CN110654450B

CN110654450B - Vehicle and steering control system, method and device of vehicle

Info

Publication number: CN110654450B
Application number: CN201810713320.XA
Authority: CN
Inventors: 刘效飞; 范波; 白军明
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2018-06-29
Filing date: 2018-06-29
Publication date: 2021-10-22
Anticipated expiration: 2038-06-29
Also published as: CN110654450A

Abstract

The invention provides a vehicle, a steering control system of the vehicle, a method and a device, wherein the control system comprises: m steering wheels; the M steering wheel angle sensors are correspondingly connected with the M steering wheels, and each steering wheel angle sensor is used for acquiring the rotation information of the corresponding steering wheel; m steering wheel driving units, wherein each steering wheel driving unit is connected with a corresponding steering wheel; the steering mechanism is used for driving wheels of the vehicle to rotate; a wheel rotation angle sensor that detects rotation information of a wheel; the control module is respectively electrically connected with the steering mechanism, the wheel angle sensor, the M steering wheel angle sensors and the M steering wheel driving units, and is used for controlling at least one steering wheel according to the rotation information of the M steering wheels and the rotation information of the wheels so as to keep the at least one steering wheel synchronous with the wheels, so that a user can take over the steering wheel conveniently, and the steering intention of a driver can be transmitted by adopting wired or wireless signals.

Description

Vehicle and steering control system, method and device of vehicle

Technical Field

The present invention relates to the field of vehicle technologies, and in particular, to a steering control system for a vehicle, a vehicle-mounted smart device, a mobile smart device, a vehicle, a steering control method for a vehicle, a control method for a vehicle-mounted smart device, a control method for a mobile smart device, and a non-transitory computer-readable storage medium.

Background

In the related art, a steering technique of a vehicle may be classified into hydraulic power steering and electric power steering, wherein the electric power steering may be classified into the following three types according to structures: C-EPS (Column Electric Power Steering), P-EPS (Pinion EPS, Pinion EPS or needle EPS), and R-EPS (Rack EPS). The C-EPS is that a power motor directly applies power on a steering column; the P-EPS is that the motor is forced on the rack through the pinion, namely the steering column and the motor are coupled to the rack in parallel in the same mechanism (such as a ball screw or a circulating ball); R-EPS is that the motor directly adds helping hand on the rack.

However, the present inventors have found and recognized that the related art has problems in that the related steering techniques must be connected by a mechanical structure, resulting in a limitation in the installation location of the steering wheel, the inability to set a plurality of steering wheels in the vehicle, and the inability to set priorities of the steering wheels.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a steering control system for a vehicle, which can freely arrange the position of a steering wheel and can ensure comfortable feel of a driver.

The second purpose of the invention is to provide a vehicle-mounted intelligent device. The third purpose of the invention is to provide a mobile intelligent device. A fourth object of the invention is to propose a vehicle. A fifth object of the present invention is to provide a steering control method of a vehicle. The sixth purpose of the invention is to provide a control method of the vehicle-mounted intelligent device. A seventh object of the present invention is to provide a control method for a mobile intelligent device. An eighth object of the present invention is to propose a non-transitory computer-readable storage medium.

In order to achieve the above object, a control system for a vehicle according to an embodiment of a first aspect of the present invention includes: m steering wheels, wherein M is a positive integer; the M steering wheel angle sensors are correspondingly connected with the M steering wheels, and each steering wheel angle sensor is used for acquiring rotation information of the corresponding steering wheel; the M steering wheel driving units are connected with the corresponding steering wheel and are used for applying steering torque to the corresponding steering wheel; the steering mechanism is used for driving wheels of the vehicle to rotate; a wheel rotation angle sensor for detecting rotation information of the wheel; the control module is respectively electrically connected with the steering mechanism, the wheel angle sensor, the M steering wheel angle sensors and the M steering wheel driving units, and is used for controlling at least one steering wheel according to the rotation information of the M steering wheels and the rotation information of the wheels so as to keep the at least one steering wheel synchronous with the wheels.

According to the steering control system of the vehicle provided by the embodiment of the invention, the control module is respectively and electrically connected with the steering mechanism, the M steering wheel angle sensors and the M steering wheel driving units, the control module controls at least one steering wheel according to the rotation information of the M steering wheels and the rotation information of the wheels so as to keep the at least one steering wheel synchronous with the wheels, therefore, a user can take over the vehicle conveniently by keeping the at least one steering wheel synchronous with the wheels, in addition, the wired signal or the wireless signal is adopted to transmit the steering intention of the driver, further, the steering control can be realized without a mechanical mechanism, the position of the steering wheel can be conveniently and freely arranged, and a plurality of steering wheels can be arranged. In addition, each steering wheel driving unit applies a steering torque to the corresponding steering wheel when the corresponding steering wheel is operated by the driver, so that the driver can feel comfortable.

In order to achieve the above object, an in-vehicle intelligent device according to an embodiment of a second aspect of the present invention is a vehicle-mounted intelligent device, where the in-vehicle intelligent device communicates with a control module of a steering control system of a vehicle through a communication bus of the vehicle, the steering control system includes M steering wheels, where when M is 1, the in-vehicle intelligent device acquires state information and steering wheel information of the vehicle when monitoring that a target program is running, and controls a target object according to rotation information of the steering wheel when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode.

According to the vehicle-mounted intelligent device provided by the embodiment of the invention, when the operation of the target program is monitored, the vehicle-mounted intelligent device acquires the state information and the steering wheel information of the vehicle, and controls the target object according to the rotation information of the steering wheel when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, so that the angle between the steering wheel and the wheels is not consistent when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and the steering wheel can perform other remote control operations, such as control of a game racing car or an unmanned plane.

In order to achieve the above object, according to a third aspect of the present invention, there is provided a mobile intelligent device, where the mobile intelligent device wirelessly communicates with a control module of a steering control system of a vehicle, the steering control system includes M steering wheels, and when M is equal to 1, the mobile intelligent device sends a request instruction to the control module when monitoring that an object program is running, and receives state information and steering wheel information of the vehicle sent by the control module; and when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, the mobile intelligent equipment controls a target object according to the rotation information of the steering wheel.

According to the mobile intelligent device provided by the embodiment of the invention, when the operation of a target program is monitored, the mobile intelligent device sends a request instruction to the control module, receives the state information and the steering wheel information of the vehicle sent by the control module, and controls the target object according to the rotation information of the steering wheel when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, so that the angles of the steering wheel and the wheels are not consistent when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and the steering wheel can perform other remote control operations, such as controlling a game racing car, an unmanned plane and the like.

In order to achieve the above object, a vehicle according to a fourth aspect of the present invention includes the steering control system of the vehicle.

According to the vehicle provided by the embodiment of the invention, a user can conveniently take over the vehicle through the steering control system of the vehicle, the steering intention of the driver can be transmitted by adopting wired signals or wireless signals, further, the steering control can be realized without a mechanical mechanism, the position of the steering wheel can be conveniently and freely arranged, and a plurality of steering wheels can be arranged, so that the hand feeling of the driver is comfortable.

In order to achieve the above object, a control method for a vehicle according to an embodiment of a fifth aspect of the present invention is a control system for a vehicle, where the control system includes M steering wheels, M steering wheel driving units, and a steering mechanism, each steering wheel driving unit is connected to a corresponding steering wheel, each steering wheel driving unit is configured to apply a steering torque to the corresponding steering wheel, the steering mechanism is configured to drive wheels of the vehicle to rotate, and M is a positive integer, where the method includes: each steering wheel drive unit applies a steering torque to the corresponding steering wheel when the corresponding steering wheel is operated by the driver; acquiring rotation information of M steering wheels of the vehicle and rotation information of the wheels; and controlling at least one steering wheel according to the rotation information of the M steering wheels and the rotation information of the wheels so as to keep the at least one steering wheel and the wheels synchronous.

According to the steering control method of the vehicle provided by the embodiment of the invention, each steering wheel driving unit applies steering torque to the corresponding steering wheel when the corresponding steering wheel is operated by the driver, so that the rotation information of M steering wheels and the rotation information of wheels of the vehicle are obtained, at least one steering wheel is controlled according to the rotation information of M steering wheels and the rotation information of the wheels, so that the at least one steering wheel and the wheels are kept synchronous, therefore, the user can take over the vehicle conveniently by keeping the at least one steering wheel and the wheels synchronous, the steering will of the driver can be transmitted by adopting wired signals or wireless signals, further, the steering control can be realized without a mechanical mechanism, the position of the steering wheel can be freely arranged conveniently, and a plurality of steering wheels can be arranged. In addition, each steering wheel driving unit applies a steering torque to the corresponding steering wheel when the corresponding steering wheel is operated by the driver, so that the driver can feel comfortable.

In order to achieve the above object, a sixth aspect of the present invention provides a method for controlling an in-vehicle intelligent device, where the in-vehicle intelligent device communicates with a vehicle through a communication bus of the vehicle, and the vehicle includes M steering wheels, where the method includes the following steps: when M is equal to 1, acquiring the state information and the steering wheel information of the vehicle when the running of the target program is monitored; and when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, controlling the target object according to the rotation information of the steering wheel.

According to the control method of the vehicle-mounted intelligent device provided by the embodiment of the invention, when the vehicle-mounted intelligent device monitors the running of the target program, the state information and the steering wheel information of the vehicle are acquired, and when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, the target object is controlled according to the rotation information of the steering wheel, so that the angles of the steering wheel and the wheels are not consistent when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and the steering wheel can perform other remote control operations, such as controlling a game racing car or an unmanned plane.

In order to achieve the above object, a seventh embodiment of the present invention provides a method for controlling a mobile smart device, where the mobile smart device wirelessly communicates with a vehicle, and the vehicle includes M steering wheels, where the method includes: when M is equal to 1, sending a request instruction to the vehicle when the running of an object program is monitored, and receiving state information and steering wheel information of the vehicle sent by the vehicle; and when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, controlling a target object according to the rotation information of the steering wheel.

According to the control method of the mobile intelligent device provided by the embodiment of the invention, the mobile intelligent device sends a request instruction to the control module when monitoring the running of the target program, receives the state information and the steering wheel information of the vehicle sent by the control module, and controls the target object according to the rotation information of the steering wheel when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, so that the angles of the steering wheel and the wheels are not consistent when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and the steering wheel can perform other remote control operations, such as controlling a game racing car or an unmanned plane.

To achieve the above object, an eighth aspect of the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, the computer program implementing the control method of the vehicle when executed by a processor.

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

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a block schematic diagram of a steering control system of a vehicle according to an embodiment of the present invention;

FIG. 2 is a block schematic diagram of a steering control system of a vehicle according to an exemplary embodiment of the present invention;

FIG. 3 is a schematic configuration diagram of a steering control system of a vehicle according to one embodiment of the invention;

FIG. 4 is a block schematic diagram of a steering control system of a vehicle according to another embodiment of the present invention;

fig. 5 is a schematic configuration diagram of a steering control system of a vehicle according to another embodiment of the invention;

FIG. 6 is a block schematic diagram of a steering control system of a vehicle according to another exemplary embodiment of the present invention;

FIG. 7 is a block schematic diagram of a steering control system of a vehicle according to yet another embodiment of the present invention;

FIG. 8 is a block schematic diagram of a steering control system of a vehicle according to yet another embodiment of the present invention;

fig. 9 is a flowchart of a steering control method of a vehicle according to an embodiment of the invention;

FIG. 10 is a flowchart of a steering control method of a vehicle according to one embodiment of the invention;

fig. 11 is a flowchart of a control method of the in-vehicle terminal apparatus according to one embodiment of the invention;

fig. 12 is a flowchart of a control method of a vehicle-mounted terminal apparatus according to another embodiment of the invention;

fig. 13 is a flowchart of a control method of a vehicle-mounted terminal apparatus according to still another embodiment of the invention;

FIG. 14 is a flow chart of a method of controlling a mobile smart device according to one embodiment of the present invention;

fig. 15 is a flowchart of a control method of a mobile smart device according to another embodiment of the present invention;

fig. 16 is a flowchart of a control method of a mobile smart device according to yet another embodiment of the present invention;

fig. 17 is a flowchart of a steering control method of a vehicle according to another embodiment of the invention; and

fig. 18 is a flowchart of a steering control method of a vehicle according to still another embodiment of the present invention.

Fig. 19 is a flowchart of a control method of a vehicle-mounted terminal apparatus according to still another embodiment of the invention;

FIG. 20 is a flowchart of a control method of a mobile smart device according to yet another embodiment of the invention;

FIG. 21 is a block schematic diagram of a server according to one embodiment of the invention;

fig. 22 is a flowchart of a steering control method of a vehicle according to an embodiment of the invention, applied to the vehicle;

FIG. 23 is a flow chart of a steering control method for a vehicle, as applied to the vehicle, in accordance with an exemplary embodiment of the present invention;

fig. 24 is a flowchart of a steering control method of a vehicle according to an embodiment of the present invention, applied to a server;

fig. 25 is a flowchart of a steering control method of a vehicle according to an embodiment of the present invention, applied to a server.

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 steering control system of a vehicle of an embodiment of the invention is described below with reference to the drawings.

Fig. 1 is a block schematic diagram of a control system of a vehicle according to an embodiment of the invention. As shown in fig. 1 and 4, a control system of a vehicle includes: a steering wheel 10, a steering wheel angle sensor 20, a steering wheel drive unit 30, a steering mechanism 40, and a control module 50.

Among them, the steering wheel 10 is a device in which the driver operates the traveling direction of the vehicle, that is, the steering wheel 10 is rotated by the operation of the driver or the passenger, and specifically, when the steering wheel is one, the steering wheel may be disposed at the driver's position, and when the steering wheel is plural, the steering wheel may be disposed at the driver's position and other positions such as the passenger's position.

The steering wheel angle sensor 20 may be connected to the steering wheel 10, and in particular, the steering wheel 10 may be connected to the steering wheel angle sensor 20 through a steering column, and the steering wheel angle sensor 20 is used to collect rotation information of the steering wheel 10 such as a rotation angle and a rotation speed of the steering wheel 10. It can be understood that the steering wheel angle sensor 20 may only collect the rotation angle of the steering wheel 10 and not the rotation speed of the steering wheel 10, and thus, when the wheel rotates according to the rotation angle of the steering wheel 10, the rotation speed of the wheel may be substantially the same as that of the steering wheel by following the rotation angle of the steering wheel 10 in real time, that is, when the rotation speed of the steering wheel is fast, the rotation speed of the wheel may be naturally accelerated accordingly for following the angle of the steering wheel.

The steering wheel driving unit 30 is connected to the steering wheel 10, and the steering wheel driving unit 30 is used to drive the steering wheel 10 to rotate and apply a steering torque to the steering wheel 10. That is, the steering wheel driving unit 30 may drive the steering wheel 10 to rotate under the control of the control module 50 to keep the steering wheel synchronized with the rotation angle of the wheels, and the steering wheel driving unit 30 may apply a steering torque to the steering wheel 10 when the steering wheel 10 is operated by the driver, so as to provide a counter torque to the steering wheel 10 and ensure the comfort of the driver. Specifically, when the steering wheel 10 is rotated clockwise by the driver's operation (rotation), the steering wheel driving unit 30 applies a counterclockwise moment to the steering wheel 10, and when the steering wheel 10 is rotated counterclockwise by the driver's operation, the steering wheel driving unit 30 applies a clockwise moment to the steering wheel 10.

Specifically, as shown in fig. 2 to 3 and 5 to 6, the steering wheel driving unit 30 may include a steering wheel driving motor 31, the steering wheel driving motor 31 may be connected to the steering wheel 10 through a steering column, and the steering wheel driving motor 31 may drive the steering wheel 10 to rotate under the control of the control module 50 or apply a steering torque to the corresponding steering wheel 10, thereby ensuring comfortable feel of the driver.

The steering mechanism 40 is connected, for example, mechanically connected to the wheels 100 of the vehicle, and the steering mechanism 40 is used to drive the wheels 100 of the vehicle to rotate. It will be appreciated that the steering mechanism 40 may drive rotation of either a pair of front wheels or a pair of rear wheels of the vehicle, or alternatively, the steering mechanism 40 may drive rotation of both a pair of front wheels and a pair of rear wheels of the vehicle.

Specifically, as shown in fig. 2 to 3 and fig. 5 to 6, the Steering mechanism 40 may include a Steering gear 41 and a Steering motor 42, such as an EPS (Electric Power Steering) motor, the Steering gear 41 is connected to the wheel 100, the Steering motor 42 may be connected to the Steering gear 41, the Steering motor 51 may drive the Steering gear 41, such as a Steering rack, under the control of the control module 50 to achieve Steering, and specifically, the control module 50 may drive the Steering rack to move laterally by controlling the Steering motor 42 to rotate, so as to achieve Steering of the wheel.

The control module 50 may be electrically connected to the steering mechanism 40, such as the steering motor 42, the steering wheel drive unit 30, and the steering wheel angle sensor 20, respectively. That is, the control module 50 may receive the rotation information of the steering wheel 10 collected by the steering wheel angle sensor 20 by being electrically connected to the steering wheel angle sensor 20, the control module 50 controls the steering mechanism 40 by being electrically connected to the steering mechanism 40, and the control module 50 controls the steering wheel driving unit 30 by being electrically connected to the steering wheel driving unit 30.

It is understood that when the steering wheel 10 is rotated by the driver, the control module 50 may acquire rotation information of the steering wheel 10 and control the steering mechanism 40 according to the rotation information of the steering wheel 10, and may also control the steering wheel driving unit 30 such that the steering wheel driving unit 30 applies a steering torque to the steering wheel 10.

As shown in fig. 2 and fig. 4 to 6, the control system of the vehicle may further include a wheel-angle sensor 60, and the wheel-angle sensor 60 is used to detect rotation information of the wheel 100, for example, a rotation angle and a rotation speed of the wheel 100. The control module 50 may be further electrically connected to the wheel rotation angle sensor 60, the control module 50 may receive rotation information of the wheel 100 collected by the wheel rotation angle sensor 60 through electrical connection with the wheel rotation angle sensor 60, and the control module 50 may control the steering mechanism 40 and the steering wheel driving unit 30 according to the rotation information of the wheel 100 and the rotation information of the steering wheel 10.

It is understood that, in the process of controlling the steering mechanism 40 according to the rotation information of the steering wheel 10, the control module 50 may obtain the rotation information of the wheels 100 and determine whether the rotation information of the wheels 100 is consistent with the rotation information of the steering wheel 10, that is, whether the rotation angle of the wheels 100 is consistent with the rotation angle of the steering wheel 10, if so, control the steering mechanism 40 to stop driving, and if not, control the steering mechanism 40 to continue driving until the rotation information of the wheels 100 is consistent with the rotation information of the steering wheel 10.

Specifically, according to one embodiment of the present invention, as shown in fig. 2 and fig. 5-6, the control module 50 may include a steering wheel controller 51 and a steering controller 52, the steering wheel controller 51 is electrically connected to the steering wheel driving unit 30 and the steering wheel angle sensor 20, the steering controller 52 is electrically connected to the steering mechanism 40, such as the steering motor 42 and the wheel angle sensor 60, and the steering wheel controller 51 is in communication with the steering controller 52. Specifically, the steering controller 52 may be an EPS electronic control unit.

It is understood that the steering wheel controller 51 may control the steering wheel driving unit 30, and the steering controller 52 may control the steering mechanism 40. The steering controller 51 may transmit the rotation information of the steering wheel 10 to the steering controller 52, and the steering controller 52 may transmit the rotation information of the wheels 100 to the steering controller 51.

Specifically, the steering wheel controller 51 may communicate with the steering controller 52 in a wired communication manner or a wireless communication manner. More specifically, the wired communication may be a CAN bus, a MOST bus, or the like, and the wireless communication may be wifi, bluetooth, or the like.

Thus, the rigid connection between the steering wheel and the steering gear on the bottom layer is cancelled, and the steering will of the driver of the vehicle is transmitted by adopting a wired signal or a wireless signal instead of a mechanical structure, for example, the steering wheel controller 51 may be connected to the steering controller 52 through a CAN bus, which is a twisted pair wire and is used for transmitting digital signals.

Further, as shown in fig. 1-3 and 5-6, control module 50 is also in communication with at least one of an autopilot control unit 70, a smart device 200, and a server 300. Wherein, the control module 50 can receive the information sent by the automatic driving control unit 70 by communicating with the automatic driving control unit 70; the control module 50 can receive information sent by the intelligent device 200 or send information to the intelligent device 200 through the communication of the intelligent device 200; the control module 50 may receive information transmitted from the server 300 or transmit information to the server 300 by communicating through the server 300.

The automatic driving control unit 70 is used to control steering, acceleration, deceleration, lighting, wiper, and the like of the vehicle. The smart device 200 may be an in-vehicle smart device such as an in-vehicle display terminal, or a mobile smart device such as a mobile phone or tablet, or a drone. The vehicle-mounted display terminal, namely the vehicle-mounted PAD, is responsible for the multimedia functions of the vehicle, and can be fixed on the vehicle or taken down.

Further, as shown in FIG. 3, the control module 50 may communicate with the server 300 via a vehicle-mounted communication module, such as a V2X communication module 80, and more specifically, a V2X communication module 80 may communicate with the server 300 via a roadside V2X communication facility 90. In addition, when the smart device 200 is an in-vehicle device such as an in-vehicle display terminal, the control module 50 may communicate with the smart device 200 in a wired manner or a wireless manner, and when the smart device 200 is not an in-vehicle device such as a mobile terminal or a drone, the control module 50 may communicate with the smart device 200 in a wireless manner.

It should be noted that in some embodiments of the present invention, the steering controller 52 may communicate with the steering wheel controller 51, and the steering controller 52 may communicate with the automatic driving control unit 70, the smart device 200, and the server 300. In other embodiments of the present invention, when the smart device 200 is an in-vehicle smart device, and the in-vehicle smart device, the steering controller 52 and the steering wheel controller 51 are all connected to a communication bus (for wired communication) of the vehicle, the steering controller 52 may communicate with the automatic driving control unit 70, the smart device 200 and the server 300, and the steering wheel controller 51 may also communicate with the in-vehicle smart device directly.

It should be noted that in some embodiments of the present invention, the number of the steering wheels 10 may be one or more, that is, the number of the steering wheels 10 may be M, where M is a positive integer. The following describes a steering control system of a vehicle, taking M steering wheels 10 as an example.

