel operation information includes:
acquiring steering wheel operation information of a driver on the steering wheel in real time, wherein the steering wheel operation information at least comprises the current state of the steering wheel, the rotating speed and the steering force applied by the driver on the steering wheel;
and predicting the steering angle of the steering wheel at the target moment according to the current state, the rotation angle and the steering force of the steering wheel.
5. The method of claim 1, wherein adjusting the diameter of the steering wheel to match the steering angle of the steering wheel at the target time based on the target steering angle and the steering angle of the steering wheel at the target time if the target steering angle is not matched with the steering angle of the steering wheel at the target time comprises:
if the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment, judging whether the steering angle of the steering wheel at the target moment is larger than the target steering angle;
if the steering angle of the steering wheel at the target moment is larger than the target steering angle, reducing the diameter of the steering wheel until the steering angle of the steering wheel at the target moment is equal to the target steering angle, so that the steering angle of the steering wheel at the target moment is consistent with the target steering angle;
and if the steering angle of the direction at the target moment is not greater than the target steering angle, increasing the diameter of the steering wheel until the steering angle of the steering wheel at the target moment is equal to the target steering angle, so that the steering angle of the steering wheel at the target moment is consistent with the target steering angle.
6. A steering adjustment system for a steering wheel, the system comprising:
the target steering angle determining unit is used for determining the target steering angle of the steering wheel at the target moment in the turning process of the vehicle; the target moment is a time point when the vehicle finishes turning;
the steering angle pre-judging unit is used for acquiring steering wheel operation information of a driver for operating the steering wheel in real time and pre-judging the steering angle of the steering wheel at the target moment according to the steering wheel operation information;
and the adjusting unit is used for adjusting the diameter of the steering wheel according to the target steering angle and the steering angle of the steering wheel at the target moment if the target steering angle is inconsistent with the steering angle of the steering wheel at the target moment so as to enable the steering angle of the steering wheel at the target moment to be consistent with the target steering angle.
7. The system according to claim 6, wherein the target steering angle determination unit includes:
the information real-time acquisition unit is used for acquiring the road information of the current road of the vehicle and the vehicle information of the vehicle in real time in the turning process of the vehicle; wherein the vehicle information comprises a current vehicle speed and/or a vehicle weight;
a vehicle posture predicting unit configured to predict a vehicle posture when the vehicle turns, based on the road information;
and the target steering angle determining subunit is used for determining the target steering angle of the steering wheel at the target moment according to the vehicle posture and the vehicle information.
8. An electronic device, comprising: the device comprises a processor and a memory, wherein the processor and the memory are connected through a communication bus; the processor is used for calling and executing the program stored in the memory; the memory is used for storing a program for implementing the steering angle adjustment method of the steering wheel according to any one of claims 1 to 5.
9. A computer-readable storage medium having stored therein computer-executable instructions for performing the steering angle adjustment method of the steering wheel according to any one of claims 1 to 5.
10. A vehicle characterized by comprising the steering angle adjustment system of the steering wheel of any one of claims 6-7, the electronic device of claim 8, or the computer-readable storage medium of claim 9.
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