Fig. 7 is a block schematic diagram of a steering control system of a vehicle according to an embodiment of the present invention. As shown in fig. 7, the control system of the vehicle includes: m steering wheels 10, M steering wheel angle sensors 20, M steering wheel drive units 30, a steering mechanism 40, and a steering control unit 50. Wherein M is a positive integer.

Where each steering wheel 10 is a device in which the driver operates the traveling direction of the vehicle, that is, each steering wheel 10 is rotated by the operation of the driver or the passenger, specifically, when the number of steering wheels is one, that is, M is 1, the steering wheel may be disposed at the driver's position, and when the number of steering wheels is plural, that is, M is greater than 1, the steering wheel may be disposed at the driver's position and other positions such as the passenger's position.

The M steering wheel angle sensors 20 may be connected to the M steering wheels 10, specifically, each steering wheel 10 may be connected to the corresponding steering wheel angle sensor 20 through a steering column, or each steering wheel angle sensor 20 may be integrated on the corresponding steering wheel 10. Each steering wheel angle sensor 20 is used to collect rotation information of the corresponding steering wheel 20 such as the rotation angle and the rotation speed of the steering wheel 10.

Each steering wheel driving unit 30 is connected to a corresponding steering wheel 10, and each steering wheel driving unit 30 is configured to drive the corresponding steering wheel 10 to rotate and apply a steering torque to the corresponding steering wheel 10. That is, each steering wheel driving unit 30 may drive the corresponding steering wheel 10 to rotate under the control of the control module 50 to keep at least one steering wheel synchronized with the rotation angle of the wheels, and each steering wheel driving unit 30 may also apply a steering torque to the corresponding steering wheel 10 when the corresponding steering wheel 10 is operated by the driver, thereby providing a counter torque to the steering wheel 10 and ensuring comfortable feel of the driver. That is, when the steering wheel 10 is rotated clockwise by the driver's operation (rotation), the steering wheel driving unit 30 applies a counterclockwise moment to the steering wheel 10, and when the steering wheel 10 is rotated counterclockwise by the driver's operation, the steering wheel driving unit 30 applies a clockwise moment to the steering wheel 10.

Specifically, as shown in fig. 8, each steering wheel driving unit 30 may include a steering wheel driving motor 31, each steering wheel driving motor 31 may be connected to a corresponding steering wheel 10 through a steering column, and each steering wheel driving motor 31 may apply a steering torque to the corresponding steering wheel 10 under the control of the control module 50, thereby ensuring comfortable feel of a driver.

Specifically, as shown in fig. 8, the steering mechanism 40 may include a steering gear 41 and a steering motor 42, such as an EPS motor, the steering gear 41 is connected to the wheel 100, the steering motor 42 may be connected to the steering gear 41, the steering motor 42 may drive the steering gear 41, such as a steering rack, under the control of the control module 50 to achieve steering, and specifically, the control module 50 may drive the steering rack to move laterally by controlling the steering motor 42 to rotate, so as to achieve steering of the wheel.

The control module 50 may be electrically connected to the steering mechanism 40, such as the steering motor 42, the M steering wheel drive units 30, and the M steering wheel angle sensors 20, respectively. That is, the control module 50 may receive the rotation information of the steering wheel 10 collected by the M steering wheel angle sensors 20, respectively, by being electrically connected to the M steering wheel angle sensors 20, the control module 50 may control the steering mechanism 40 by being electrically connected to the steering mechanism 40, and the control module 50 may control the M steering wheel driving units 30, respectively, by being electrically connected to the M steering wheel driving units 30.

It is understood that, when any one of the steering wheels 10 is operated by the driver to rotate, the control module 50 may acquire rotation information of the steering wheel 10, control the steering mechanism 40 according to the rotation information of the steering wheel 10, and control the steering wheel driving unit 30 corresponding to the steering wheel 10 so that the steering wheel driving unit 30 applies a steering torque to the steering wheel 10.

As shown in fig. 8, the control system of the vehicle may further include a wheel-angle sensor 60, and the wheel-angle sensor 60 is used to detect rotation information of the wheel 100, for example, a rotation angle and a rotation speed of the wheel 100. The control module 50 may be further electrically connected to the wheel rotation angle sensor 60, the control module 50 may receive rotation information of the wheel 100 collected by the wheel rotation angle sensor 60 through electrical connection with the wheel rotation angle sensor 60, and the control module 50 may control the steering mechanism 40 and the M steering wheel driving units 30 according to the rotation information of the wheel 100 and the rotation information of the M steering wheels 10.

It is understood that, in the process of controlling the steering mechanism 40 according to the rotation information of any one of the steering wheels 10, the control module 50 may obtain the rotation information of the wheel 100, and determine whether the rotation information of the wheel 100 is consistent with the rotation information of any one of the steering wheels 10, that is, whether the rotation angle of the wheel 100 is consistent with the rotation angle of any one of the steering wheels 10, if so, control the steering mechanism 40 to stop driving, and if not, control the steering mechanism 40 to continue driving until the rotation information of the wheel 100 is consistent with the rotation information of any one of the steering wheels 10.

Specifically, according to one embodiment of the present invention, as shown in fig. 8, the control module 50 may include M steering wheel controllers 51 and a steering controller 52, each steering wheel controller 51 being electrically connected to the corresponding steering wheel driving unit 30 and the steering wheel angle sensor 20, the steering controller 52 being electrically connected to the steering mechanism 40, such as the steering motor 42 and the wheel angle sensor 60, the M steering wheel controllers 51 being in communication with the steering controller 52. Specifically, the steering controller 52 may be an EPS electronic control unit.

It is understood that each steering wheel controller 51 may control the corresponding steering wheel drive unit 30, and the steering controller 52 may control the steering mechanism 40. The M steering wheel controllers 51 may transmit the rotation information of the steering wheel 10 to the steering controller 52, and the steering controller 52 may transmit the rotation information of the wheels 100 to at least one of the M steering wheel controllers 51.

Specifically, the steering controller 52 may communicate with the M steering wheel controllers 51 in a wired communication manner or a wireless communication manner. More specifically, the wired communication may be a CAN bus, a MOST bus, or the like, and the wireless communication may be wifi, bluetooth, or the like. Thus, the rigid connection between the steering wheel and the steering gear on the bottom layer is cancelled, and the steering will of the driver of the vehicle is transmitted by adopting a wired signal or a wireless signal instead of a mechanical structure, for example, the M steering wheel controllers 51 may be connected to the steering controller 52 through a CAN bus, which is a twisted pair wire and is used for transmitting digital signals.

Further, as shown in fig. 7-8, the control module 50 also communicates with the smart device 200. The control module 50 may receive information transmitted by the smart device 200 or transmit information to the smart device 200 by communicating with the smart device 200.

The smart device 200 may be an in-vehicle smart device such as an in-vehicle display screen, or a mobile smart device such as a mobile phone or a tablet computer, or a drone. The vehicle-mounted display screen, namely the vehicle-mounted PAD, is responsible for the multimedia function of the vehicle, and can be fixed on the vehicle or taken down. In addition, when the smart device 200 is an in-vehicle device, for example, an in-vehicle display terminal, the control module 50 may communicate with the smart device 200 in a wired manner or a wireless manner, and when the smart device 200 is not an in-vehicle device, for example, a mobile terminal or a drone, the control module 50 may communicate with the smart device 200 in a wireless manner.

Note that the steering controller 52 may communicate with the steering wheel controller 51, and the steering controller 52 may communicate with the smart device 200. In other embodiments of the present invention, when the smart device 200 is an in-vehicle smart device, and the in-vehicle smart device, the steering controller 52 and the steering wheel controller 51 are all connected to a communication bus (for wired communication) of the vehicle, the steering wheel controller 51 may also directly communicate with the in-vehicle smart device.

The first embodiment is as follows:

based on the vehicle steering control system in the embodiments of fig. 7 to 8, the invention provides a vehicle, a vehicle steering control system and method, a vehicle-mounted intelligent device and a control method thereof, and a mobile intelligent device and a control method thereof.

According to an embodiment of the present invention, the control module 50 is electrically connected to the steering mechanism 40, the wheel angle sensors 60, the M steering wheel angle sensors 20, and the M steering wheel driving units 30, respectively, and the control module 50 is configured to acquire rotation information of the M steering wheels 10 and rotation information of the wheels 100, and control at least one steering wheel according to the rotation information of the M steering wheels 10 and the rotation information of the wheels 100, so that the at least one steering wheel is synchronized with the wheels 100.

That is, the control module 50 may control the corresponding at least one steering wheel 10 through the at least one direction driving unit 30 according to the received rotation information of the wheel 100 to rotate the at least one steering wheel 10 to an angle corresponding to the wheel 100 of the vehicle, even if the rotation angle of the steering wheel 10 corresponds to the rotation angle of the wheel 100. Wherein, when controlling the steering wheel 10 to rotate, the control module 50 further obtains the rotation angle of the steering wheel 10, and controls the steering wheel 10 to stop rotating when the rotation angle of the steering wheel 10 is consistent with the rotation angle of the wheels 100.

It should be appreciated that the control module 50 controls at least one steering wheel to maintain synchronization with the wheels 100 in both the steering wheel drive mode and the autonomous drive mode. That is, during the running of the vehicle, it is ensured that at least one steering wheel is kept in synchronization with the wheels 100, which is convenient for the user to take over the vehicle at any time. Also, the control module 50 may control the steering mechanism 40 to synchronize 100 with at least one wheel of the steering wheel 10 based on the rotation information of the M steering wheels 10 and the rotation information of the wheels 100 when the vehicle is in the steering wheel driving mode. And controls the steering mechanism 40 to synchronize the wheels 100 with at least one steering wheel 10 according to the rotation information transmitted from the automated driving control unit 70 when the vehicle is in the automated driving mode.

It should be noted that the steering wheel driving mode may refer to a mode in which the driver controls the driving direction of the vehicle by operating the steering wheel to rotate, that is, in the steering wheel driving mode, the control module 50 controls the rotation angle of the wheels 100 according to the rotation angle of the steering wheel. The autopilot mode may mean that the driver does not need to operate the steering wheel to rotate, and the driving direction of the vehicle is automatically controlled by the autopilot control unit, that is, in the autopilot mode, the control module 50 may control the rotation angle of the wheels 100 according to the rotation angle sent by the autopilot control unit. That is, when the vehicle is in the steering wheel driving mode, the control module 50 may control the steering mechanism 40 to rotate the wheels 100 of the vehicle to a corresponding turning angle according to the received turning information of the steering wheel 10, even if the turning angle of the steering wheel 10 corresponds to the turning angle of the wheels 100. Wherein, in controlling the rotation angle of the wheel 100, the control module 50 further obtains the rotation angle of the wheel 100 and controls the wheel 100 to stop rotating when the rotation angle of the wheel 100 is consistent with the rotation angle of the steering wheel 10.

Specifically, the control module 50 may include M steering wheel controllers 51 and a steering controller 52, the M steering wheel controllers 51 being in communication with the steering controller 52, each steering wheel controller 51 being configured to apply a steering torque to a corresponding steering wheel 10 when the corresponding steering wheel 10 is operated; each steering wheel controller 51 is configured to acquire rotation information of a corresponding steering wheel 10 and send the rotation information of the corresponding steering wheel 10 to the steering controller 52; the steering controller 52 is configured to control at least one steering wheel 10 based on the rotation information of the M steering wheels 10 and the rotation information of the wheels 100, so that the at least one steering wheel 10 is synchronized with the wheels 100.

And, the steering controller 52 is configured to control the steering mechanism 40 to synchronize at least one steering wheel 10 with the wheels 100 based on the rotation information of the M steering wheels 10 and the rotation information of the wheels 100 when the vehicle is in the steering wheel driving mode. The steering controller 52 is configured to control the steering mechanism 40 to synchronize at least one steering wheel 10 with the wheels 100 according to the rotation information of the automated driving control unit 100 when the vehicle is in the automated driving mode.

That is, the steering wheel controller 51 may transmit the turning information of the steering wheel 10 to the steering controller 52, and the steering controller 52 controls the steering mechanism 40 to rotate the wheels 100 of the vehicle to a corresponding turning angle according to the received turning information of the steering wheel 10, even if the turning angle of the steering wheel 10 corresponds to the turning angle of the wheels 100. Wherein, in controlling the turning angle of the wheel 100, the steering controller 52 also acquires the turning angle of the wheel 100, and controls the wheel 100 to stop turning when the turning angle of the wheel 100 coincides with the turning angle of the steering wheel 10.

Moreover, the steering controller 52 may also send rotation information of the wheels 100 to the M steering wheel controllers 51, and at least one of the M steering wheel controllers 51 may control the corresponding steering wheel driving unit 30 according to the rotation information of the wheels 100 to drive the steering wheel 10 to rotate, so that the rotation angle of at least one steering wheel 10 is consistent with the angle of the wheels, thereby ensuring that the wheels and the steering wheel are synchronized, and facilitating the user to take over.

In one embodiment of the present invention, when the vehicle is in the steering mode and the automatic driving mode, the control module 50, for example, the steering controller 52, is further configured to control the steering wheel 10 according to the rotation information of the steering wheel 10 and the rotation information of the wheels 100, so as to keep the steering wheel 10 synchronized with the wheels 100.

That is, the steering controller 52 may collect rotation information of the wheel 100 through the wheel rotation angle sensor 60 and send the rotation information of the wheel 100 to the steering wheel controller 51, and the steering wheel controller 51 may control the steering wheel driving unit 30 according to the rotation information of the wheel 100 to drive the corresponding steering wheel 10 to rotate, so that the rotation angle of the steering wheel 10 is consistent with the angle of the wheel 100, thereby ensuring that the wheel and the steering wheel are synchronized, and facilitating the user to take over.

Furthermore, the control module 50, such as the steering controller 52, is further configured to control the steering mechanism 40 to rotate the wheels 100 of the vehicle according to the rotation information of the steering wheel 10 and the rotation information of the wheels 100 when the vehicle is in the steering mode.

That is, the steering wheel controller 51 may collect the turning information of the steering wheel 20 through the steering wheel angle sensor 20 to determine the steering intention of the driver; the steering wheel driving motor 31 may simulate a steering torque to provide a more comfortable steering force to the driver. The steering controller 52 can receive the rotation information of the steering wheel 10 sent by the steering wheel controller 51, and determine whether the vehicle is in the steering mode, and when the vehicle is in the steering mode, the steering controller 52 drives the steering mechanism 40 to achieve steering according to the rotation information of the steering wheel 10.

Further, according to an embodiment of the present invention, a control module 50, for example, a steering wheel controller 51, communicates with an on-vehicle smart device through a communication bus of a vehicle, for example, a CAN network, and when M is 1, the on-vehicle smart device acquires status information and steering wheel information of the vehicle when monitoring that a target program is running, and controls a target object according to rotation information of the steering wheel 10 when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode.

It is understood that the state information of the vehicle may include a driving mode in which the vehicle is located, for example, whether the vehicle is in a steering wheel driving mode, or in an automatic driving mode, or in a parking state, etc., and the steering wheel information may include rotation information of a steering wheel, use condition of the steering wheel, and sign information of the steering wheel, etc.

It should be noted that the vehicle-mounted intelligent device may obtain the state information of the vehicle and the steering wheel information together, or the vehicle-mounted intelligent device may obtain the state information of the vehicle first and obtain the steering wheel information again when it is determined that the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode. Also, the target program may be an application installed on the in-vehicle smart device, such as a game program, the target object may be a virtual object, such as a virtual steering wheel displayed on the in-vehicle smart device, a virtual vehicle, or the target object may be a physical object, such as the in-vehicle smart device itself, or a rotating part of the in-vehicle smart device.

Specifically, when the number of the steering wheel 10 is one, the in-vehicle intelligent device may control the operation of the target program according to the instruction of the user, and the user may operate the steering wheel after the operation of the target program, the steering wheel controller 51 may read the rotation angle and the rotation speed of the steering wheel 10 and transmit the rotation angle and the rotation speed of the steering wheel 10 to the communication bus, after monitoring the operation of the target program, the in-vehicle intelligent device may directly read information through the communication bus of the vehicle, for example, may first read the status information of the vehicle through the communication bus to determine the operation mode, and when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, for example, in the stop state, actively read the rotation information of the steering wheel 10 through the communication bus and control the target object according to the rotation information of the steering wheel 10, and when the vehicle is in the steering wheel driving mode or in the automatic driving mode, the rotation information of the steering wheel 10 is no longer read; for another example, the state information of the vehicle and the rotation information of the steering wheel 10 may be read through the communication bus, the operation mode may be determined according to the state information of the vehicle, and the target object may be controlled according to the rotation information of the steering wheel 10 when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and may not be controlled according to the rotation information of the steering wheel 10 when the vehicle is in the steering wheel driving mode or in the automatic driving mode.

It can be understood that the vehicle-mounted intelligent device can display a reminding message to prompt a user to operate a steering wheel when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode and the running of the target program is monitored. The vehicle-mounted intelligent device can display reminding information to prompt a user that a target object cannot be controlled through a steering wheel after the vehicle is in a steering wheel driving mode or an automatic driving mode.

In addition, in some other embodiments, the in-vehicle smart device may further determine the use state of the steering wheel after the vehicle is not in the steering wheel driving mode, if the steering wheel is in use, for example, to remotely control other devices, the target object is not controlled according to the rotation information of the steering wheel 10, and if the steering wheel is not in use, the target object is controlled according to the rotation information of the steering wheel 10.

In some embodiments of the invention, the target program may be a game program such as a simulated racing game, and the target object may be a simulated object in the game such as a simulated racing car or the like. When the object program is a simulated racing game, for example, the user may trigger the simulated racing game to run and operate the steering wheel, the steering wheel controller 51 reads the turning angle and the turning speed of the steering wheel 10, and the rotation angle and the rotation speed of the steering wheel 10 are sent to a communication bus, after the vehicle-mounted intelligent device monitors that the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode and the target program runs, the rotation information of the steering wheel 10 can be directly read through the communication bus, and the rotation information of the steering wheel 10 is processed to obtain the rotation information (including the rotation angle and/or the rotation speed) of the target object, and then steering control is carried out on the target object according to the rotation information of the target object, for example, a simulated racing car in a simulated racing car game can rotate according to the obtained rotation angle and rotation speed of the target object.

In other embodiments of the present invention, when M is 1, the control module 50, such as the steering controller 52, may not control the steering wheel 10 when the vehicle is in the automatic driving mode, i.e., the steering wheel 10 and the wheels 100 may not be synchronized. At this time, the in-vehicle smart device only needs to judge whether the vehicle is in the steering wheel driving mode before controlling the target object according to the rotation information of the steering wheel 10, that is, when the vehicle is not in the steering wheel driving mode, for example, in the automatic driving mode or the stopped state, the target object is controlled according to the rotation information of the steering wheel 10. It should be understood that, when the steering wheel 10 and the wheels 100 may not be synchronized in the automatic driving mode, the control manner of the vehicle-mounted intelligent device in the automatic driving mode is substantially the same as that in the foregoing embodiment when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and details are not described here.

Therefore, the vehicle-mounted intelligent device is remotely controlled by the physical steering wheel of the vehicle, so that the normal driving is ensured and the passenger entertainment is considered.

Further, the control module 50, for example, the steering controller 52, may communicate wirelessly with a mobile intelligent device, and the mobile intelligent device sends a request instruction to the control module 50, that is, the steering controller 52, and receives the state information and the steering wheel information of the vehicle sent by the control module 20 when monitoring the operation of the target program; and when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, the mobile intelligent device controls the target object according to the rotation information of the steering wheel 10.

It should be noted that the mobile smart device may refer to a smart device that is not installed in a vehicle. The steering controller 52, upon receiving the request instruction, may send the vehicle's state information along with the steering wheel information to the mobile smart device. Or, after receiving the request instruction, the steering controller 52 may send the state information of the vehicle to the mobile intelligent device, the mobile intelligent device may send a control request to the steering controller 52 when determining that the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, the steering controller 52 obtains the steering wheel information according to the control request and sends the steering wheel information to the mobile intelligent device in real time, and the mobile intelligent device may control the target object according to the rotation information of the steering wheel 10.

It will be appreciated that the target program may be an application installed on the mobile smart device, such as a game program or a remote control program, and the target object may be a virtual object, such as a virtual steering wheel displayed on the mobile smart device, a virtual vehicle, or the target object may be a physical object, such as the mobile smart device itself or a rotating part on the mobile smart device (e.g., a rotating part of a drone).

Specifically, when there is one steering wheel 10, the mobile intelligent device may control the target program to run according to the instruction of the user, and the user may operate the steering wheel after the target program runs, and the steering wheel controller 51 reads the rotation angle and the rotation speed of the steering wheel 10 and transmits the rotation angle and the rotation speed of the steering wheel 10 to the steering controller 52. After monitoring that the target program runs, the mobile intelligent device may send a request instruction to the steering controller 52, and the steering controller 52 feeds back information to the mobile intelligent device after receiving the request instruction.

For example, the steering controller 52 may send the state information of the vehicle to the mobile smart device, the mobile smart device may determine the operating mode according to the state information of the vehicle, and send a control request to the steering controller 52 when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, for example, when the vehicle is in a stop state, the steering controller 52 obtains the steering wheel information according to the control request and sends the steering wheel information to the mobile smart device in real time, the mobile smart device may control the target object according to the rotation information of the steering wheel 10, and when the vehicle is in the steering wheel driving mode or in the automatic driving mode, the mobile smart device may no longer send the control request to the steering controller 52, that is, no longer control the target object according to the rotation information of the steering wheel 10.

For another example, the steering controller 52 may send the state information of the vehicle and the rotation information of the steering wheel 10 to the mobile smart device after receiving the request instruction, and then the mobile smart device determines the operation mode according to the state information of the vehicle, and controls the target object according to the rotation information of the steering wheel 10 when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and does not control the target object according to the rotation information of the steering wheel 10 when the vehicle is in the steering wheel driving mode or in the automatic driving mode.

It can be understood that the mobile smart device may display a reminder message to prompt the user to operate the steering wheel after the vehicle is not in the steering wheel driving mode and is not in the autonomous driving mode and the running of the object program is monitored. The mobile intelligent device can display reminding information to prompt a user that a target object cannot be controlled through a steering wheel after the vehicle is in a steering wheel driving mode and is not in an automatic driving mode.

In addition, in some other embodiments, after the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, the intelligent mobile device may further determine the use state of the steering wheel, if the steering wheel is in use, for example, remotely control other devices, the target object is no longer controlled according to the rotation information of the steering wheel 10, and if the steering wheel is not in use, the target object is controlled according to the rotation information of the steering wheel 10.

In some embodiments of the invention, the target program may be a game program such as a simulated racing game, and the target object may be a simulated object in the game such as a simulated racing car or the like. Alternatively, the target program may be a drone remote control program and the target object may be a drone. For example, when the target program is an unmanned aerial vehicle remote control program, a user can trigger the unmanned aerial vehicle remote control program to run and operate a steering wheel, the steering controller 51 reads the rotation angle and the rotation speed of the steering wheel 10 and sends the rotation angle and the rotation speed of the steering wheel 10 to the steering controller 52, the steering controller 52 sends the rotation angle and the rotation speed of the steering wheel 10 to the unmanned aerial vehicle in real time, the unmanned aerial vehicle can process the rotation information of the steering wheel 10 to obtain the rotation information (including the rotation angle and/or the rotation speed) of the target object when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode and the target program is monitored to run, and then the unmanned aerial vehicle is subjected to steering control according to the rotation information of the target object so as to perform remote control on the unmanned aerial vehicle.

Therefore, the mobile intelligent device is remotely controlled by the physical steering wheel of the vehicle, so that the normal driving is ensured and the passenger entertainment is considered.

It should be noted that the wheels 100 of the vehicle may not rotate with the rotation of the steering wheel when the vehicle is not in the steering wheel driving mode and not in the automatic driving mode. And, when the vehicle is in the steering wheel driving mode or in the automatic driving mode, the in-vehicle smart device or the mobile device may automatically exit the target program, stopping controlling the target object according to the rotation information of the steering wheel 10. The vehicle-mounted intelligent device or the mobile device judges that the vehicle enters a steering wheel driving mode or an automatic driving mode according to the state information of the vehicle sent by the control module 502 in real time.

In other embodiments of the present invention, when M is 1, the control module 50, such as the steering controller 52, may not control the steering wheel 10 when the vehicle is in the automatic driving mode, i.e., the steering wheel 10 and the wheels 100 may not be synchronized. At this time, the mobile intelligent device only needs to judge whether the vehicle is in the steering wheel driving mode before controlling the target object according to the rotation information of the steering wheel 10, that is, when the vehicle is not in the steering wheel driving mode, for example, in the automatic driving mode or the stop state, the target object is controlled according to the rotation information of the steering wheel 10. It should be understood that, when the steering wheel 10 and the wheels 100 may not be synchronized in the automatic driving mode, the control manner of the mobile intelligent device in the automatic driving mode is substantially the same as that in the previous embodiment when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and details are not described here.

As described above, when M is 1, the control flow of the embodiment of the present invention may be as follows:

after the whole vehicle is powered on, the steering controller 52 judges whether the vehicle is in a stop state, and if the vehicle is not in a stop state, namely in a steering wheel driving mode or in an automatic driving mode, the steering controller 52 reads the rotation angle and the rotation speed of the steering wheel 10, and drives the steering mechanism 40 to rotate the wheels according to the rotation angle and the rotation speed,

if the vehicle-mounted intelligent terminal is in a stop state, the vehicle-mounted intelligent terminal can judge whether the running of the target program is monitored, if the target program is monitored, the rotating angle and the rotating speed of the steering wheel 10 are read, and the target object is controlled according to the rotating angle and the rotating speed of the steering wheel 10.

Or, if the mobile intelligent terminal is in the stopped state, the mobile intelligent terminal may determine whether the target program is monitored to be run, and if the target program is monitored, the mobile intelligent terminal may send a request instruction to the steering controller 52, receive the rotation angle and the rotation speed of the steering wheel 10 sent by the steering controller 52, and control the target object according to the rotation angle and the rotation speed of the steering wheel 10.

According to another embodiment of the present invention, the control module 50, such as the steering controller 52, is further configured to obtain preset priority information to determine a priority ranking of the M steering wheels 10 when the vehicle is in the steering wheel driving mode, determine a steering wheel for controlling the vehicle among the M steering wheels 10 according to the priority ranking of the M steering wheels 10, and control the steering mechanism 40 according to the rotation information of the steering wheel for controlling the vehicle, so that the steering mechanism 40 drives the wheels 100 of the vehicle to rotate according to the rotation information of the steering wheel for controlling the vehicle.

That is, when M >1, the steering wheel controller 51 may collect rotation information of the M corresponding steering wheels 20 through the M steering wheel angle sensors 20, respectively, to determine the steering intention of the driver; each steering wheel driving motor 31 may simulate a steering torque to give a driver a more comfortable steering force. The steering controller 52 can receive the rotation information of the steering wheel 10 sent by the M steering wheel controllers 51, and determine whether the vehicle is in the steering wheel driving mode, and when the vehicle is in the steering wheel driving mode, the steering controller 52 drives the steering mechanism 40 to steer according to the rotation information of the M steering wheels 10 and the rotation information of the wheels 100.

It should be understood that the preset priority information may be preset priority information at the time of factory shipment, or may be self-set priority information by the user. That is, the priority ranking of the M steering wheels 10 may be set according to the user's own needs, for example, taking the main driving steering wheel and the sub-driving steering wheel as an example, the priority of the main driving steering wheel may be set higher than that of the sub-driving steering wheel, or the priority of the sub-driving steering wheel may be set higher than that of the main driving steering wheel. It should be understood that the priority level herein is set according to the level of the steering wheel controlling the wheels, and not according to the level of the steering wheel controlling other smart devices.

It should be noted that the steering wheel for controlling the vehicle is a steering wheel that currently controls the traveling direction of the vehicle, in other words, the rotation angle of the wheel at least coincides with the rotation angle of the steering wheel for controlling the vehicle.

For example, assuming that three steering wheels A, B, C are installed on the vehicle, and the priority of the steering wheel a is higher than that of the steering wheel B, and the priority of the steering wheel B is higher than that of the steering wheel C (in the following embodiment, the priorities of the steering wheels A, B, C are all referred to in this order), when the steering wheel B is determined to be the steering wheel for controlling the vehicle, the control module 50 may acquire the rotation information of the steering wheel B and control the steering mechanism 40 according to the rotation angle of the steering wheel B until the rotation angle of the steering wheel 100 coincides with the rotation angle of the steering wheel B.

It should be noted that, when the control module 50 controls the wheel 100 according to the rotation information of the steering wheel for controlling the vehicle, other steering wheels may or may not rotate synchronously with the wheel 100, that is, when the steering wheel B is a steering wheel for controlling the vehicle, the steering wheels a and C may or may not be synchronized with the rotation of the wheel 100.

In one embodiment of the present invention, the control module 50, such as the steering controller 52, is configured to determine at least one operated steering wheel of the M steering wheels when determining the steering wheel for controlling the vehicle, and use a steering wheel with the highest priority among the at least one operated steering wheel as the steering wheel for controlling the vehicle. That is, only one steering wheel is rotated, and the steering wheel is directly used as a steering wheel for controlling the vehicle, namely the driving direction of the vehicle is directly controlled by using the steering wheel; when a plurality of steering wheels are rotated simultaneously, the high-priority steering wheel is used as the steering wheel for controlling the vehicle, namely, the high-priority steering wheel is used for controlling the driving direction of the vehicle.

For example, when the steering wheel B and the steering wheel C are simultaneously operated by the user to rotate, since the priority of the steering wheel B is higher than that of the steering wheel C, the control module 50 may use the steering wheel B as a steering wheel for controlling the vehicle and control the steering mechanism 40 according to the rotation angle of the steering wheel B.

Further, according to an embodiment of the present invention, the control module 50, for example, the steering controller 52, is further configured to determine a to-be-synchronized steering wheel among other steering wheels except the steering wheel for controlling the vehicle, and control the to-be-synchronized steering wheel according to the rotation information of the wheels 100, so as to keep the to-be-synchronized steering wheel synchronized with the wheels 100, when the steering mechanism 40 is controlled according to the rotation information of the steering wheel for controlling the vehicle. Wherein the non-to-be-synchronized steering wheel may not remain synchronized with the wheels 100.

The steering wheel to be synchronized is a steering wheel that does not control the traveling direction of the vehicle at present but needs to be synchronized with the wheels.

That is, when the control module 50 controls the wheels 100 to rotate according to the rotation information of the steering wheel for controlling the vehicle, the control module may also drive the steering wheel to be synchronized to rotate according to the rotation information of the wheels 100 in real time, so that the steering wheel to be synchronized and the wheels 100 are kept in synchronization, thereby facilitating the user to take over the vehicle. At this time, the non-to-be-synchronized steering wheel and the wheels 100 may not be kept synchronized.

For example, when the steering wheel B is a steering wheel for controlling the vehicle and the steering wheel a is a steering wheel to be synchronized, the control module 50 can control the steering mechanism 40 according to the rotation angle of the steering wheel B until the rotation angle of the turning wheel 100 is consistent with the rotation angle of the steering wheel B, and can control the steering wheel a according to the rotation angle of the turning wheel 100 until the rotation angle of the steering wheel a is consistent with the rotation angle of the turning wheel 100. At this time, the steering wheel C is a non-to-be-synchronized steering wheel, and the steering wheel C may not be synchronized with the wheels 100.

Further, according to another embodiment of the present invention, the control module 50, for example, the steering controller 52, is further configured to determine a to-be-synchronized steering wheel among other steering wheels except the steering wheel for controlling the vehicle when the steering mechanism 40 is controlled according to the rotation information of the steering wheel for controlling the vehicle, and control the to-be-synchronized steering wheel for controlling the vehicle according to the rotation information of the wheels 100 when it is determined that the to-be-synchronized steering wheel is controlled to receive control of the vehicle, so that the to-be-synchronized steering wheel for controlling the vehicle is kept synchronized with the wheels 100.

That is to say, when the control module 50 controls the wheels 100 to rotate according to the rotation information of the steering wheel for controlling the vehicle, the steering wheel to be synchronized and the wheels 100 may not be synchronized at first, and when the steering wheel to be synchronized needs to be controlled, the steering wheel to be synchronized of the control take-over vehicle is driven to rotate according to the rotation information of the wheels 100, so that the steering wheel to be synchronized of the control take-over vehicle and the wheels 100 are synchronized, thereby facilitating the user to take over the vehicle. At this time, the non-to-be-synchronized steering wheel and the wheels 100 may not be kept synchronized.

It should be noted that there may be one or more to-be-synchronized steering wheels, and one of the to-be-synchronized steering wheels may be selected to take over the control vehicle, so that the to-be-synchronized steering wheel of the control vehicle is kept synchronized with the wheel 100. The other steering wheel to be synchronized, which does not take over the control of the vehicle, may or may not be synchronized with the wheel 100, which is not limited in the present invention.

It should be understood that the control module 50 may determine that the steering wheel to be synchronized takes over the control car when the steering wheel of the user control car fails or the steering wheel of the user control car stops controlling the car, for example, a command for quitting taking over is received from the user. Alternatively, the control module 50 may determine that the steering wheel to be synchronized takes over the control of the vehicle when the control module receives a take-over instruction of any steering wheel to be synchronized and the priority of the steering wheel to be synchronized is higher than the priority of the steering wheel used for controlling the vehicle.

For example, when the steering wheel B is a steering wheel for controlling a vehicle and the steering wheel a is a steering wheel to be synchronized, the control module 50 may control the steering mechanism 40 according to the rotation angle of the steering wheel B until the rotation angle of the wheels 100 is consistent with the rotation angle of the steering wheel B, and the steering wheel a and the wheels 100 may not be synchronized until a take-over command of the steering wheel a is received. Upon receiving a take-over command of the steering wheel a, the control module 50 controls the steering wheel a according to the rotation angle of the wheel 100 until the rotation angle of the steering wheel a is identical to the rotation angle of the turning wheel 100, and controls the wheel 100 according to the rotation angle of the steering wheel a after the rotation angle of the steering wheel a is identical to the rotation angle of the turning wheel 100. At this time, the steering wheel C is a non-to-be-synchronized steering wheel, and the steering wheel C may not be synchronized with the wheels 100.

In one embodiment of the present invention, the control module 50, such as the steering controller 52, is configured to take the steering wheel of the M steering wheels having a priority higher than that of the steering wheel for controlling the vehicle as the steering wheel to be synchronized; or the control module 50 is configured to use, as the steering wheel to be synchronized, a steering wheel with a priority higher than a priority of a steering wheel used for controlling the vehicle among the M steering wheels and a default steering wheel among the M steering wheels.

The default steering wheel may be a default steering wheel set by default at the time of factory shipment, for example, the default steering wheel may be a highest priority steering wheel at the time of factory shipment, and may preferably be a main driving steering wheel.

That is, when there is no default steering wheel among the M steering wheels 10, a steering wheel higher than the priority of the steering wheel for controlling the vehicle may be used as the steering wheel to be synchronized, so that the control module 50 may drive the steering wheel higher than the priority of the steering wheel for controlling the vehicle to rotate according to the rotation information of the wheel 100 when the wheel 100 is controlled to rotate according to the rotation information of the steering wheel for controlling the vehicle, so that the steering wheel higher than the priority of the steering wheel for controlling the vehicle is kept in synchronization with the wheel 100, or the steering wheel higher than the priority of the steering wheel for controlling the vehicle may not be kept in synchronization with the wheel 100 first, and drive the steering wheel higher than the priority of the steering wheel for controlling the vehicle to rotate according to the rotation information of the wheel 100 when the steering wheel higher than the priority of the steering wheel for controlling the vehicle needs to be controlled. At this time, a steering wheel lower than the priority of the steering wheel for controlling the vehicle is regarded as a non-to-be-synchronized steering wheel, and the non-to-be-synchronized steering wheel may not be kept synchronized with the wheels 100.

For example, when the steering wheel B is a steering wheel for controlling a vehicle, since the priority of the steering wheel a is higher than that of the steering wheel B, the steering wheel a can be used as a steering wheel to be synchronized, that is, the control module 50 can control the steering wheel a to keep synchronized with the wheels when controlling the wheels 100 according to the rotation angle of the steering wheel B, or the steering wheel a and the wheels 100 do not keep synchronized until the steering wheel a is controlled to be synchronized with the wheels 100 when the steering wheel a is required to receive a control vehicle. At this time, the priority of the steering wheel C is lower than that of the steering wheel B, the steering wheel C may be regarded as a non-to-be-synchronized steering wheel, and the steering wheel C and the wheels 100 may not be kept synchronized.

In addition, when there is a default steering wheel among the M steering wheels 10, a steering wheel higher in priority than a steering wheel for controlling the vehicle and the default steering wheel may be collectively used as a steering wheel to be synchronized. It should be understood that when the priority of the default steering wheel is higher than that of the steering wheel for controlling the vehicle, the steering wheel higher than that of the steering wheel for controlling the vehicle includes the default steering wheel, and when the priority of the default steering wheel is lower than that of the steering wheel for controlling the vehicle, the default steering wheel is also used as the steering wheel to be synchronized in addition to the steering wheel higher than that of the steering wheel for controlling the vehicle.

In this way, when the control module 50 controls the wheels 100 to rotate according to the rotation information of the steering wheel for controlling the vehicle, the steering wheel and the default steering wheel, which are higher than the priority of the steering wheel for controlling the vehicle, may be driven to rotate according to the rotation information of the wheels 100, so that the steering wheel and the default steering wheel, which are higher than the priority of the steering wheel for controlling the vehicle, are kept in synchronization with the wheels 100, or the steering wheel and the default steering wheel, which are higher than the priority of the steering wheel for controlling the vehicle, may not be kept in synchronization with the wheels 100 first, and when the steering wheel or the default steering wheel, which are higher than the priority of the steering wheel for controlling the vehicle, needs to be connected to the control vehicle, the steering wheel and the default steering wheel, which are higher than the priority of the steering wheel for controlling the vehicle, are driven to rotate according to the rotation information of the wheels 100. At this time, a steering wheel (excluding a default steering wheel) that is lower in priority than a steering wheel for controlling the vehicle may be used as a non-to-be-synchronized steering wheel, which may not be kept synchronized with the wheels 100.

For example, when the steering wheel B is a steering wheel for controlling a vehicle, since the priority of the steering wheel a is higher than that of the steering wheel B, the steering wheel a may be used as a steering wheel to be synchronized, and meanwhile, since the steering wheel C is a default steering wheel, the steering wheel C may also be used as a steering wheel to be synchronized, that is, when the control module 50 controls the wheels 100 according to the rotation angle of the steering wheel B, the control module may further control the steering wheel a and the steering wheel C to keep synchronized with the wheels, or the control module may not keep synchronized with the wheels 100 until the control module controls the steering wheel a or the steering wheel C to keep synchronized with the wheels 100 when the control module needs to control the vehicle to be controlled by the steering wheel a or the steering wheel C.

It is understood that after the wheel to be synchronized is synchronized with the wheel 100, the steering mechanism 40 can be controlled according to the rotation information of any wheel to be synchronized to drive the wheel 100 to rotate.

Further, according to an embodiment of the present invention, a non-to-be-synchronized steering wheel among other steering wheels except for a steering wheel for controlling a vehicle is not kept synchronized with the wheels 100. That is, when the control module 50 controls the wheel 100 according to the rotation information of the steering wheel for controlling the vehicle, the non-to-be-synchronized steering wheel is not synchronized with the wheel 100, that is, the control module 50 does not control the non-to-be-synchronized steering wheel to rotate according to the rotation information of the wheel 100. At this point, the unsynchronized steering wheel may be used for remote control.

Specifically, the control module 50 is configured to use, as a non-to-be-synchronized steering wheel, a steering wheel of the M steering wheels, which has a priority lower than a priority of a steering wheel used for controlling the vehicle; or the control module 50 is configured to use, as a non-to-be-synchronized steering wheel, a steering wheel with a priority lower than that of a steering wheel used for controlling the vehicle, among other steering wheels except for the default steering wheel.

That is, when there is no default steering wheel among the M steering wheels 10, a steering wheel having a priority lower than that of the steering wheel for controlling the vehicle may be regarded as a non-synchronized steering wheel, and thus, the control module 50 may not drive the steering wheel having a priority lower than that of the steering wheel for controlling the vehicle to rotate according to the rotation information of the wheel 100 when controlling the rotation of the wheel 100 according to the rotation information of the steering wheel for controlling the vehicle, so that the steering wheel having a priority lower than that of the steering wheel for controlling the vehicle does not maintain synchronization with the wheel 100.

For example, when the steering wheel B is a steering wheel for controlling the vehicle, the priority of the steering wheel C is lower than that of the steering wheel B, the steering wheel C may be a non-to-be-synchronized steering wheel, and the steering wheel C and the wheels 100 may not be synchronized.

In addition, when there is a default steering wheel among the M steering wheels 10, a steering wheel that is lower in priority than a steering wheel for controlling the vehicle, in addition to the default steering wheel, may be regarded as a non-synchronization-waiting steering wheel. It is to be understood that when the priority of the default steering wheel is higher than that of the steering wheel for controlling the vehicle, the steering wheel lower than that of the steering wheel for controlling the vehicle is a non-to-be-synchronized steering wheel, and when the priority of the default steering wheel is lower than that of the steering wheel for controlling the vehicle, the steering wheel lower than that of the steering wheel for controlling the vehicle includes the default steering wheel, the default steering wheel may be excluded from the steering wheels lower than that of the steering wheel for controlling the vehicle, and the steering wheel lower than that of the steering wheel for controlling the vehicle excluding the default steering wheel is a non-to-be-synchronized steering wheel. In this way, the control module 50 may not drive the rotation of the steering wheel (excluding the default steering wheel) having the priority lower than that of the steering wheel for controlling the vehicle according to the rotation information of the steering wheel for controlling the vehicle, when the rotation of the wheel 100 is controlled according to the rotation information of the steering wheel for controlling the vehicle, so that the steering wheel (excluding the default steering wheel) having the priority lower than that of the steering wheel for controlling the vehicle does not keep in synchronization with the wheel 100.

For example, when the steering wheel B is a steering wheel for controlling a vehicle, the steering wheel C may be used as a steering wheel to be synchronized since the priority of the steering wheel C is lower than that of the steering wheel B, but since the steering wheel C is a default steering wheel. Assuming that the wheels are also provided with a steering wheel D, and the priority of the steering wheel D is lower than that of the steering wheel C, and the steering wheel D is not the default steering wheel, at this time, the steering wheel D may be regarded as a non-to-be-synchronized steering wheel, and the steering wheel D and the wheels 100 may not be kept synchronized.

It will be appreciated that when the vehicle is in the steering wheel drive mode, if there is a non-to-be-synchronized steering wheel, the non-to-be-synchronized steering wheel may be used for remote control.

Further, according to an embodiment of the present invention, the control module 50, for example, the steering controller 52, is further configured to, when receiving a triggering instruction of any non-to-be-synchronized steering wheel, control any non-to-be-synchronized steering wheel according to the rotation information of the wheels 100, so as to keep any non-to-be-synchronized steering wheel synchronized with the wheels 100. And after any non-to-be-synchronized steering wheel is kept synchronized with the wheels 100, the steering mechanism 40 is controlled according to the rotation information of any non-to-be-synchronized steering wheel, so that the steering mechanism 40 drives the wheels 100 of the vehicle to rotate according to the rotation information of any non-to-be-synchronized steering wheel.

That is, when the control module 50 controls the vehicle according to the rotation information of the steering wheel for controlling the vehicle, that is, the steering wheel with high priority, if the steering wheel not to be synchronized, that is, the steering wheel with low priority is to control the vehicle, a trigger command may be input to trigger any one of the steering wheels with low priority to enter the take-over state, and at this time, the steering wheel with low priority is controlled according to the rotation information of the wheels 100 to keep any one of the steering wheels with low priority synchronized with the wheels 100. And, after any one of the low-priority steering wheels is kept in synchronization with the wheels 100, the steering mechanism 40 is controlled so that the wheels 100 respond to the low-priority steering wheel, based on the rotation information of the low-priority steering wheel.

It should be noted that after any low-priority steering wheel is synchronized with the wheels 100, the steering mechanism 40 may be controlled according to the rotation information of the low-priority steering wheel so that the wheels 100 respond to the low-priority steering wheel when another trigger instruction is received.

The control method of the steering control system of the vehicle when M is greater than 1 according to the embodiment of the invention will be described in detail below with reference to a specific embodiment.

According to an embodiment of the present invention, when M >1, the control module 50, for example, the steering controller 52, acquires the priority order of the M steering wheels 10 after the vehicle enters the steering wheel driving mode, then determines whether the priority of the default steering wheel is the highest, and directly acquires the rotation information of the default steering wheel if the priority of the default steering wheel is the highest, and controls the steering mechanism 40 according to the rotation information of the default steering wheel so as to synchronize the rotation of the wheels 100 of the vehicle with the rotation of the default steering wheel.

In other words, when the priority of the default steering wheel, for example, the main driving steering wheel, is highest, the wheels are controlled directly according to the rotation information of the default steering wheel, and the other steering wheels except the default steering wheel do not perform wheel control any more, and may be used for performing remote control of a smart device or the like, for example.

For example, a steering wheel may be installed at each of the main driving position and the sub-driving position, or at other positions, a steering wheel may be installed at the main driving position as the main driving steering wheel, and a steering wheel may be installed at the sub-driving position as the sub-driving steering wheel, and priorities of the main driving steering wheel and the sub-driving steering wheel may be set. As shown in fig. 8, the M steering wheels 10 include a main driving steering wheel 10-1 and a sub-driving steering wheel 10-2, the M steering wheel angle sensors 20 may include a main driving steering wheel angle sensor 20-1 and a sub-driving steering wheel angle sensor 20-2, the M steering wheel driving units 30 may include a main driving motor 31-1 and a sub-driving motor 31-2, and the M steering wheel controllers 51 may include a main driving steering wheel controller 51-1 and a sub-driving steering wheel controller 51-2. The main driving steering wheel controller 51-1 acquires the rotation angle and the rotation speed of the main driving steering wheel 10-1 through the main driving steering wheel rotation angle sensor 20-1 to determine the steering intention of a main driving driver, and sends the steering intention to the steering controller 52 in a wireless or wireless mode; the main driving motor 31-1 can simulate steering torque so as to ensure the steering comfort of the main driving steering wheel 10-1; the assistant driving steering wheel controller 51-2 acquires the rotation angle and the rotation speed of the assistant driving steering wheel 10-2 through the assistant driving steering wheel rotation angle sensor 20-2 to determine the steering intention of the assistant driving driver, and sends the steering intention to the steering controller 52 in a wired or wireless mode; the copilot motor 31-2 can simulate steering torque to ensure steering comfort of the copilot steering wheel 10-2.

Furthermore, the steering controller 52 collects the rotation angle and the rotation speed sent by the main driving steering wheel controller 51-1 and the auxiliary driving steering wheel controller 51-2, judges the priority of the main driving steering wheel 10-1 and the auxiliary driving steering wheel 10-2, and when the priority of the main driving steering wheel 10-1 is higher than the priority of the auxiliary driving steering wheel 10-2, the steering controller 52 drives the steering mechanism 40 to realize steering according to the rotation information of the main driving steering wheel 10-1. In addition, the copilot steering wheel can control other intelligent equipment.

Thus, when the default steering wheel has the highest priority, the vehicle direction is operated through the default steering wheel, and the other steering wheels do not operate the vehicle direction any more, so that the driving safety of the vehicle is ensured, and the entertainment is realized. In addition, the priorities of a plurality of steering wheels can be set freely, and the user experience is improved.

Further, in some embodiments of the present invention, the control module 50 is further configured to determine the operated at least one of the M steering wheels 10 when the priority of the default steering wheel is lower than the priority of at least one of the M steering wheels 10, and control the steering mechanism 40 according to the rotation information of the steering wheel with the highest priority among the operated at least one steering wheel, so that the steering mechanism 40 drives the wheels 100 of the vehicle to rotate according to the rotation information of the steering wheel with the highest priority among the operated at least one steering wheel.

It is understood that the steering wheel 10 being operated may mean the steering wheel being turned by the driver.

That is, when M >1, the control module 50, such as the steering controller 52, after the vehicle enters the steering wheel drive mode, first acquires the priorities of the M steering wheels 10, and then determines whether the priority of the default steering wheel is the highest, if the priority of the default steering wheel is not the highest, i.e., at least one of the M steering wheels has a higher priority than (not including being equal to) the default steering wheel, then steering controller 52 may capture the state of the M steering wheels in real time, when only one steering wheel 10 of the M steering wheels is operated, the steering controller 52 may operate the steering mechanism 40 according to the rotation information of the steering wheel 10 to perform steering, when a plurality of M steering wheels 10 are operated, the steering controller 52 may determine the highest-priority steering wheel among the plurality of steering wheels 10, and drives the steering mechanism 40 to steer according to the rotation information of the steering wheel with the highest priority among the plurality of steering wheels 10. Meanwhile, when any one of the steering wheels 10 is operated, the steering wheel driving unit 30 corresponding to the steering wheel 10 may apply a steering torque to the corresponding steering wheel 10 to ensure comfortable feel of the driver.

In other words, when the vehicle is in the steering mode and the priority of the default steering wheel is not the highest, the wheels 100 of the vehicle can be controlled according to the priorities of the M steering wheels, and when the steering wheels of different priorities are simultaneously rotated, the steering wheel with the higher priority has the priority control right.

For example, when the primary driving position is a driving school student or a beginner and the secondary driving position is a coach, the priority of the secondary driving steering wheel 10-2 can be set to be highest, further, when the primary driving steering wheel 10-1 is operated and the secondary driving steering wheel 10-2 is not operated, the steering controller 52 can obtain the rotation angle and the rotation speed of the primary driving steering wheel 10-1 and drive the steering mechanism 40 to drive the wheels 100 to steer according to the rotation angle and the rotation speed of the primary driving steering wheel 10-1, when an emergency situation is found and the primary driving position personnel do not know how to handle or handle errors, the secondary driving coach can rotate the secondary driving steering wheel 10-2, at this time, the steering controller 52 obtains the rotation angle and the rotation speed of the secondary driving steering wheel 10-2 through the secondary driving steering wheel controller 51-2 no matter whether the primary driving steering wheel 10-1 rotates or not, and drives the steering mechanism 40 to drive the wheels 100 to steer according to the rotation angle and the rotation speed of the assistant driving steering wheel 10-2, thereby facilitating the coach to take over the driving right of the vehicle.

From this, a plurality of steering wheels can be according to priority control vehicle, promote driving safety nature, are convenient for drive the teaching.

Further, in some embodiments of the present invention, the control module 50 is further configured to, when a steering wheel with the highest priority in the operated at least one steering wheel is not consistent with a steering wheel with the highest priority in the M steering wheels 10, control a steering wheel with the highest priority in the M steering wheels 10 according to the rotation information of the steering wheel with the highest priority in the operated at least one steering wheel, so as to drive the steering wheel with the highest priority in the M steering wheels 10 to rotate according to the rotation information of the steering wheel with the highest priority in the operated at least one steering wheel.

That is, if the priority of the default steering wheel is not the highest, i.e., there is at least one of the M steering wheels with a higher priority than (not including being equal to) the default steering wheel, the steering controller 52 may collect the states of the M steering wheels in real time. When only one steering wheel 10 of the M steering wheels is operated, the steering controller 52 may drive the steering mechanism 40 to steer according to the rotation information of the steering wheel 10, and at the same time, determine whether the steering wheel 10 is the steering wheel with the highest priority among the M steering wheels, if not, the steering controller 52 sends the rotation information of the steering wheel 10 to the steering wheel controller 51, and the steering wheel controller 51 may control the steering wheel with the highest priority among the M steering wheels according to the rotation information through the corresponding steering wheel driving unit 30, so that the steering wheel with the highest priority among the M steering wheels 10 rotates synchronously with the operated steering wheel 10. When a plurality of M steering wheels 10 are operated, the steering controller 52 may determine the steering wheel with the highest priority among the plurality of steering wheels 10, and actuate the steering mechanism 40 to perform steering according to the rotation information of the steering wheel with the highest priority among the plurality of steering wheels 10. Meanwhile, it is determined whether the steering wheel with the highest priority among the plurality of steering wheels 10 is the steering wheel with the highest priority among the plurality of steering wheels 10, if not, the steering controller 52 sends the rotation information of the steering wheel with the highest priority among the plurality of steering wheels 10 to the steering wheel controller 51, and the steering wheel controller 51 may control the steering wheel with the highest priority among the plurality of steering wheels 10 through the corresponding steering wheel driving unit 30 according to the rotation information, so that the steering wheel with the highest priority among the plurality of steering wheels 10 and the steering wheel with the highest priority among the plurality of steering wheels 10 rotate synchronously.

By way of example, assuming that the priority of the primary steering wheel 10-1 is lower than the priority of the secondary steering wheel 10-2, when the primary steering wheel 10-1 is operated and the secondary steering wheel 10-2 is not operated, steering controller 52 may obtain the angle and speed of rotation of primary steering wheel 10-1, and drives the steering mechanism 40 to drive the wheels 100 to steer according to the rotation angle and the rotation speed of the main driving steering wheel 10-1, meanwhile, the steering controller 52 can also send the rotation angle and the rotation speed of the main driving steering wheel 10-1 to the assistant driving steering wheel controller 51-2, the assistant driving steering wheel controller 51-2 can drive the assistant driving motor 31-2, so as to control the auxiliary driving steering wheel 10-1 to rotate according to the rotation angle and the rotation speed of the main driving steering wheel 10-1, thereby realizing the synchronous rotation of the auxiliary driving steering wheel 10-2 and the main driving steering wheel 10-1.

Further, in some embodiments of the present invention, when M >1, the vehicle-mounted intelligent device acquires state information and steering wheel information of the vehicle when monitoring that the target program is running, determines a non-to-be-synchronized steering wheel of the M steering wheels when the vehicle is in a steering wheel driving mode or in an automatic driving mode, and controls the target object according to rotation information of at least one steering wheel of the non-to-be-synchronized steering wheel.

It should be noted that the vehicle-mounted intelligent device may acquire the state information and the steering wheel information of the vehicle together, or the vehicle-mounted intelligent device may acquire the state information and the steering wheel information of the vehicle sequentially. Also, the target object may be a virtual object such as a virtual steering wheel displayed on the in-vehicle smart device, a virtual vehicle, or the target object may be a physical object such as the in-vehicle smart device itself, or a rotating part of the in-vehicle smart device.

That is, when M >1, the steering controller 52 may determine whether there are non-to-be-synchronized steering wheels for the M steering wheels after the vehicle enters the steering wheel driving mode or enters the automatic driving mode, and if there are non-to-be-synchronized steering wheels, use at least one of the non-to-be-synchronized steering wheels for remote control.

Further, when the number of the steering wheels 10 is plural, the in-vehicle smart device may control the target program to be executed according to an instruction of the user, and the user may operate the steering wheel after the target program is executed. Each steering wheel controller 51 reads the rotation angle and rotation speed of the corresponding steering wheel 10 and transmits the rotation angle and rotation speed of the corresponding steering wheel 10 onto the communication bus. After monitoring the operation of the target program, the vehicle-mounted intelligent device can directly read information through a communication bus of the vehicle, for example, status information and steering wheel information of the vehicle can be read through the communication bus, and a working mode is judged according to the status information of the vehicle, that is, if the vehicle is in a steering wheel driving mode or in an automatic driving mode, whether a non-to-be-synchronized steering wheel exists is judged, if the non-to-be-synchronized steering wheel exists, at least one steering wheel is selected from the non-to-be-synchronized steering wheels, and the target object is controlled according to the rotation information of the selected at least one steering wheel. If there is no non-to-be-synchronized steering wheel, the target object may no longer be controlled according to the rotation information of the M steering wheels 10.

It can be understood that the vehicle-mounted intelligent device can display a reminding message to prompt a user to operate a steering wheel when the vehicle is in a steering wheel driving mode or an automatic driving mode, a non-to-be-synchronized steering wheel exists and the running of an object program is monitored. The vehicle-mounted intelligent device can display reminding information to prompt a user that a target object cannot be controlled through a steering wheel when the vehicle is in a steering wheel driving mode or an automatic driving mode and the non-to-be-synchronized steering wheel does not exist.

For example, when M >1, the steering controller 52 may determine whether the priority of the default steering wheel is highest after the vehicle enters the steering wheel driving mode or is in the automatic driving mode, and control the steering mechanism 40 directly according to the rotation information of the default steering wheel if the priority of the default steering wheel is highest. Other steering wheels such as the rider steering wheel 10-2 may be used for remote control at this time.

Further, when the number of the steering wheels 10 is plural, the in-vehicle smart device may control the target program to be executed according to an instruction of the user, and the user may operate the steering wheel after the target program is executed. Each steering wheel controller 51 reads the rotation angle and rotation speed of the corresponding steering wheel 10 and transmits the rotation angle and rotation speed of the corresponding steering wheel 10 onto the communication bus. After monitoring the operation of the target program, the vehicle-mounted intelligent device can directly read information through a communication bus of the vehicle, for example, status information and steering wheel information of the vehicle can be read through the communication bus, and a working mode is judged according to the status information of the vehicle, that is, if the vehicle is in a steering wheel driving mode or in an automatic driving mode, whether the priority of a default steering wheel is the highest or not is judged, if the priority of the default steering wheel is the highest, at least one steering wheel is selected from other steering wheels except the default steering wheel, and the target object is controlled according to the rotation information of the selected at least one steering wheel. If the priority of the default steering wheel is not the highest, the target object may not be controlled according to the rotation information of the M steering wheels 10.

It can be understood that the vehicle-mounted intelligent device can display a reminding message to prompt a user to operate the steering wheel when the vehicle is in a steering wheel driving mode or an automatic driving mode, the default priority of the steering wheel is the highest, and the running of the object program is monitored. The vehicle-mounted intelligent device can display reminding information to prompt a user that a target object cannot be controlled through the steering wheel when the vehicle is in the steering wheel driving mode or the automatic driving mode and the priority of the default steering wheel is not the highest.

It should be further noted that the user may set the steering wheel to be selected through the vehicle-mounted intelligent device, or the vehicle-mounted intelligent device may set the steering wheel to be selected according to preset information or actual requirements. For example, the vehicle-mounted intelligent device can determine the steering wheel to be selected according to the number of racing cars in the simulated racing car game and the setting of the corresponding steering wheel of each racing car, namely, the steering wheel rotation information which is received is determined.

In addition, in some other embodiments, the in-vehicle intelligent device may further determine the use state of the steering wheel, and if the steering wheel to be selected is in use, for example, to remotely control other devices, the other steering wheel may be reselected, or the target object may no longer be controlled according to the rotation information of the steering wheel 10, and if the steering wheel is not in use, the target object may be controlled according to the rotation information of the steering wheel 10.

In some embodiments of the invention, the target program may be a game program such as a simulated racing game, and the target object may be a simulated object in the game such as a simulated racing car or the like. For example, when the object program is a simulated racing game, the user may trigger the simulated racing game to be run and operate the steering wheels 10, and each steering wheel controller 51 reads the rotation angle and the rotation speed of the corresponding steering wheel 10 and transmits the rotation angle and the rotation speed of the corresponding steering wheel 10 to the communication bus. When the vehicle is in a steering wheel driving mode or an automatic driving mode, the priority of a default steering wheel is highest, and a monitored target program runs, the vehicle-mounted intelligent device can directly read the rotation information of at least one steering wheel in other steering wheels except the default steering wheel through the communication bus, process the rotation information of the at least one steering wheel 10 to correspondingly generate the rotation information (including a rotation angle and/or a rotation speed) of at least one target object, and then respectively control the corresponding at least one target object according to the rotation information of the at least one target object, for example, at least one simulated racing car in a simulated racing car game can respectively rotate according to the rotation angle and the rotation speed of the corresponding at least one target object.

From this, when acquiescence steering wheel control vehicle, other steering wheels can be used to on-vehicle smart machine's remote control, compromise passenger's amusement when guaranteeing normal driving.

Further, when M >1, the vehicle-mounted smart device acquires the state information and the steering wheel information of the vehicle when monitoring the operation of the target program, and controls the target object according to the rotation information of at least one steering wheel of the M steering wheels 10 when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode.

That is, when M >1, the steering controller 52 may not rotate the wheels 100 of the vehicle with the turning of the steering wheel when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, for example, in a stopped state, and at this time, M steering wheels may all be used for remote control.

Further, when the number of the steering wheels 10 is plural, the in-vehicle smart device may control the target program to be executed according to an instruction of the user, and the user may operate the steering wheel after the target program is executed. Each steering wheel controller 51 reads the rotation angle and rotation speed of the corresponding steering wheel 10 and transmits the rotation angle and rotation speed of the corresponding steering wheel 10 onto the communication bus. After monitoring the running of the target program, the vehicle-mounted intelligent device can directly read information through a communication bus of the vehicle, for example, status information and steering wheel information of the vehicle can be read through the communication bus, and a working mode is judged according to the status information of the vehicle, that is, if the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, at least one steering wheel is selected from the M steering wheels, and the target object is controlled according to the rotation information of the selected at least one steering wheel.

It can be understood that the vehicle-mounted intelligent device can display a reminding message to prompt a user to operate a steering wheel when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode and the running of the object program is monitored.

In some embodiments of the invention, the target program may be a game program such as a simulated racing game, and the target object may be a simulated object in the game such as a simulated racing car or the like. For example, when the object program is a simulated racing game, the user may trigger the simulated racing game to be run and operate the steering wheels 10, and each steering wheel controller 51 reads the rotation angle and the rotation speed of the corresponding steering wheel 10 and transmits the rotation angle and the rotation speed of the corresponding steering wheel 10 to the communication bus. When the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode and the operation of a target program is monitored, the vehicle-mounted intelligent equipment can directly read the rotation information of at least one steering wheel in the M steering wheels through the communication bus, process the rotation information of the at least one steering wheel 10 to correspondingly generate the rotation information (including the rotation angle and/or the rotation speed) of at least one target object, and then respectively control the corresponding at least one target object according to the rotation information of the at least one target object, for example, at least one simulated racing car in a simulated racing car game can respectively rotate according to the rotation angle and the rotation speed of the corresponding at least one target object.

Therefore, when the vehicle is in a stop state, the M steering wheels can be used for remote control of the vehicle-mounted intelligent device, normal driving is guaranteed, and passenger entertainment is taken into consideration.

In other embodiments of the present invention, when M >1, the control module 50, such as the steering controller 52, may not control the M steering wheels 10 when the vehicle is in the autonomous driving mode, i.e., the M steering wheels 10 and the wheels 100 may not be synchronized. At this time, the vehicle-mounted intelligent device only needs to judge whether the vehicle is in a steering wheel driving mode before determining the non-to-be-synchronized steering wheel in the M steering wheels, that is, when the vehicle is in the steering wheel driving mode, the non-to-be-synchronized steering wheel in the M steering wheels is determined, and the target object is controlled according to the rotation information of at least one steering wheel in the non-to-be-synchronized steering wheel, and when the vehicle is not in the steering wheel driving mode, for example, in an automatic driving mode, the target object is controlled according to the rotation information of at least one steering wheel in the M steering wheels. It should be understood that, when M steering wheels 10 and wheels 100 may not be kept synchronous in the automatic driving mode, the control manner of the vehicle-mounted intelligent device in the automatic driving mode is substantially the same as that in the foregoing embodiment when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and details are not described here.

According to other embodiments of the present invention, when M >1, the control module 50, for example, the steering controller 52, may wirelessly communicate with the mobile smart device, and the mobile smart device sends a request instruction to the control module 50 when monitoring the operation of the target program and receives the vehicle status information and the steering wheel information sent by the control module 50; when the vehicle is in a steering wheel driving mode or an automatic driving mode, the mobile intelligent device determines a non-to-be-synchronized steering wheel in the M steering wheels, and controls the target object according to rotation information of at least one steering wheel in the non-to-be-synchronized steering wheel.

It should be noted that the mobile smart device may refer to a smart device that is not installed in a vehicle. After receiving the request instruction, the steering controller 52 may send the state information of the vehicle and the steering wheel information to the mobile intelligent device together, or the steering controller 52 may send the state information of the vehicle to the mobile intelligent device sequentially. Also, the target object may be a virtual object, such as a virtual steering wheel displayed on the mobile smart device, a virtual vehicle, or the target object may be a physical object, such as the mobile smart device itself, or a rotating part of the mobile smart device.

That is, when M >1, the steering controller 52 may determine whether there are non-to-be-synchronized steering wheels for the M steering wheels after the vehicle enters the steering wheel driving mode or the automatic driving mode, and if there are non-to-be-synchronized steering wheels, use at least one of the non-to-be-synchronized steering wheels for remote control.

Further, when there are a plurality of steering wheels 10, the mobile smart device may control the target program to run according to the instruction of the user, and the user may operate the steering wheel after the target program runs. Each steering wheel controller 51 reads the rotation angle and rotation speed of the corresponding steering wheel 10 and sends the rotation angle and rotation speed of the corresponding steering wheel 10 to the steering controller 52. After monitoring that the target program runs, the mobile intelligent device may send a request instruction to the steering controller 52, and the steering controller 52 feeds back information to the mobile intelligent device after receiving the request instruction.

For example, the steering controller 52 may send the state information of the vehicle and the rotation information of the steering wheel 10 to the mobile smart device after receiving the request instruction, and then the mobile smart device determines the operation mode according to the state information of the vehicle, that is, if the vehicle is in the steering wheel driving mode or the automatic driving mode, it determines whether there is a non-to-be-synchronized steering wheel, and if there is a non-to-be-synchronized steering wheel, selects at least one steering wheel from the non-to-be-synchronized steering wheel, and controls the target object according to the rotation information of the selected at least one steering wheel. If there is no non-to-be-synchronized steering wheel, the target object may no longer be controlled according to the rotation information of the M steering wheels 10.

It can be understood that the mobile intelligent device can display a reminding message to prompt a user to operate the steering wheel when the vehicle is in a steering wheel driving mode or an automatic driving mode, a non-to-be-synchronized steering wheel exists and the running of the object program is monitored. The mobile intelligent device can display reminding information to prompt a user that a target object cannot be controlled through a steering wheel when the vehicle is in a steering wheel driving mode or an automatic driving mode and the non-to-be-synchronized steering wheel does not exist.

For example, when M >1, the steering controller 52 may determine whether the priority of the default steering wheel is highest after the vehicle enters the steering wheel driving mode or the automatic driving mode, and control the steering mechanism 40 directly according to the rotation information of the default steering wheel if the priority of the default steering wheel is highest. Other steering wheels such as the rider steering wheel 10-2 may be used for remote control at this time.

For example, the steering controller 52 may send the state information of the vehicle and the rotation information of the steering wheel 10 to the mobile smart device after receiving the request instruction, and then the mobile smart device determines the operation mode according to the state information of the vehicle, that is, if the vehicle is in the steering wheel driving mode or the automatic driving mode, it determines whether the priority of the default steering wheel is the highest, and if the priority of the default steering wheel is the highest, selects at least one steering wheel from other steering wheels except the default steering wheel, and controls the target object according to the rotation information of the selected at least one steering wheel. If the priority of the default steering wheel is not the highest, the target object may not be controlled according to the rotation information of the M steering wheels 10.

It can be understood that the mobile intelligent device can display a reminding message to prompt the user to operate the steering wheel when the vehicle is in the steering wheel driving mode or the automatic driving mode, the priority of the default steering wheel is the highest, and the running of the object program is monitored. The mobile intelligent device can display reminding information to prompt a user that a target object cannot be controlled through the steering wheel when the vehicle is in the steering wheel driving mode or the automatic driving mode and the priority of the default steering wheel is not the highest.

It should be noted that, the user may set the steering wheel to be selected through the mobile intelligent device, or the mobile intelligent device may set the steering wheel to be selected according to preset information or actual requirements. For example, the mobile intelligent device can determine the steering wheel to be selected according to the number of racing cars in the simulated racing car game and the setting of the corresponding steering wheel of each racing car, namely, the rotation information for deciding which steering wheel to select.

In addition, in some other embodiments, the mobile intelligent device may further determine the use state of the steering wheel, and if the steering wheel to be selected is in use, for example, remotely control other devices, the other steering wheel may be reselected, or the target object may no longer be controlled according to the rotation information of the steering wheel 10, and if the steering wheel is not in use, the target object may be controlled according to the rotation information of the steering wheel 10.

In some embodiments of the invention, the target program may be a game program such as a simulated racing game, and the target object may be a simulated object in the game such as a simulated racing car or the like. Or, the target program can be an unmanned aerial vehicle remote control program, the target object can be an unmanned aerial vehicle, and the steering mechanism of the unmanned aerial vehicle can control the unmanned aerial vehicle to steer. For example, when the target program is at least one drone remote control program, the user may trigger the at least one drone remote control program to operate and operate at least one steering wheel, the M steering wheel controllers 51 respectively read the rotation angles and rotation speeds of the M corresponding steering wheels 10, and send the rotation angles and rotation speeds of the M steering wheels 10 to the steering controller 52, the steering controller 52 respectively sends the rotation angles and rotation speeds of the other steering wheels except the default steering wheel to each drone in real time, each drone selects one steering wheel from the rotation angles and rotation speeds of the other steering wheels except the default steering wheel after the vehicle is in the steering wheel driving mode or the automatic driving mode and the priority of the default steering wheel is highest and the target program is monitored to operate, and processes the rotation information of the selected steering wheel to obtain the rotation information of the target object (including the rotation angle and/or the rotation speed) Degree), then according to the rotation information of target object to carry out steering control to unmanned aerial vehicle to carry out remote control to unmanned aerial vehicle.

Therefore, when the default steering wheel controls the vehicle, other steering wheels can be used for remote control of the mobile intelligent device, and passenger entertainment is considered while normal driving is guaranteed.

Further, when M >1, the mobile intelligent device sends a request instruction to the control module when monitoring that the target program runs, and receives the vehicle state information and the steering wheel information sent by the control module; and when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, the mobile intelligent device controls the target object according to the rotation information of at least one steering wheel in the M steering wheels.

That is, when M >1, the steering controller 52 may not rotate the wheels 100 of the vehicle with the turning of the steering wheel when the vehicle is not in the steering wheel driving mode and is not in the autonomous driving mode, such as a stopped state, when M steering wheels may all be used for remote control.

For example, the steering controller 52 may transmit the state information of the vehicle and the rotation information of the steering wheel 10 to the mobile smart device after receiving the request instruction, and then the mobile smart device determines the operation mode according to the state information of the vehicle, that is, if the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, selects at least one steering wheel from the M steering wheels, and controls the target object according to the rotation information of the selected at least one steering wheel.

It can be understood that the mobile smart device may display a reminder message to prompt the user to operate the steering wheel when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode and the running of the object program is monitored.

In some embodiments of the invention, the target program may be a game program such as a simulated racing game, and the target object may be a simulated object in the game such as a simulated racing car or the like. For example, when the object program is a simulated racing game, the user may trigger the simulated racing game to be run and operate the steering wheels 10, and each steering wheel controller 51 reads the rotation angle and the rotation speed of the corresponding steering wheel 10 and transmits the rotation angle and the rotation speed of the corresponding steering wheel 10 to the steering controller 52. The steering controller 52 sends the rotation angle and the rotation speed of the M steering wheels to each unmanned aerial vehicle respectively in real time, each unmanned aerial vehicle selects one steering wheel from the rotation angle and the rotation speed of the M steering wheels when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode and the target program operation is monitored, the rotation information of the selected steering wheel is processed to obtain the rotation information (including the rotation angle and/or the rotation speed) of the target object, and then the unmanned aerial vehicle is subjected to steering control according to the rotation information of the target object, so that the unmanned aerial vehicle is subjected to remote control.

In other embodiments of the present invention, when M >1, the control module 50, such as the steering controller 52, may not control the M steering wheels 10 when the vehicle is in the autonomous driving mode, i.e., the M steering wheels 10 and the wheels 100 may not be synchronized. At this time, before determining a non-to-be-synchronized steering wheel of the M steering wheels, the mobile intelligent device only needs to judge whether the vehicle is in a steering wheel driving mode, that is, when the vehicle is in the steering wheel driving mode, the non-to-be-synchronized steering wheel of the M steering wheels is determined, and the target object is controlled according to the rotation information of at least one steering wheel of the non-to-be-synchronized steering wheels, and when the vehicle is not in the steering wheel driving mode, for example, in an automatic driving mode, the target object is controlled according to the rotation information of at least one steering wheel of the M steering wheels. It should be understood that, in the automatic driving mode, when the M steering wheels 10 and the wheels 100 may not be kept synchronous, the control manner of the mobile intelligent device in the automatic driving mode is substantially the same as that in the foregoing embodiment when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and details are not described here.

As above, when M >1, the control flow of the embodiment of the present invention may be as follows:

for a vehicle, after the entire vehicle is powered on, the steering controller 52 determines whether the vehicle is in a stopped state, that is, not in a steering wheel driving mode, if the vehicle is stopped, the vehicle-mounted intelligent terminal may determine whether an object program is monitored to run, if the object program is monitored, the turning angles and the turning speeds of the assistant driver steering wheel and the main driver steering wheel are read, and the mobile intelligent device is controlled for at least one target object according to the turning angle and the turning speed of at least one of the assistant driver steering wheel and the main driver steering wheel. Or the mobile intelligent terminal can judge whether the running of the target program is monitored, if the running of the target program is monitored, a request instruction is sent to the vehicle, the rotating angles and the rotating speeds of the assistant driving steering wheel and the main driving steering wheel are received, and at least one target object is controlled according to the rotating angle and the rotating speed of at least one of the assistant driving steering wheel and the main driving steering wheel.

If the vehicle is not in the stop state, the steering controller 52 reads the set priority of the steering wheel when the vehicle is in the steering wheel driving state, and judges whether the priority of the main driving steering wheel is the highest, if the priority of the main driving steering wheel is the highest, the steering controller 52 reads the rotation angle and the rotation speed of the main driving steering wheel, and drives the steering mechanism 40 to rotate the wheels according to the rotation angle and the rotation speed of the main driving steering wheel, and meanwhile, the main driving motor provides corresponding reverse torque, so that the hand feeling comfort of a user is ensured. At the moment, the vehicle-mounted intelligent terminal can judge whether the running of the target program is monitored, if the target program is monitored, the rotating angle and the rotating speed of the assistant driving steering wheel are read, and the target object is controlled according to the rotating angle and the rotating speed of the assistant driving steering wheel. Or, the mobile intelligent terminal can judge whether the running of the target program is monitored, if the running of the target program is monitored, a request instruction is sent to the vehicle, the rotating angle and the rotating speed of the assistant driving steering wheel are received, and the target object is controlled according to the rotating angle and the rotating speed of the assistant driving steering wheel.

If the priority of the assistant driving steering wheel is the highest, the steering controller 52 judges whether the assistant driving steering wheel is operated, if so, the steering controller 52 reads the rotation angle and the rotation speed of the assistant driving steering wheel and drives the steering mechanism 40 to rotate the vehicle according to the rotation angle and the rotation speed of the assistant driving steering wheel, and meanwhile, the assistant driving motor provides corresponding reverse torque, so that the hand feeling comfort of a user is ensured. If not, the steering controller 52 reads the rotation information and the rotation speed of the main driving steering wheel, drives the steering mechanism 40 to rotate the wheels according to the rotation information and the rotation speed of the main driving steering wheel, and simultaneously provides corresponding reverse torque by the main driving motor, so that the hand feeling comfort of a user is ensured; and the assistant driving steering wheel drives the assistant driving motor according to the rotation information and the rotation speed controller of the main driving steering wheel so as to enable the assistant driving steering wheel to be synchronous with the main driving steering wheel.

Therefore, the wheels and at least one steering wheel can keep synchronous in the running process of the vehicle and the starting process of the vehicle, specifically, a main driving steering wheel and a secondary driving steering wheel are synchronous with the wheels, and the main driving steering wheel and the wheels keep synchronous when the main driving steering wheel controls or wants to control the vehicle; when the assistant driving steering wheel controls or wants to control the vehicle, the assistant driving steering wheel and the wheels keep synchronous; when the main driving steering wheel and the auxiliary driving steering wheel are simultaneously used for controlling or intending to control the vehicle, the main driving steering wheel and the auxiliary driving steering wheel are simultaneously kept synchronous with the wheels. In addition, in the running process of the vehicle, reverse torque can be provided for the steering wheel, and the hand feeling comfort of a driver is ensured. In addition, the steering wheel can control other devices besides wheels, such as vehicle-mounted intelligent devices, mobile intelligent devices and the like, and can be used as game pads, remote controllers and the like. If the main driving steering wheel controls the vehicle, the auxiliary driving steering wheel can control other equipment; alternatively, the main driving steering wheel and the auxiliary driving steering wheel can both control other devices when the vehicle is in an automatic driving state, a parking state and the like.

In summary, according to the steering control system of the vehicle provided in the embodiment of the present invention, the control module is electrically connected to the steering mechanism, the M steering wheel angle sensors, and the M steering wheel driving units, respectively, and the control module controls at least one of the steering wheels according to the rotation information of the M steering wheels and the rotation information of the wheels, so that the at least one steering wheel is synchronized with the wheels, thereby allowing a user to take over the vehicle conveniently, and the steering control system can transmit the steering intention of the driver by using a wired signal or a wireless signal, further realize the steering control without a mechanical mechanism, allow the positions of the steering wheels to be freely arranged, and can be provided with a plurality of steering wheels. In addition, each steering wheel driving unit applies a steering torque to the corresponding steering wheel when the corresponding steering wheel is operated by the driver, so that the driver can feel comfortable. In addition, the embodiment of the invention can be used for vehicle driving teaching and can also give consideration to driver entertainment.

Corresponding to the steering control system of the vehicle in the foregoing embodiment, the present invention further provides an onboard intelligent device, where the onboard intelligent device communicates with a control module of the steering control system of the vehicle through a communication bus of the vehicle, and the steering control system includes M steering wheels, where when M is 1, the onboard intelligent device acquires state information and steering wheel information of the vehicle when monitoring that a target program is running, and controls a target object according to rotation information of the steering wheel when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode.

According to an embodiment of the invention, when M >1 and M >1, when the vehicle-mounted intelligent device monitors the running of a target program, the vehicle-mounted intelligent device acquires the state information and the steering wheel information of the vehicle, determines a non-to-be-synchronized steering wheel in the M steering wheels when the vehicle is in a steering wheel driving mode or in an automatic driving mode, and controls a target object according to the rotation information of at least one steering wheel in the non-to-be-synchronized steering wheel.

According to one embodiment of the invention, when M >1, the vehicle-mounted intelligent device acquires the state information and the steering wheel information of the vehicle when monitoring the operation of a target program, and controls a target object according to the rotation information of at least one steering wheel in the M steering wheels when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode.

In summary, according to the vehicle-mounted intelligent device provided by the embodiment of the invention, when the vehicle-mounted intelligent device monitors the running of the target program, the vehicle-mounted intelligent device acquires the state information and the steering wheel information of the vehicle, and controls the target object according to the rotation information of the steering wheel when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, so that the angle between the steering wheel and the wheel is not consistent when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and the steering wheel can perform other remote control operations, such as controlling a game racing car or an unmanned plane.

Corresponding to the steering control system of the vehicle of the previous embodiment, the invention also provides a mobile intelligent device, which is in wireless communication with a control module of the steering control system of the vehicle, the steering control system comprises M steering wheels, wherein,

when M is equal to 1, the mobile intelligent device sends a request instruction to the control module when monitoring that the target program runs, and receives state information and steering wheel information of the vehicle sent by the control module; and when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, the mobile intelligent equipment controls the target object according to the rotation information of the steering wheel.

According to one embodiment of the invention, when M >1, the mobile intelligent device sends a request instruction to the control module when monitoring the running of a target program, and receives the state information and the steering wheel information of the vehicle sent by the control module; and when the vehicle is in a steering wheel driving mode or an automatic driving mode, the mobile intelligent equipment determines a non-to-be-synchronized steering wheel in the M steering wheels, and controls a target object according to the rotation information of at least one steering wheel in the non-to-be-synchronized steering wheel.

According to one embodiment of the invention, when M >1, the mobile intelligent device sends a request instruction to the control module when monitoring the running of a target program, and receives the state information and the steering wheel information of the vehicle sent by the control module; and when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, the mobile intelligent equipment controls a target object according to the rotation information of at least one steering wheel in the M steering wheels.

In summary, according to the mobile intelligent device provided by the embodiment of the present invention, when the mobile intelligent device monitors the running of the target program, the mobile intelligent device sends a request instruction to the control module, receives the state information and the steering wheel information of the vehicle sent by the control module, and controls the target object according to the rotation information of the steering wheel when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, so that the angles of the steering wheel and the wheels are not consistent when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and the steering wheel can perform other remote control operations, such as controlling a game racing car or an unmanned plane.

The embodiment of the invention also provides a vehicle, which comprises the steering control system of the vehicle.

Corresponding to the control system of the vehicle in the foregoing embodiment, the embodiment of the invention also provides a steering control method of the vehicle.

Fig. 9 is a flowchart of a control method of a vehicle according to an embodiment of the invention. The control system of the vehicle comprises M steering wheels, M steering wheel driving units and a steering mechanism, wherein each steering wheel driving unit is connected with the corresponding steering wheel, each steering wheel driving unit is used for applying steering torque to the corresponding steering wheel and driving the corresponding steering wheel to rotate, the steering mechanism is used for driving wheels of the vehicle to rotate, and M is a positive integer. As shown in fig. 9, the method comprises the steps of:

s1: acquiring rotation information of M steering wheels and rotation information of wheels of a vehicle; and

s2: and controlling at least one steering wheel according to the rotation information of the M steering wheels and the rotation information of the wheels so as to keep the at least one steering wheel synchronous with the wheels.

According to some embodiments of the present invention, the controlling the steering mechanism according to the rotation information of the M steering wheels comprises: and when the vehicle is in an automatic driving mode, controlling the steering wheel according to the rotation information of the steering wheel so as to keep the steering wheel and the wheels synchronous.

According to an embodiment of the present invention, the controlling at least one of the steering wheels according to the rotation information of the M steering wheels and the rotation information of the wheels includes: when the steering mechanism is controlled according to the rotation information of the steering wheel for controlling the vehicle, determining the steering wheel to be synchronized in other steering wheels except the steering wheel for controlling the vehicle; and controlling the steering wheel to be synchronized according to the rotation information of the wheels so as to keep the steering wheel to be synchronized and the wheels in synchronization.

According to an embodiment of the present invention, the controlling at least one of the steering wheels according to the rotation information of the M steering wheels and the rotation information of the wheels includes: when the steering mechanism is controlled according to the rotation information of the steering wheel for controlling the vehicle, determining the steering wheel to be synchronized in other steering wheels except the steering wheel for controlling the vehicle; and when the condition that the to-be-synchronized steering wheel is connected with the control vehicle is determined, controlling the to-be-synchronized steering wheel of the control vehicle according to the rotation information of the wheels so as to keep the to-be-synchronized steering wheel and the wheels of the control vehicle in synchronization.

According to one embodiment of the invention, a steering wheel with a priority higher than that of the steering wheel for controlling the vehicle in the M steering wheels is taken as the steering wheel to be synchronized; or, the steering wheel with the priority higher than that of the steering wheel for controlling the vehicle in the M steering wheels and a default steering wheel in the M steering wheels are taken as the steering wheel to be synchronized together.

According to an embodiment of the present invention, a non-to-be-synchronized steering wheel among steering wheels other than the steering wheel for controlling the vehicle is not kept synchronized with the wheels, a steering wheel with a priority lower than that of the steering wheel for controlling the vehicle among the M steering wheels is taken as the non-to-be-synchronized steering wheel, or a steering wheel with a priority lower than that of the steering wheel for controlling the vehicle among steering wheels other than a default steering wheel is taken as the non-to-be-synchronized steering wheel, wherein the method further includes: when a triggering instruction of any one non-to-be-synchronized steering wheel is received, controlling the any one non-to-be-synchronized steering wheel according to the rotation information of the wheels so as to keep the any one non-to-be-synchronized steering wheel and the wheels in synchronization; and after any one of the non-to-be-synchronized steering wheels is kept synchronous with the wheels, controlling the steering mechanism according to the rotation information of any one of the non-to-be-synchronized steering wheels, so that the steering mechanism drives the wheels of the vehicle to rotate according to the rotation information of any one of the non-to-be-synchronized steering wheels.

Specifically, as shown in fig. 10, the control method according to the embodiment of the present invention includes the following steps:

and S201, electrifying the whole vehicle.

S202, it is determined whether the vehicle is in a stopped state, i.e., not in the steering wheel driving mode.

If yes, go to step S203; if not, step S205 is performed.

S203, the vehicle-mounted intelligent device or the mobile intelligent device judges whether the running of the target program is monitored, for example, whether a racing game is opened.

If yes, executing step S204; if not, step S202 is performed.

And S204, the vehicle-mounted intelligent device or the mobile intelligent device reads the rotation angle and the rotation speed of one or two steering wheels according to preset items, and the rotation angle and the rotation speed are used for controlling one or two vehicles in the target program, and the step S202 is returned.

And S205, reading the set steering wheel priority when the vehicle is in the steering wheel control mode.

And S206, judging whether the priority of the main driving steering wheel is highest.

If yes, go to step S207; if not, step S210 is performed.

S207, reading the rotation angle and the rotation speed of a main driving steering wheel, driving a steering mechanism to rotate wheels according to the rotation angle and the rotation speed of the main driving steering wheel, and providing corresponding reverse torque for the main driving steering wheel to ensure the hand feeling comfort of a user;

and S208, the vehicle-mounted intelligent equipment or the mobile intelligent equipment judges whether the running of the target program is monitored, for example, whether a racing game is opened.

If so, go to step S209; if not, return to step S206.

And S209, the vehicle-mounted intelligent device or the mobile intelligent device reads the rotation angle and the rotation speed of the auxiliary driving steering wheel, and the vehicle-mounted intelligent device or the mobile intelligent device is used for controlling the vehicle in the preset application program, and the step S206 is returned.

And S210, judging whether the pilot steering wheel is operated or not.

If yes, go to step S212; if not, step S211 is performed.

S211, reading the rotation angle and the rotation speed of a main driving steering wheel, driving a steering mechanism to rotate wheels according to the rotation angle and the rotation speed of the main driving steering wheel, and providing corresponding reverse torque for the main driving steering wheel to ensure the hand feeling comfort of a user; the sub-driver steering wheel and the main driver steering wheel are controlled to rotate synchronously, and the process returns to step S205.

And S212, reading the rotation angle and the rotation speed of the assistant driving steering wheel, driving the steering mechanism to rotate wheels according to the rotation angle and the rotation speed of the assistant driving steering wheel, and providing corresponding reverse torque for the assistant driving steering wheel to ensure the hand feeling comfort of a user.

In summary, according to the steering control method for a vehicle provided by the embodiment of the present invention, each steering wheel driving unit applies a steering torque to a corresponding steering wheel when the corresponding steering wheel is operated by a driver, obtains rotation information of M steering wheels and rotation information of wheels of the vehicle, and controls at least one steering wheel according to the rotation information of the M steering wheels and the rotation information of the wheels, so that the at least one steering wheel and the wheels are kept in synchronization, thereby enabling a user to take over the vehicle by keeping the at least one steering wheel and the wheels in synchronization, and enabling a wired signal or a wireless signal to transmit a steering intention of the driver, so that steering control can be achieved without a mechanical mechanism, enabling a position of the steering wheel to be freely arranged, and enabling a plurality of steering wheels to be provided. In addition, each steering wheel driving unit applies a steering torque to the corresponding steering wheel when the corresponding steering wheel is operated by the driver, so that the driver can feel comfortable.

Based on the above-described embodiments, the present invention also proposes a non-transitory computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the control method of the vehicle of the foregoing embodiments.

Based on the embodiment, the invention further provides a control method of the vehicle-mounted intelligent device.

Fig. 11 is a flowchart of a control method of an in-vehicle smart device according to an embodiment of the present invention. The vehicle-mounted intelligent device communicates with the vehicle through a communication bus of the vehicle, the vehicle comprises M steering wheels, wherein as shown in FIG. 11, the method comprises the following steps:

s11: when M is equal to 1, acquiring the state information and the steering wheel information of the vehicle when the running of the target program is monitored;

s12: and when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, controlling the target object according to the rotation information of the steering wheel.

According to an embodiment of the invention, as shown in fig. 12, the method further comprises:

s21: when M is greater than 1, acquiring the state information and the steering wheel information of the vehicle when the operation of the target program is monitored;

s22: when the vehicle is in a steering wheel driving mode or an automatic driving mode, determining a non-to-be-synchronized steering wheel in M steering wheels, and controlling a target object according to rotation information of at least one steering wheel in the non-to-be-synchronized steering wheel set.

Further, as shown in fig. 13, when M >1, the method further includes:

s23: and when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, controlling the target object according to the rotation information of at least one steering wheel in the M steering wheels.

According to the control method of the vehicle-mounted intelligent device provided by the embodiment of the invention, when the vehicle-mounted intelligent device monitors the running of the target program, the state information and the steering wheel information of the vehicle are acquired, and when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, the target object is controlled according to the rotation information of the steering wheel, so that the angles of the steering wheel and the wheels are not consistent when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and the steering wheel can perform other remote control operations, such as controlling a game racing car or an unmanned plane. Based on the above embodiment, the invention further provides a control method of the mobile intelligent device.

Fig. 14 is a flowchart of a control method of a mobile smart device according to one embodiment of the present invention. The mobile intelligent device is in wireless communication with a vehicle, the vehicle comprising M steering wheels, wherein, as shown in fig. 14, the method comprises the steps of:

s31: when M is equal to 1, sending a request instruction to the vehicle when the running of the target program is monitored, and receiving state information and steering wheel information of the vehicle sent by the vehicle;

s32: and when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, controlling the target object according to the rotation information of the steering wheel.

According to an embodiment of the invention, as shown in fig. 15, the method further comprises:

s41: when M is greater than 1, sending a request instruction to the vehicle when the target program is monitored to run, and receiving the state information and the steering wheel information of the vehicle sent by the vehicle;

s42: when the vehicle is in a steering wheel driving mode or an automatic driving mode, determining a non-to-be-synchronized steering wheel in the M steering wheels, and controlling a target object according to rotation information of at least one steering wheel in the non-to-be-synchronized steering wheel.

Further, as shown in fig. 16, when M >1, the method further includes:

s43: and when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, controlling the target object according to the rotation information of at least one steering wheel in the M steering wheels.

In summary, according to the control method of the mobile intelligent device provided by the embodiment of the invention, when the mobile intelligent device monitors the running of the target program, the mobile intelligent device sends the request instruction to the control module, receives the state information and the steering wheel information of the vehicle sent by the control module, and controls the target object according to the rotation information of the steering wheel when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, so that the angle between the steering wheel and the wheels is not consistent when the vehicle is not in the steering wheel driving mode and is not in the automatic driving mode, and the steering wheel can perform other remote control operations, such as controlling a game racing car or an unmanned plane.

Example two:

based on the vehicle steering control system in the embodiments of fig. 4 to 6, the invention provides a vehicle, a vehicle steering control system and method, a vehicle-mounted intelligent device and a control method thereof, and a mobile intelligent device and a control method thereof.

According to an embodiment of the present invention, the control module 50 is configured to obtain rotation information of the wheels 100 before the vehicle enters the steering mode, and control the steering wheel driving unit 30 to drive the steering wheel 10 to rotate according to the rotation information of the wheels 100 until the rotation angle of the steering wheel 10 is consistent with the rotation angle of the wheels.

Specifically, the control module 50 includes a steering wheel controller 51 and a steering controller 52, the steering wheel controller 51 is in communication with the steering controller 52, the steering controller 52 is configured to acquire rotation information of the wheels 100 before the vehicle enters a steering mode, and send the rotation information of the wheels 100 to the steering wheel controller 51, and the steering wheel controller 51 controls the steering wheel driving unit 30 to drive the steering wheel 10 to rotate according to the rotation information of the wheels 100 until a rotation angle of the steering wheel 10 is consistent with a rotation angle of the wheels 100.

It should be noted that the steering wheel driving mode may refer to a mode in which the driver controls the traveling direction of the vehicle by operating the steering wheel to rotate, that is, in the steering wheel driving mode, the steering controller 52 controls the rotation angle of the wheels 100 according to the rotation angle of the steering wheel.

It will be appreciated that the angle of rotation of the steering wheel 10 and the wheels 100 may or may not be consistent when the vehicle is not in the steering wheel drive mode.

That is, before the vehicle enters the steering wheel driving mode, for example, at the time of vehicle start-up or when the vehicle exits the automatic driving mode, the steering controller 52 may transmit the turning information of the wheels 100 to the steering wheel controller 51, and the steering wheel controller 51 may control the steering wheel 10 according to the received turning information of the wheels 100 so that the turning angle of the steering wheel 10 coincides with the turning angle of the wheels 100 even if the turning angle of the steering wheel 10 corresponds to the turning angle of the wheels 100, thereby maintaining the turning angles of the steering wheel 10 and the wheels 100 in synchronization.

Thus, in the embodiment of the present invention, at the time of vehicle start, the steering wheel controller 51 may control the steering wheel 10 according to the received rotation information of the wheels 100, so that it may be ensured that the rotation angle of the steering wheel 10 is kept consistent with the rotation angle of the wheels 100. Moreover, when the vehicle is in an automatic driving state, if the driver needs to take over, the steering wheel controller 51 can control the steering wheel 10 to rotate according to the received rotation information of the wheels 100 until the rotation angle of the steering wheel is consistent with the rotation angle of the wheels 100, so that the rotation angle of the steering wheel 10 is consistent with the rotation angle of the wheels 100, the driver can accurately judge the running direction of the vehicle, the vehicle is prevented from being dangerous, the driver can be effectively reminded to drive, and the driver can judge that the automatic driving needs manual intervention when finding that the steering wheel rotates.

Further, according to an embodiment of the present invention, as shown in fig. 6, the control module 50, for example, the steering controller 52, may communicate with an automatic driving control unit 70 of the vehicle, and when the automatic driving control unit 70 of the vehicle receives a driver's instruction to exit the automatic driving through a receiving component, for example, a button to exit the automatic driving mode, or the automatic driving control unit 70 itself malfunctions, or the driving environment in which the vehicle is located does not satisfy the automatic driving condition, the automatic driving control unit 70 controls the vehicle to switch from the automatic driving mode to the steering wheel driving mode.

It will be appreciated that the autopilot control unit 70 may control the vehicle for autopilot, such as steering, acceleration, deceleration, lights, and wipers of the vehicle. The automatic driving mode means that the automatic driving control unit 70 automatically controls the vehicle to travel without the driver operating the steering wheel 10.

Specifically, when the vehicle is in the automatic driving mode, the automatic driving control unit 70 may monitor whether a driver's exit automatic driving instruction is received, and if the driver's exit automatic driving instruction is received, that is, the driver presses a button for exiting automatic driving, the driver wants to take over the vehicle actively, at this time, the automatic driving control unit 70 controls the vehicle to exit the automatic driving mode, the steering controller 52 transmits the rotation information of the wheels 100 to the steering wheel controller 51, and the steering wheel controller 51 controls the steering wheel 10 according to the received rotation information of the wheels 100 so that the rotation angle of the steering wheel 10 coincides with the rotation angle of the wheels 100.

The automated driving control unit 70 may also determine whether or not it is out of order, and if the automated driving control unit 70 itself is out of order, for example, the automated driving sensor is out of order, the automated driving control unit 70 determines that the driver is required to take over the vehicle, at which time the automated driving control unit 70 controls the vehicle to exit the automated driving mode, the steering controller 52 transmits the rotation information of the wheels 100 to the steering wheel controller 51, and the steering wheel controller 51 controls the steering wheel 10 according to the received rotation information of the wheels 100 so that the rotation angle of the steering wheel 10 coincides with the rotation angle of the wheels 100.

The automatic driving control unit 70 may also monitor the environment around the vehicle to determine whether the driving environment around the vehicle meets the automatic driving condition, if the driving environment around the vehicle does not meet the automatic driving condition, that is, the environment around the vehicle is complex (for example, in a residential community), the automatic driving control unit 70 determines that the driver is required to take over the vehicle, at this time, the automatic driving control unit 70 controls the vehicle to exit the automatic driving mode, the steering controller 52 transmits the rotation information of the wheels 100 to the steering wheel controller 51, and the steering wheel controller 51 controls the steering wheel 10 according to the received rotation information of the wheels 100, so that the rotation angle of the steering wheel 10 is consistent with the rotation angle of the wheels 100.

Therefore, when the driver wants to take over the vehicle actively or the automatic driving control unit 70 judges that the driver needs to take over the vehicle, the steering wheel can be controlled to rotate, so that the rotating angle of the steering wheel is kept consistent with the rotating angle of the vehicle, and the driver can take over the vehicle conveniently.

In some embodiments of the invention, when the steering wheel 10 is not controlled, i.e. the steering wheel 10 is not operated by the driver and the steering wheel 10 does not need to be synchronized with the wheels, the steering wheel 10 may be stowed within the stowage cavity to allow more space for the cabin.

Further, according to an embodiment of the present invention, the steering controller 52 is configured to receive the rotation information sent by the automatic driving control unit 70 when the vehicle is in the automatic driving mode, and control the steering mechanism 40 according to the rotation information sent by the automatic driving control unit 70, so that the steering mechanism 40 drives the wheels 100 of the vehicle to rotate according to the rotation information sent by the automatic driving control unit 70.

That is, when the vehicle is in the automatic driving mode, the automatic driving control unit 70 may transmit rotation information, such as a rotation angle, to the steering controller 52, and the steering controller 52 may control the steering motor 42 according to the rotation information transmitted from the automatic driving control unit 70, so that the steering motor 42 drives the wheels 100 to rotate to a corresponding angle through the steering gear 41.

Specifically, the steering controller 52 may receive the rotation information sent by the automatic driving control unit 70 and drive the steering motor 42 to rotate according to the rotation information, and at the same time, the steering controller 52 may monitor the rotation information of the wheel 100 through the wheel rotation angle sensor 60 and stop driving the steering motor 42 when the wheel 100 is monitored to rotate to the angle expected by the automatic driving control unit 70.

Thus, when the vehicle is in the automatic driving mode, the steering controller 52 controls the wheels 100 to rotate according to the rotation information of the automatic driving control unit 70, and the steering wheel drive unit 30 may not control the steering wheel to rotate without the need for the steering wheel.

Further, according to an embodiment of the present invention, a control module 50, for example, a steering wheel controller 51, communicates with the vehicle-mounted smart device through a communication bus of the vehicle, for example, a CAN network, and the vehicle-mounted smart device acquires the state information and the steering wheel information of the vehicle when monitoring the operation of the target program of the vehicle-mounted smart device, and controls the target object of the vehicle-mounted smart device according to the rotation information of the steering wheel 10 when the vehicle is in the automatic driving mode.

It should be noted that the vehicle-mounted intelligent device may obtain the state information of the vehicle and the steering wheel information together, or the vehicle-mounted intelligent device may obtain the state information of the vehicle first and then obtain the steering wheel information when it is determined that the vehicle is not in the steering wheel driving mode. Also, the target program may be an application installed on the in-vehicle smart device, such as a game program, the target object may be a virtual object, such as a virtual steering wheel displayed on the in-vehicle smart device, a virtual vehicle, or the target object may be a physical object, such as the in-vehicle smart device itself, or a rotating part of the in-vehicle smart device.

Specifically, the vehicle-mounted intelligent device can control the running of the target program according to the instruction of the user, the user can operate the steering wheel after the running of the target program, the steering wheel controller 51 reads the rotation angle and the rotation speed of the steering wheel 10 and sends the rotation angle and the rotation speed of the steering wheel 10 to the communication bus, and after monitoring the running of the target program, the vehicle-mounted intelligent device can directly read information through the communication bus of the vehicle, for example, the vehicle state information can be read through the communication bus to judge the working mode, and when the vehicle is in the automatic driving mode, the vehicle-mounted intelligent device actively reads the rotation information of the steering wheel 10 through the communication bus and controls the target object according to the rotation information of the steering wheel 10; for another example, the state information of the vehicle and the rotation information of the steering wheel 10 may be read through the communication bus, and then the operation mode may be determined according to the state information of the vehicle, and the target object may be controlled according to the rotation information of the steering wheel 10 when the vehicle is in the automatic driving mode.

It can be understood that the vehicle-mounted intelligent device can display a reminding message to prompt a user to operate a steering wheel after the vehicle is in an automatic driving mode and the running of the target program is monitored.

In addition, in some other embodiments, after the vehicle is in the automatic driving mode, the in-vehicle smart device may further determine the use state of the steering wheel, if the steering wheel is in use, for example, to remotely control other devices, the target object is not controlled according to the rotation information of the steering wheel 10, and if the steering wheel is not in use, the target object is controlled according to the rotation information of the steering wheel 10.

In some embodiments of the invention, the target program may be a game program such as a simulated racing game, and the target object may be a simulated object in the game such as a simulated racing car or the like. For example, when the object program is a simulated racing game, a user may trigger the simulated racing game to run and operate a steering wheel, the steering controller 51 reads a rotation angle and a rotation speed of the steering wheel 10 and sends the rotation angle and the rotation speed of the steering wheel 10 to the communication bus, and after the vehicle is in an automatic driving mode and the operation of the object program is monitored, the vehicle-mounted smart device may directly read rotation information of the steering wheel 10 through the communication bus and process the rotation information of the steering wheel 10 to obtain rotation information (including the rotation angle and/or the rotation speed) of the object, and then perform steering control on the object according to the rotation information of the object, for example, a simulated racing car in the simulated racing game may rotate according to the obtained rotation angle and rotation speed of the object.

Further, the control module 50, for example, the steering controller 52, may communicate wirelessly with the mobile intelligent device, and the mobile intelligent device sends a request instruction to the control module 50, that is, the steering controller 52, and receives the state information and the steering wheel information of the vehicle sent by the control module 20 when monitoring that the target program of the mobile intelligent device is running; and when the vehicle is in an automatic driving mode, the mobile intelligent device controls a target object of the mobile intelligent device according to the rotation information of the steering wheel 10.

It should be noted that the mobile smart device may refer to a smart device that is not installed in a vehicle. The steering controller 52, upon receiving the request instruction, may send the vehicle's state information along with the steering wheel information to the mobile smart device. Or, after receiving the request instruction, the steering controller 52 may send the state information of the vehicle to the mobile intelligent device, the mobile intelligent device may send a control request to the steering controller 52 when determining that the vehicle is in the automatic driving mode, the steering controller 52 obtains the steering wheel information according to the control request, and sends the steering wheel information to the mobile intelligent device in real time, and the mobile intelligent device may control the target object according to the rotation information of the steering wheel 10.

Specifically, the mobile smart device may control the target program to run according to the instruction of the user, and the user may operate the steering wheel after the target program runs, and the steering wheel controller 51 reads the rotation angle and the rotation speed of the steering wheel 10 and transmits the rotation angle and the rotation speed of the steering wheel 10 to the steering controller 52. After monitoring that the target program runs, the mobile intelligent device may send a request instruction to the steering controller 52, and the steering controller 52 feeds back information to the mobile intelligent device after receiving the request instruction. For example, the steering controller 52 may send vehicle status information to the mobile smart device, the mobile smart device may determine a working mode according to the vehicle status information, and send a control request to the steering controller 52 when the vehicle is in an automatic driving mode, the steering controller 52 obtains steering wheel information according to the control request, and sends the steering wheel information to the mobile smart device in real time, and the mobile smart device may control a target object according to the rotation information of the steering wheel 10. For another example, the steering controller 52 may send the state information of the vehicle and the rotation information of the steering wheel 10 to the mobile smart device after receiving the request instruction, and then the mobile smart device determines the operation mode according to the state information of the vehicle and controls the target object according to the rotation information of the steering wheel 10 when the vehicle is in the automatic driving mode.

It is understood that the mobile smart device may display a reminder message to prompt the user to operate the steering wheel after the vehicle is in the autonomous driving mode and the object program is monitored to be running.

In addition, in some other embodiments, the intelligent mobile device may further determine the use status of the steering wheel after the vehicle is in the automatic driving mode, if the steering wheel is in use, such as remotely controlling other devices, the target object is not controlled according to the rotation information of the steering wheel 10, and if the steering wheel is not in use, the target object is controlled according to the rotation information of the steering wheel 10.

In some embodiments of the invention, the target program may be a game program such as a simulated racing game, and the target object may be a simulated object in the game such as a simulated racing car or the like. Alternatively, the target program may be a drone remote control program and the target object may be a drone. For example, when the target program is an unmanned aerial vehicle remote control program, a user can trigger the unmanned aerial vehicle remote control program to operate and operate a steering wheel, the steering controller 51 reads the rotation angle and the rotation speed of the steering wheel 10 and sends the rotation angle and the rotation speed of the steering wheel 10 to the steering controller 52, the steering controller 52 sends the rotation angle and the rotation speed of the steering wheel 10 to the unmanned aerial vehicle in real time, the unmanned aerial vehicle can process the rotation information of the steering wheel 10 to obtain the rotation information (including the rotation angle and/or the rotation speed) of the target object after the vehicle is in an automatic driving mode and the target program is monitored to operate, and then the unmanned aerial vehicle is subjected to steering control according to the rotation information of the target object, so that the unmanned aerial vehicle is subjected to remote control.

It should be noted that the wheels 100 of the vehicle may not rotate with the steering wheel when the vehicle is in the autonomous driving mode. And, when the vehicle is in the steering wheel driving mode, the in-vehicle smart device or the mobile device may automatically exit the target program, stopping controlling the target object according to the rotation information of the steering wheel 10. The vehicle-mounted intelligent device or the mobile device judges that the vehicle enters a steering wheel driving mode according to the vehicle state information sent by the control module 502 in real time. Further, according to an embodiment of the present invention, the steering controller 52 is configured to obtain rotation information of the steering wheel 10 after the vehicle enters the steering wheel driving mode, and control the steering mechanism 40 according to the rotation information of the steering wheel 10, so that the steering mechanism 40 drives the wheels 100 of the vehicle to rotate according to the rotation information of the steering wheel 10. While the steering wheel controller 51 controls the steering wheel drive unit 30 to apply a steering torque to the steering wheel 10.

That is, when the driver operates through the steering wheel 10, the steering wheel controller 51 may transmit turning information of the steering wheel 10 to the steering controller 52, and the steering controller 52 controls the steering mechanism 40 to rotate the wheels 100 to a corresponding angle according to the received turning information.

Specifically, the steering controller 52 may receive the rotation information of the steering wheel 10 sent by the steering wheel controller 51, and drive the steering motor 42 to operate according to the rotation information of the steering wheel 10, and at the same time, the steering controller 52 may also monitor the rotation information of the wheels 100, such as the rotation angle, through the wheel rotation angle sensor 60, and when the rotation angle of the wheels 100 to the steering wheel 10 is monitored, stop driving the steering motor 42, and ensure that the wheel angle is consistent with the steering wheel angle in real time.

It is understood that the steering wheel controller 51 may collect the rotation information of the steering wheel 10 through the steering wheel angle sensor 20 to determine the steering intention of the driver; the steering wheel driving unit 30 may simulate a steering torque to provide a driver with a more comfortable steering force. The steering controller 52 can receive the rotation information of the steering wheel 10 transmitted by the steering wheel controller 51, and determine whether the vehicle is in the steering mode, and when the vehicle is in the steering mode, the steering controller 52 drives the steering mechanism 40 to steer according to the rotation information of the steering wheel 10. When the steering wheel 10 enters the preset operating mode and the vehicle is not in the steering wheel driving mode, the steering controller 52 may acquire the steering angle and the steering speed of the steering wheel 10 and send the steering angle and the steering speed to the smart device 200 in a wired or wireless manner, or the smart device 200 may directly perform the determination and actively acquire the rotation information of the steering wheel 10 after determining that the steering wheel enters the preset operating mode and the vehicle is not in the steering wheel driving mode.

Thus, the turning angle of the steering wheel 10 can be kept consistent with the turning angle of the wheels 100 when the driver performs the driving operation.

As described above, in the embodiment of the present invention, after the entire vehicle is powered on, the steering controller 52 may determine whether the vehicle is successfully started, and if the vehicle is failed to be started, the steering controller 52 does not receive the rotation information of the steering wheel driving unit 30 or the automatic driving control unit 70, and the angle of the wheels 100 remains unchanged. At this time, the vehicle-mounted intelligent terminal can judge whether the operation of the target program is monitored, if the target program is monitored, the rotation angle and the rotation speed of the steering wheel 10 are read, and the target object is controlled according to the rotation angle and the rotation speed of the steering wheel 10. Or, the mobile intelligent terminal may determine whether the operation of the target program is monitored, and if the operation of the target program is monitored, send a request instruction to the steering controller 52, receive the rotation angle and the rotation speed of the steering wheel 10 sent by the steering controller 52, and control the target object according to the rotation angle and the rotation speed of the steering wheel 10.

If the vehicle is successfully started, the steering controller 52 further determines whether the vehicle is in an automatic driving mode, and if the vehicle is not in the automatic driving mode and is in a steering wheel control module, the steering controller 52 receives the steering wheel rotation information sent by the steering wheel driving unit 30 and drives the steering motor 42, and simultaneously detects the rotation information of the wheels 100 through the wheel rotation angle sensor 60, so that the angle of the wheels 100 is kept consistent with the angle of the steering wheel 10, and the steering request of the driver is responded in real time.

If the vehicle is in the automatic driving mode, the steering controller 52 receives the rotation information transmitted from the automatic driving control unit 70 and drives the steering motor 42 according to the rotation information transmitted from the automatic driving control unit 70, while detecting the rotation information of the wheels 100 through the wheel rotation angle sensor 60 so that the angle of the wheels 100 is kept in accordance with the request of the automatic driving control unit 70. At this time, the vehicle-mounted intelligent terminal can judge whether the operation of the target program is monitored, if the target program is monitored, the rotation angle and the rotation speed of the steering wheel 10 are read, and the target object is controlled according to the rotation angle and the rotation speed of the steering wheel 10. Or, the mobile intelligent terminal may determine whether the operation of the target program is monitored, and if the operation of the target program is monitored, send a request instruction to the steering controller 52, receive the rotation angle and the rotation speed of the steering wheel 10 sent by the steering controller 52, and control the target object according to the rotation angle and the rotation speed of the steering wheel 10.

During the automatic driving mode of the vehicle, the automatic driving control unit 70 determines whether a driver's exit instruction is received or whether the automatic driving control unit 70 has a failure or determines whether the driving environment does not satisfy the automatic driving operation, if the driver's exit instruction is received or the automatic driving control unit 70 has a failure or the driving environment does not satisfy the automatic driving operation, the steering controller 52 transmits rotation information of the wheels 100 to the steering wheel controller 51, the steering wheel controller 51 determines whether the rotation angle of the steering wheel 10 coincides with the rotation angle of the wheels 100, if so, the steering wheel controller 51 informs the steering controller 52 that the synchronization is successful, if not, the steering wheel controller 51 controls the steering wheel driving unit 30 to drive the steering wheel 10 to rotate according to the rotation information of the wheels, at the same time, the steering wheel rotation information is monitored by the steering wheel angle sensor 20, and the angle of the steering wheel 10 is rotated to be consistent with the angle of the wheels 100.

Therefore, the steering control system provided by the embodiment of the invention can realize steering-by-wire control, when the vehicle is in a stop state or in an automatic driving state, the steering wheel can not keep consistent with the tire rotation information, and at the moment, the steering wheel can be used for other operations, such as serving as a remote controller, playing a racing game, controlling an unmanned aerial vehicle and the like, and when a user operates or exits the automatic driving state, the steering wheel keeps consistent with the tire angle. Thus, embodiments of the present invention may be used as both a remote control system and a steering system that maintains synchronization with the wheels during driver maneuvers.

In summary, according to the control system of the vehicle provided by the embodiment of the present invention, the control module is electrically connected to the steering mechanism, the wheel angle sensor, the steering wheel angle sensor and the steering wheel driving unit, respectively, before the vehicle enters the steering mode of the steering wheel, the control module obtains the rotation information of the wheels, and controls the steering wheel driving unit according to the rotation information of the wheels to drive the steering wheel to rotate until the rotation angle of the steering wheel is consistent with the rotation angle of the wheels, so that the wired signal or the wireless signal can be used to transmit the steering intention of the driver, the steering control can be realized without a mechanical mechanism, the position of the steering wheel can be freely arranged, a plurality of steering wheels can be arranged, and when the vehicle needs the driver to take over the driving, the rotation angle of the steering wheel can be ensured to be consistent with the rotation angle of the wheels, thereby ensuring that the driver can accurately judge the vehicle running direction, preventing the vehicle from being dangerous.

The embodiment of the present invention further provides a vehicle-mounted intelligent device, where the vehicle-mounted intelligent device communicates with the control module of the vehicle steering control system of the foregoing embodiment through a communication bus of a vehicle, where the vehicle-mounted intelligent device acquires state information and steering wheel information of the vehicle when monitoring that a target program of the vehicle-mounted intelligent device is running, and controls a target object of the vehicle-mounted intelligent device according to rotation information of the steering wheel when the vehicle is in an automatic driving mode.

According to the vehicle-mounted intelligent device provided by the embodiment of the invention, when the vehicle-mounted intelligent device monitors the running of the target program, the vehicle state information and the steering wheel information are obtained, and when the vehicle is in the automatic driving mode, the target object is controlled according to the rotation information of the steering wheel, so that when the vehicle is in the automatic driving mode, the angles of the steering wheel and the wheels are not consistent, and the steering wheel can perform other remote control operations, such as controlling a game racing car or an unmanned plane.

The embodiment of the invention also provides a mobile intelligent device, wherein the mobile intelligent device is in wireless communication with the control module of the vehicle steering control system of the embodiment, and sends a request instruction to the control module when monitoring the running of the target program of the mobile intelligent device, and receives the state information and the steering wheel information of the vehicle sent by the control module; and when the vehicle is in an automatic driving mode, the mobile intelligent equipment controls a target object of the mobile intelligent equipment according to the rotation information of the steering wheel.

According to the mobile intelligent equipment provided by the embodiment of the invention, when the running of a target program is monitored, the mobile intelligent equipment sends a request instruction to the control module, receives the state information and the steering wheel information of the vehicle sent by the control module, and controls the target object according to the rotation information of the steering wheel when the vehicle is in the automatic driving mode, so that the angle between the steering wheel and the wheels is not consistent in the automatic driving mode of the vehicle, and the steering wheel can perform other remote control operations, such as controlling a game racing car or an unmanned plane. In order to achieve the above object, a vehicle according to a fourth aspect of the present invention includes the steering control system of the vehicle.

According to the vehicle provided by the embodiment of the invention, through the steering control system of the vehicle, a wired signal or a wireless signal can be adopted to transmit the steering intention of a driver, so that steering control can be realized without a mechanical mechanism, the position of the steering wheel can be freely arranged, a plurality of steering wheels can be arranged, and when the driver takes over driving, the rotating angle of the steering wheel and the rotating angle of the wheels can be kept consistent, so that the driver can accurately judge the running direction of the vehicle, and the vehicle is prevented from being dangerous.

Fig. 17 is a flowchart of a steering control method of a vehicle according to an embodiment of the present invention. The control system of the vehicle comprises a steering wheel, a steering wheel driving unit and a steering mechanism, wherein the steering wheel driving unit is connected with the steering wheel, the steering wheel driving unit is used for driving the steering wheel to rotate, and the steering mechanism is used for driving wheels of the vehicle to rotate.

As shown in fig. 17, the control method of the vehicle of the embodiment of the invention includes the steps of:

s51: acquiring rotation information of wheels before a vehicle enters a steering wheel driving mode;

s52: and controlling the steering wheel driving unit according to the rotation information of the wheels to drive the steering wheel to rotate until the rotation angle of the steering wheel is consistent with the rotation angle of the wheels.

According to one embodiment of the present invention, when the automated driving control unit of the vehicle receives an exit instruction of a driver through a receiving component or the automated driving control unit itself malfunctions or the driving environment in which the vehicle is located does not satisfy the automated driving condition, the automated driving control unit controls the vehicle to switch from the automated driving mode to the steering wheel driving mode.

According to an embodiment of the present invention, the control method of a vehicle further includes: receiving rotation information transmitted by the automatic driving control unit when the vehicle is in the automatic driving mode; and controlling the steering mechanism according to the rotation information sent by the automatic driving control unit, so that the steering mechanism drives the wheels of the vehicle to rotate according to the rotation information sent by the automatic driving control unit.

According to an embodiment of the present invention, the control method of a vehicle further includes: after the vehicle enters a steering wheel driving mode, rotation information of a steering wheel is obtained, and a steering mechanism is controlled according to the rotation information of the steering wheel, so that the steering mechanism drives wheels of the vehicle to rotate according to the rotation information of the steering wheel. According to one embodiment of the present invention, a steering torque is applied to a steering wheel by a steering wheel driving unit when the steering wheel is operated by a driver.

Specifically, as shown in fig. 18, the steering control method of the vehicle of the embodiment of the invention includes the steps of:

s101, electrifying the whole vehicle;

and S102, judging whether the vehicle is started successfully or not.

If yes, executing step S104; if not, step S103 is performed.

And S103, not receiving an angle control signal of a steering wheel driving unit or an automatic driving control unit, and keeping the angle of the wheels unchanged. At the moment, the vehicle-mounted intelligent terminal can judge whether the operation of the target program is monitored, if the target program is monitored, the rotating angle and the rotating speed of the steering wheel are read, and the target object is controlled according to the rotating angle and the rotating speed of the steering wheel. Or, the mobile intelligent terminal may determine whether the operation of the target program is monitored, send a request instruction to the steering controller if the operation of the target program is monitored, receive the rotation angle and the rotation speed of the steering wheel sent by the steering controller, control the target object according to the rotation angle and the rotation speed of the steering wheel, and return to step S102.

And S104, judging whether the vehicle is in an automatic driving mode or not.

If yes, go to step S106; if not, step S105 is performed.

And S105, receiving the rotation information of the steering wheel sent by the steering wheel driving unit, driving the steering mechanism, monitoring the rotation information of the wheels detected by the wheel rotation angle sensor, keeping the angle of the wheels consistent with the angle of the steering wheel, responding to the steering request of the driver in real time, and returning to the step S104.

And S106, receiving the rotation information sent by the automatic driving control unit, driving the steering mechanism according to the rotation information sent by the automatic driving control unit, and simultaneously detecting the rotation information of the wheels through the wheel rotation angle sensor to enable the angle of the wheels to be consistent with the requirement of the automatic driving control unit. At the moment, the vehicle-mounted intelligent terminal can judge whether the operation of the target program is monitored, if the target program is monitored, the rotating angle and the rotating speed of the steering wheel are read, and the target object is controlled according to the rotating angle and the rotating speed of the steering wheel. Or, the mobile intelligent terminal can judge whether the running of the target program is monitored, if the running of the target program is monitored, a request instruction is sent to the steering controller, the rotating angle and the rotating speed of the steering wheel sent by the steering controller are received, and the target object is controlled according to the rotating angle and the rotating speed of the steering wheel.

S107, the automatic driving control unit judges whether a quit instruction of the driver is received or whether the automatic driving control unit has a fault or whether the driving environment does not support the automatic driving operation.

If yes, go to step S108; if not, step S106 is performed.

And S108, judging whether the rotation angle of the steering wheel is consistent with the rotation angle of the wheels by the steering wheel driving unit.

If yes, go to step S110; if not, step S109 is performed.

And S109, receiving the rotation information of the wheels, controlling the steering wheel driving unit according to the rotation information of the wheels to drive the steering wheel to rotate, monitoring the rotation information of the steering wheel through the steering wheel angle sensor, rotating the angle of the steering wheel to be consistent with the angle of the wheels, and returning to the step S108.

S110, the steering wheel drive unit notifies the synchronization success, and returns to step S105.

In summary, according to the steering control method for a vehicle provided by the embodiment of the invention, before the vehicle enters the steering wheel driving mode, the rotation information of the wheels is acquired, and the steering wheel driving unit is controlled according to the rotation information of the wheels to drive the steering wheel to rotate until the rotation angle of the steering wheel is consistent with the rotation angle of the wheels, so that when the vehicle needs the driver to take over driving, the rotation angle of the steering wheel is ensured to be consistent with the rotation angle of the wheels, the driver can be ensured to accurately judge the vehicle running direction, and the vehicle is prevented from being dangerous.

The invention further provides a control method of the vehicle-mounted intelligent device.

Fig. 19 is a flowchart of an in-vehicle smart device according to an embodiment of the present invention. The vehicle-mounted intelligent device communicates with a vehicle through a communication bus of the vehicle, the vehicle comprises M steering wheels, wherein as shown in FIG. 19, the method comprises the following steps:

s61: when monitoring that a target program of the vehicle-mounted intelligent equipment runs, acquiring state information and steering wheel information of a vehicle;

s61: and when the vehicle is in an automatic driving mode, controlling a target object of the vehicle-mounted intelligent equipment according to the rotation information of the steering wheel.

According to the control method of the vehicle-mounted intelligent device provided by the embodiment of the invention, when the vehicle-mounted intelligent device monitors the running of the target program, the state information and the steering wheel information of the vehicle are acquired, and the target object is controlled according to the rotation information of the steering wheel in the automatic driving mode of the vehicle, so that the angles of the steering wheel and the wheels are not consistent in the automatic driving mode of the vehicle, and the steering wheel can perform other remote control operations, such as controlling a game racing car or an unmanned plane.

The invention further provides a control method of the mobile intelligent device.

FIG. 20 is a flow diagram of a mobile smart device according to an embodiment of the present invention. The mobile intelligent device is in wireless communication with a vehicle, the vehicle comprising M steering wheels, wherein, as shown in fig. 20, the method comprises the steps of:

s71: when monitoring that the target program of the mobile intelligent device runs, sending a request instruction to the vehicle, and receiving vehicle state information and steering wheel information sent by the vehicle;

s72: and when the vehicle is in an automatic driving mode, controlling a target object of the mobile intelligent device according to the rotation information of the steering wheel.

According to the control method of the mobile intelligent device provided by the embodiment of the invention, the mobile intelligent device sends a request instruction to the control module when monitoring the running of the target program, receives the state information and the steering wheel information of the vehicle sent by the control module, and controls the target object according to the rotation information of the steering wheel when the vehicle is in the automatic driving mode, so that the angle between the steering wheel and the wheels is not consistent when the vehicle is in the automatic driving mode, and the steering wheel can perform other remote control operations, such as controlling a game racing car or an unmanned plane.

Example three:

the invention provides a vehicle, a steering control system and method of the vehicle and a server based on the vehicle steering control system of the embodiment of FIGS. 1 to 3.

According to an embodiment of the present invention, the control module 50 is electrically connected to the steering mechanism 40, the steering wheel driving unit 30 and the steering wheel angle sensor 20, the control module 50 further communicates with the smart steering device to receive at least one of the rotation information transmitted from the smart steering device, and the control module 50 is configured to control the steering mechanism 40 according to at least one of the rotation information of the steering wheel 10 and the rotation information transmitted from the smart steering device, wherein the smart steering device includes at least one of the automatic driving control unit 70, the smart device 200 and the server 300.

That is, the control module 50 also communicates with at least one of the automatic driving control unit 70, the smart device 200, and the server 300 to receive at least one of the rotation information transmitted by the automatic driving control unit 70, the rotation information transmitted by the smart device 200, and the rotation information transmitted by the server 300, and the control module 50 is configured to control the steering mechanism 40 according to at least one of the rotation information of the steering wheel 10, the rotation information transmitted by the automatic driving control unit 70, the rotation information transmitted by the smart device 200, and the rotation information transmitted by the server 30.

Specifically, the control module 50, for example, the steering controller 52 may receive the rotation information transmitted by the automatic driving control unit 70, may receive the rotation information of the steering wheel 10 transmitted by the steering wheel controller 51, may receive the steering information transmitted by the smart device 200, and may receive the steering information transmitted by the server 300 through the vehicle-mounted communication module. Further, the steering controller 52 may control the steering mechanism 40 according to at least one of the rotation information of the steering wheel 10, the rotation information transmitted from the automatic driving control unit 70, the rotation information transmitted from the smart device 200, and the rotation information transmitted from the server 30, thereby achieving control of steering of the vehicle in various ways by using a redundant design and securing driving safety of the vehicle.

Further, the control module 50, for example, the steering controller 52, is configured to control the steering mechanism 40 according to the rotation information sent by the automatic driving control unit 70 when the vehicle is in the automatic driving mode, so that the steering mechanism 40 drives the wheels 100 of the vehicle to rotate according to the rotation information sent by the automatic driving control unit 70, and control the steering mechanism 40 according to at least one of the rotation information of the steering wheel 10, the rotation information sent by the smart device 200, and the rotation information sent by the server 300 when the vehicle has an automatic driving failure.

That is, when the vehicle is in the automatic driving mode, the automatic driving control unit 70 may transmit rotation information, such as a rotation angle, to the steering controller 52, and the steering controller 52 may control the steering motor 42 according to the rotation information transmitted from the automatic driving control unit 70, so that the steering motor 42 drives the wheels 100 to rotate to a corresponding angle through the steering gear 41. Specifically, the steering controller 52 may receive the rotation information sent by the automatic driving control unit 70 and drive the steering motor 42 to rotate according to the rotation information, and at the same time, the steering controller 52 may monitor the rotation information of the wheel 100 through the wheel rotation angle sensor 60 and stop driving the steering motor 42 when the wheel 100 is monitored to rotate to the angle expected by the automatic driving control unit 70.

Note that, when the automated driving control unit 70 determines that the sensor is malfunctioning or the automated driving control unit 70 is malfunctioning, it is determined that the automated driving control unit 70 is malfunctioning. If the steering controller 52 has not received the control message from the automatic driving control unit 70 within the preset time, the steering controller 52 determines that the automatic driving control unit 70 is faulty.

According to an embodiment of the present invention, when the vehicle has an automatic driving failure, the steering mechanism 40 may be controlled in a preset priority order according to the rotation information of the steering wheel 10, the rotation information transmitted from the smart device 200, or the rotation information transmitted from the server 300. Wherein the steering wheel 10 has a higher priority than the smart device 200, and the smart device 200 is higher than the server 300.

Therefore, after the automatic driving control unit fails, various solutions can be provided to realize the control of the steering of the vehicle, so that the running safety of the vehicle is ensured. For example, the vehicle may be controlled by a steering wheel of a driver's seat, the vehicle may be controlled by a smart device 200, such as an in-vehicle smart terminal, and the vehicle may be remotely controlled by a server 300, such as by a monitoring person.

Further, in an embodiment of the present invention, after the vehicle has an automatic driving failure, the control module 50 is further configured to obtain rotation information of the wheels 100, and control the steering wheel driving unit 30 to drive the steering wheel 10 to rotate according to the rotation information of the wheels 100 until the rotation angle of the steering wheel 10 is consistent with the rotation angle of the wheels.

Specifically, the control module 50 includes a steering wheel controller 51 and a steering controller 52, the steering wheel controller 51 is in communication with the steering controller 52, the steering controller 52 is configured to acquire rotation information of the wheels 100 after the vehicle has an autopilot failure, and send the rotation information of the wheels 100 to the steering wheel controller 51, and the steering wheel controller 51 controls the steering wheel driving unit 30 to drive the steering wheel 10 to rotate according to the rotation information of the wheels 100 until the rotation angle of the steering wheel 10 is consistent with the rotation angle of the wheels 100.

From this, can ensure that the driver can accurate judgement vehicle traffic direction, prevent that the vehicle from taking place danger, can also effectively remind the driver to drive, can judge that automatic driving needs manual intervention this moment when the driver finds the steering wheel and rotates promptly.

According to an embodiment of the present invention, after the vehicle has an automatic driving failure, the control module 50 is configured to receive the rotation information of the steering wheel 10 after receiving the steering wheel control command, and control the steering mechanism 40 according to the rotation information of the steering wheel 10.

It is understood that the rotation information of the steering wheel 10 has a higher priority than the rotation information transmitted from the smart device 200 and the rotation information transmitted from the server 300, and that the steering mechanism 40 is controlled based on the rotation information of the steering wheel 10 when the rotation information of the steering wheel 10 is received, even if the rotation information transmitted from the smart device 200 and the rotation information transmitted from the server 300 are received.

That is, when the automatic driving control unit 70 or its sensor fails, the driver in the driver's seat can take over the control of the vehicle through the steering wheel 20, and the vehicle enters the steering wheel control mode, the steering wheel 20 is rotated by the driver's operation, the steering controller 52 obtains the rotation information of the steering wheel 10, and controls the steering mechanism 40 according to the rotation information of the steering wheel 10, so that the steering mechanism 40 drives the wheels 100 of the vehicle to rotate according to the rotation information of the steering wheel 10. At the same time, the steering wheel controller 51 controls the steering wheel drive unit 30 to apply a steering torque to the steering wheel 10.

Specifically, upon failure of the automatic driving control unit 70 or its sensor, the steering controller 52 may determine whether a steering wheel control command is received, for example, when the steering wheel 10 is turned by the driver's operation, or when a take-over key on the steering wheel 10 is triggered. After receiving the steering wheel control command, the vehicle enters a steering wheel control mode, in which the driver controls the vehicle through the steering wheel 10, the steering wheel controller 51 may transmit the rotation information of the steering wheel 10 to the steering controller 52, and the steering controller 52 controls the steering mechanism 40 according to the received rotation information, so as to rotate the wheels 100 to a corresponding angle.

More specifically, the steering controller 52 may receive the rotation information of the steering wheel 10 sent by the steering wheel controller 51 and drive the steering motor 42 to operate according to the rotation information of the steering wheel 10, and at the same time, the steering controller 52 may also monitor the rotation information of the wheels 100, such as the rotation angle, through the wheel rotation angle sensor 60, and when the rotation angle of the wheels 100 to the steering wheel 10 is monitored, stop driving the steering motor 42, thereby ensuring that the wheel angle is consistent with the steering wheel angle.

It is understood that the steering wheel controller 51 may collect the rotation information of the steering wheel 10 through the steering wheel angle sensor 20 to determine the steering intention of the driver; the steering wheel driving unit 30 may simulate a steering torque to provide a driver with a more comfortable steering force. The steering controller 52 can receive the rotation information of the steering wheel 10 transmitted by the steering wheel controller 51, and drive the steering mechanism 40 to steer according to the rotation information of the steering wheel 10.

Thus, when the automatic driving controller fails, the vehicle is controlled by the steering wheel 10 with priority, and the occurrence of a vehicle accident is avoided.

Further, the control module 50, such as the steering controller 52, is configured to receive the rotation information sent by the smart device 200 when the steering wheel control command is not received and the smart device control command is received, and control the steering mechanism 40 according to the rotation information sent by the smart device 200.

It is understood that the rotation information transmitted from the smart device 200 has a higher priority than the rotation information transmitted from the server 300, and thus, when the rotation information of the steering wheel 10 is not received and the rotation information transmitted from the smart device 200 is received, the steering mechanism 40 is controlled based on the rotation information transmitted from the smart device 200 even if the rotation information transmitted from the server 300 is received.

That is, when the automatic driving control unit 70 or its sensor fails, if the driver cannot timely take over the steering wheel, the vehicle may be controlled by the smart device 200, and at this time, the smart device 200 may receive a steering operation command, generate rotation information according to the steering operation command, and transmit the rotation information to the steering controller 52, and the steering controller 52 may acquire the rotation information transmitted by the smart device 200, and control the steering mechanism 40 according to the rotation information transmitted by the smart device 200, so that the steering mechanism 40 drives the wheels 100 of the vehicle to rotate according to the rotation information transmitted by the smart device 200.

Specifically, when the automatic driving control unit 70 or its sensor fails, the steering controller 52 further determines whether the intelligent terminal control instruction is received after determining that the steering wheel control instruction is not received, for example, the intelligent terminal determines that the intelligent terminal control instruction is received when receiving a turning operation instruction of the driver, or determines that the intelligent terminal control instruction is received when a take-over key on the intelligent terminal is triggered. After receiving the intelligent terminal control instruction, the driver performs steering control through the intelligent device 200, the intelligent device 200 may transmit turning information to the steering controller 52, and the steering controller 52 controls the steering mechanism 40 according to the turning information sent by the intelligent device 200, so as to rotate the wheels 100 to a corresponding angle. More specifically, the steering controller 52 may receive the rotation information of the steering wheel 10 sent by the smart device 200 and drive the steering motor 42 to operate according to the rotation information sent by the smart device 200, and at the same time, the steering controller 52 may also monitor the rotation information of the wheel 100, such as the rotation angle, through the wheel rotation angle sensor 60, and stop driving the steering motor 42 when the wheel 100 is monitored to rotate to the rotation angle provided by the smart device 200, thereby ensuring that the wheel angle is consistent with the rotation angle provided by the smart device 200.

It is understood that the smart device 200 may display a virtual steering wheel, the driver may input a steering operation command through the virtual steering wheel, the smart device 200 may generate rotation information of the virtual steering wheel, such as a rotation angle, according to the steering operation command, and send the rotation information to the steering controller 52, and the steering controller 52 may receive the rotation information of the virtual steering wheel transmitted by the smart device 200, and drive the steering mechanism 40 to steer according to the rotation information of the virtual steering wheel, so that the rotation angle of the virtual steering wheel is consistent with the rotation angle of the wheels.

Therefore, when the automatic driving controller fails and a driver is not in time to take over the steering wheel, the intelligent device 200 controls the vehicle, for example, the virtual steering wheel in the intelligent terminal 200 controls the vehicle, so that vehicle accidents are avoided, and the driving safety of the vehicle is ensured.

It should be noted that, after the vehicle has an automatic driving failure, the control module 50, for example, the steering controller 52, may further obtain rotation information, for example, a rotation angle, of the wheel 100, and send the rotation information of the wheel 100 to the intelligent terminal 200 to prompt the rotation angle of the wheel 100. For example, when the smart device 200 displays the virtual steering wheel, the smart device 200 may control the virtual steering wheel to rotate according to the rotation information of the wheel 100 until the rotation angle of the virtual steering wheel coincides with the rotation angle of the wheel.

Therefore, the driver can accurately judge the vehicle running direction, and the vehicle is prevented from being dangerous.

Further, the control module 50, for example, the steering controller 52 is configured to, when the steering wheel control instruction is not received and the smart device control instruction is not received, obtain image information of the periphery of the vehicle, send the image information of the periphery of the vehicle and the take-over instruction to the server 300, and, when the rotation information sent by the server 300 is received, control the steering mechanism 40 according to the rotation information sent by the server 300.

It is understood that when the steering wheel control command is not received and the smart device control command is not received, the server 300 may be requested to take over the control of the vehicle, and the steering mechanism 40 may be controlled according to the rotation information sent by the server 300.

That is, when the automatic driving control unit 70 or its sensor malfunctions, if the driver cannot timely take over the steering wheel, and the vehicle cannot be controlled by the intelligent device 200, at this time, the steering controller 52 may collect image information of the periphery of the vehicle by the vehicle-mounted camera, and transmits the image information of the periphery of the vehicle together with the takeover command to the server 300, the server 300 may receive an externally input steering operation command to generate rotation information or directly generate rotation information according to the image information of the periphery of the vehicle, then, the server 300 transmits the generated rotation information to the steering controller 52, the steering controller 52 receives the rotation information transmitted from the server 300, and controls the steering mechanism 40 according to the rotation information transmitted from the server 300, so that the steering mechanism 40 drives the wheels 100 of the vehicle to rotate according to the rotation information sent by the server 300.

Specifically, when the vehicle is subjected to steering control by the server 300, the server 300 may transmit turning information to the steering controller 52, and the steering controller 52 controls the steering mechanism 40 to rotate the wheels 100 to a corresponding angle according to the turning information transmitted from the server 300. More specifically, the steering controller 52 may receive the rotation information of the steering wheel 10 sent by the server 300 and drive the steering motor 42 to operate according to the rotation information sent by the server 300, and at the same time, the steering controller 52 may also monitor the rotation information of the wheel 100, such as the rotation angle, through the wheel rotation angle sensor 60, and stop driving the steering motor 42 when the wheel 100 is monitored to rotate to the rotation angle provided by the server 300, thereby ensuring that the wheel angle is consistent with the rotation angle provided by the server 300.

It is understood that a plurality of vehicle-mounted cameras of the vehicle may be disposed at the periphery of the vehicle body to capture image information (which may be video information) of the periphery of the vehicle, wherein the plurality of vehicle-mounted cameras may be disposed at the front, both sides, and rear of the vehicle body, the steering controller 52 may transmit the vehicle periphery image information and the take-over command captured by the vehicle-mounted cameras to the roadside V2X communication facility 90 through the V2X communication module 80, and the roadside V2X communication facility 90 may transmit the vehicle periphery image information and the take-over command to the server 300 through 4G or 5G communication.

In one embodiment, the server 300 may push the image information to a monitoring terminal of a background monitoring person in real time, the background monitoring person obtains the image information of the periphery of the vehicle through an interface of the monitoring terminal to determine the periphery environment of the vehicle, and the monitoring person may combine the periphery environment of the vehicle and input a steering operation instruction through an indoor simulation steering wheel to realize remote control of the vehicle. The server 300 collects the rotation information of the indoor simulation steering wheel in real time and remotely transmits the rotation information to the V2X communication module 80 of the vehicle, the V2X communication module 80 transmits the rotation information command from the server 300 to the steering controller 52, and the steering controller 52 receives the rotation information sent by the server 300 and controls the steering mechanism 40 according to the rotation information sent by the server 300.

In another embodiment, the server 300 may analyze the image information and calculate a driving route of the vehicle according to the analysis result to obtain an optimal steering wheel control signal, i.e., to generate rotation information such as a rotation angle and a rotation speed, and to remotely transmit the rotation information to the V2X communication module 80 of the vehicle, the V2X communication module 80 transmits the rotation information command from the server 300 to the steering controller 52, and the steering controller 52 receives the rotation information transmitted from the server 300 and controls the steering mechanism 40 according to the rotation information transmitted from the server 300.

It can be understood that, after receiving the takeover instruction and the image information of the vehicle periphery, the server 300 may determine whether there is a monitoring terminal in an idle state, and when there is a monitoring terminal in an idle state, send the image information of the vehicle periphery to any monitoring terminal in an idle state, so as to display the image information of the vehicle periphery through any monitoring terminal in an idle state.

It should be noted that, after the vehicle has an autopilot failure, the control module 50, such as the steering controller 52, may also obtain rotation information, such as a rotation angle, of the wheel 100 and send the rotation information of the wheel 100 to the server 300, and the server 300 remotely controls the vehicle based on the rotation information of the wheel 100. In addition, the server 300 can also control the indoor simulated steering wheel according to the rotation information of the wheel 100, that is, the server 300 can control the indoor simulated steering wheel to rotate according to the rotation information of the wheel 100 until the rotation angle of the indoor simulated steering wheel is consistent with the rotation angle of the wheel, so that monitoring personnel can accurately judge the running direction of the vehicle, and the vehicle is prevented from being dangerous.

Therefore, when the automatic driving controller breaks down, a driver cannot take over the steering wheel and cannot control the vehicle through the intelligent device 200, the vehicle is remotely controlled through the server 300, various redundancy schemes can be provided after the automatic driving fails, vehicle accidents are avoided, and the driving safety of the vehicle is protected to the maximum extent.

As described above, in the embodiment of the present invention, when the entire vehicle is powered on, the steering controller 52 may determine whether the vehicle is in the automatic driving mode, and if not, continue to determine whether the vehicle is in the automatic driving mode.

If the vehicle is in the automatic driving mode, the steering controller 52 determines whether the vehicle has an automatic driving fault, wherein if the automatic driving control unit 70 determines that the sensor has a fault, or if the steering controller 52 determines that the automatic driving control unit 70 has a fault, that is, the steering controller 52 has not received the control message of the automatic driving control unit 70 within a preset time, the vehicle has an automatic driving fault.

When the automatic driving fault of the vehicle does not occur, the steering controller 52 receives the rotation information transmitted from the automatic driving control unit 70 and controls the steering motor 42 according to the rotation information transmitted from the automatic driving control unit 70, and at the same time, the steering controller 52 monitors the rotation information of the wheels 100 through the wheel angle sensor 60 and stops driving the steering motor 42 when the wheels 100 are monitored to rotate to the rotation angle expected by the automatic driving control unit 70.

When the vehicle has an automatic driving failure, the steering controller 52 acquires rotation information of the wheels 100 and sends the rotation information of the wheels 100 to the steering wheel controller 51, the steering wheel controller 51 receives the rotation information of the wheels 100 sent by the steering controller 52, simultaneously monitors the rotation angle of the steering wheel 10 through the steering wheel angle sensor 20, and controls the steering wheel driving unit 30 to drive the steering wheel 10 to rotate according to the rotation information of the wheels 100 until the angle of the steering wheel 10 is rotated to be consistent with the angle of the wheels, thereby realizing the synchronization of the steering wheel angle and the tire angle. The steering controller 52 further sends the rotation information of the wheels 100 to the intelligent terminal 200, and the intelligent terminal 200 automatically calls up the control interface of the virtual steering wheel and rotates the virtual steering wheel to be consistent with the angle of the wheels, so that the angle of the virtual steering wheel of the intelligent terminal 200 is synchronized with the angle of the wheels.

Next, the steering controller 52 determines whether or not the steering wheel control command is received, and if the steering wheel control command is received, the steering controller 52 receives the rotation information of the steering wheel 10 transmitted by the steering wheel controller 51, and simultaneously monitors the rotation information of the wheels 100, such as the rotation angle, by the wheel rotation angle sensor 60, and further the steering controller 52 drives the steering motor 42 to operate according to the rotation information of the steering wheel 10 until the angle of the wheels 100 is rotated to coincide with the angle of the steering wheel 10.

If the steering controller 52 does not receive the steering wheel control instruction, it further determines whether the intelligent terminal control instruction is received, and if the intelligent terminal control instruction is received, the steering controller 52 receives the rotation information sent by the intelligent terminal 200, and simultaneously monitors the rotation information of the wheel 100, such as the rotation angle, through the wheel rotation angle sensor 60, and further the steering controller 52 drives the steering motor 42 to operate according to the rotation information sent by the intelligent terminal 200 until the angle of the wheel 100 rotates to the rotation angle required by the intelligent terminal 200.

If the steering controller 52 does not receive the steering wheel control command and does not receive the intelligent terminal control command, the steering controller 52 sends a take-over command and vehicle surrounding image information to the roadside V2X communication facility through the V2X communication module, and the roadside V2X communication facility transmits the take-over command and the vehicle surrounding image information to the server 300 through 4G or 5G. The steering controller 52 determines whether to receive the rotation information transmitted by the V2X communication module from the server 300, and if so, the steering controller 52 receives the rotation information sent by the server 300 and simultaneously monitors the rotation information of the wheels 100, such as the rotation angle, through the wheel rotation angle sensor 60, and the steering controller 52 drives the steering motor 42 to operate according to the rotation information sent by the server 300 until the angle of the wheels 100 is rotated to the rotation angle required by the server 300.

In summary, according to the server provided in the embodiment of the present invention, after receiving the take-over instruction and the image information around the vehicle, the control module determines whether there is a monitoring terminal in an idle state, and when there is a monitoring terminal in an idle state, sends the image information around the vehicle to any monitoring terminal in an idle state for display, and acquires a steering operation instruction input from outside to generate rotation information, and sends the rotation information to the vehicle through the communication module, so that the driving safety of the vehicle can be ensured by performing remote control on the steering of the vehicle.

In order to achieve the above embodiments, the present invention also proposes a vehicle including the steering control system of the vehicle of the foregoing embodiments.

According to the vehicle provided by the embodiment of the invention, through the steering control system of the vehicle, rigid connection between the steering wheel and the steering mechanism is cancelled, a wired signal or a wireless signal can be adopted to transmit the steering intention of a driver, further, the steering control can be realized without a mechanical mechanism, the position of the steering wheel is conveniently and freely arranged, and the steering control of the vehicle can be realized in various modes, so that the driving safety of the vehicle is ensured.

Corresponding to the steering control system of the vehicle of the foregoing embodiment, the invention proposes a server.

Fig. 21 is a block schematic diagram of a server according to an embodiment of the invention. As shown in fig. 21, the server 300 includes: a communication module 311, a plurality of monitoring terminals 312, and a server control module 313.

The communication module 311 is used for communicating with a vehicle, and the communication module 311 is used for receiving image information and take-over instructions of the periphery of the vehicle, which are sent by the vehicle; the server control module 313 is connected to the communication module 311 and the plurality of monitoring terminals 312, and the server control module 313 is configured to determine whether there is a monitoring terminal 312 in an idle state after receiving the take-over instruction and the image information of the periphery of the vehicle, and when there is a monitoring terminal 312 in an idle state, send the image information of the periphery of the vehicle to any monitoring terminal 312 in an idle state for display, collect a steering operation instruction input from the outside to generate rotation information, and send the rotation information to the vehicle through the communication module 311.

It is understood that the monitoring terminal 312 in the idle state may refer to a steering operation command that the monitoring person can input using the monitoring terminal 312.

Further, the server control module 313 is also configured to generate rotation information from image information of the periphery of the vehicle when there is no monitoring terminal 312 in an idle state, and transmit the rotation information to the vehicle through the communication module 311.

That is, when the automatic driving control unit of the vehicle or its sensor fails, if the vehicle does not receive the steering wheel control command and does not receive the smart device control command, the vehicle collects the image information of the periphery of the vehicle through the vehicle-mounted camera, and sends the image information of the periphery of the vehicle and the take-over command to the communication module 311 together, the server control module 313 may receive an externally input steering operation command through the monitoring terminal 312 to generate rotation information or directly generate rotation information according to the image information of the periphery of the vehicle, then the server control module 313 sends the generated rotation information to the vehicle through the communication module 311, and after the vehicle receives the rotation information sent by the server 300, the wheels of the vehicle are driven to rotate according to the rotation information sent by the server 300.

Specifically, the vehicle may send the vehicle periphery image information and the takeover command acquired by the vehicle-mounted camera to the roadside V2X communication facility through the V2X communication module, and the roadside V2X communication facility transmits the vehicle periphery image information and the takeover command to the communication module 311 through 4G or 5G communication.

In one embodiment, the server control module 313 may push the image information to the monitoring terminal 312 of the background monitoring person in real time, the background monitoring person obtains the image information of the periphery of the vehicle through the interface of the monitoring terminal 312 to determine the environment of the periphery of the vehicle, and the monitoring person may combine the environment of the periphery of the vehicle and input a steering operation instruction through an indoor simulation steering wheel to realize remote control of the vehicle. The server control module 313 can collect the rotation information of the indoor simulation steering wheel in real time and remotely transmit the rotation information to the vehicle, and the vehicle drives the wheels of the vehicle to rotate according to the rotation information sent by the server 300.

In another embodiment, the server control module 313 may analyze the image information and calculate a driving route of the vehicle according to the analysis result to obtain an optimal steering wheel control signal, i.e., to generate rotation information such as a rotation angle and a rotation speed, and to remotely transmit the rotation information to the vehicle, which drives wheels of the vehicle to rotate according to the rotation information transmitted from the server 300.

It is understood that, after the communication module 311 receives the takeover instruction and the image information of the vehicle periphery, the server control module 313 may determine whether there is a monitoring terminal 312 in an idle state, and when there is a monitoring terminal 312 in an idle state, send the image information of the vehicle periphery to any monitoring terminal 312 in an idle state, so as to display the image information of the vehicle periphery through any monitoring terminal 312 in an idle state.

It should be noted that, after the vehicle has an autopilot failure, the vehicle may also acquire rotation information of the wheel, such as a rotation angle, and send the rotation information of the wheel to the communication module 311 of the server 300, and the server control module 313 remotely controls the vehicle on the basis of the rotation information of the wheel. In addition, the server control module 313 can also control the indoor simulated steering wheel according to the rotation information of the wheels, namely, the server control module 313 can control the indoor simulated steering wheel to rotate according to the rotation information of the wheels until the rotation angle of the indoor simulated steering wheel is consistent with the rotation angle of the wheels, so that monitoring personnel can accurately judge the running direction of the vehicle, and the vehicle is prevented from being dangerous.

Therefore, when the automatic driving controller fails, the server is used for remotely controlling the vehicle, so that vehicle accidents are avoided, and the driving safety of the vehicle is protected to the maximum extent.

As described above, in the embodiment of the present invention, the server normally works, the server control module 313 determines whether the take-over instruction and the real-time image information of the periphery of the vehicle are received from the vehicle, if the take-over instruction and the real-time image information of the periphery of the vehicle are received from the vehicle, it is determined whether there is an empty monitoring person, that is, whether there is a monitoring terminal 312 in an idle state, and if there is a monitoring terminal 312 in an idle state, the image information of the periphery of the vehicle, for example, video information, is pushed to any monitoring terminal 312 in an idle state in real time, and a steering operation instruction input by the monitoring person through a simulation steering wheel is acquired in real time and is remotely transmitted to the vehicle; if the monitoring terminal 312 in the idle state does not exist, the current road condition is analyzed according to the image information around the vehicle and the driving route of the vehicle is calculated, so that corresponding rotation information is generated and transmitted to the vehicle.

In summary, according to the server provided in the embodiment of the present invention, after receiving the take-over instruction and the image information around the vehicle, the server control module determines whether there is a monitoring terminal in an idle state, and when there is a monitoring terminal in an idle state, sends the image information around the vehicle to any monitoring terminal in an idle state for display, and collects a steering operation instruction input from the outside to generate rotation information, and sends the rotation information to the vehicle through the communication module, so that the driving safety of the vehicle can be ensured by performing remote control on the steering of the vehicle.

Corresponding to the steering control system of the vehicle of the foregoing embodiment, the invention proposes a steering control method of a vehicle.

Fig. 22 is a flowchart of a steering control method of a vehicle according to an embodiment of the present invention. The method is applied to a vehicle, and a steering control system of the vehicle comprises a steering wheel, a steering wheel driving unit and a steering mechanism, wherein the steering mechanism is used for driving wheels of the vehicle to rotate.

As shown in fig. 22, the steering control method of the vehicle of the embodiment of the invention includes the steps of:

s81: collecting rotation information of a steering wheel;

s82: receiving rotation information sent by an intelligent direction control device, wherein the intelligent direction control device comprises at least one of an automatic driving control unit, intelligent equipment and a server of a vehicle;

s83: and controlling the steering mechanism according to at least one of the rotation information of the steering wheel and the rotation information sent by the intelligent direction control device.

According to an embodiment of the present invention, controlling the steering mechanism based on at least one of the turning information of the steering wheel, the turning information transmitted by the automatic driving control unit, the turning information transmitted by the smart device, and the turning information transmitted by the server includes: and when the vehicle has an automatic driving fault, controlling the steering mechanism according to at least one of the rotation information of the steering wheel, the rotation information sent by the intelligent device and the rotation information sent by the server.

According to an embodiment of the present invention, the controlling the steering mechanism according to at least one of the rotation information of the steering wheel, the rotation information transmitted by the smart device, and the rotation information transmitted by the server includes: and controlling the steering mechanism according to a preset priority order and according to the rotation information of the steering wheel, the rotation information sent by the intelligent equipment or the rotation information sent by the server, wherein the preset priority order is that the priority of the steering wheel is higher than that of the intelligent equipment, and the priority of the intelligent equipment is higher than that of the server.

According to an embodiment of the present invention, the controlling the steering mechanism according to a preset priority order and according to the rotation information of the steering wheel, the rotation information sent by the smart device, or the rotation information sent by the server includes: after receiving a steering wheel control instruction, receiving rotation information of the steering wheel, and controlling the steering mechanism according to the rotation information of the steering wheel; and after the steering wheel control instruction is not received and the intelligent terminal control instruction is received, receiving rotation information sent by the intelligent equipment, and controlling the steering mechanism according to the rotation information sent by the intelligent equipment.

According to an embodiment of the present invention, the controlling the steering mechanism according to at least one of the rotation information of the steering wheel, the rotation information transmitted by the smart device, and the rotation information transmitted by the server includes: when the steering wheel control instruction is not received and the intelligent equipment control instruction is not received, image information of the periphery of the vehicle is obtained, the image information of the periphery of the vehicle and the take-over instruction are sent to the server, and when the rotation information sent by the server is received, the steering mechanism is controlled according to the rotation information sent by the server.

Specifically, as shown in fig. 23, the steering control method of the vehicle includes the steps of:

s301: and powering up the whole vehicle.

S302: it is determined whether the vehicle is in an autonomous driving mode.

If yes, executing step S303; if not, step S302 is continued.

S303: and judging whether the vehicle has an automatic driving fault, wherein when the automatic driving control unit judges that the sensor has the fault or the automatic driving control unit has the fault, namely the control message of the automatic driving control unit is not received all the time within the preset time, the automatic driving fault of the vehicle is judged.

If yes, go to step S305; if not, step S304 is performed.

S304: the steering mechanism is controlled according to the rotation information sent by the automatic driving control unit, and meanwhile, the rotation information of the wheels, such as the rotation angle, is monitored through the wheel rotation angle sensor, so that the monitored wheels rotate to the rotation angle expected by the automatic driving control unit.

S305: the method comprises the steps of obtaining rotation information of wheels, controlling a steering wheel driving unit according to the rotation information of the wheels so as to drive a steering wheel to rotate, and monitoring the rotation angle of the steering wheel through a steering wheel rotation angle sensor until the angle of the steering wheel is consistent with the angle of the wheels. And the intelligent terminal automatically calls out a control interface of the virtual steering wheel and rotates the virtual steering wheel to be consistent with the angle of the wheels.

S306: and judging whether a steering wheel control instruction is received or not.

If yes, go to step S307; if not, step S308 is performed.

S307: and receiving rotation information of the steering wheel, monitoring rotation information of the wheels, such as rotation angles, through a wheel rotation angle sensor, and driving the steering mechanism to operate according to the rotation information of the steering wheel until the angles of the wheels are rotated to be consistent with the angles of the steering wheel.

S308: and judging whether the intelligent terminal control instruction is received.

If so, go to step S309; if not, step S310 is performed.

S309: the rotation information sent by the intelligent terminal is received, meanwhile, the rotation information such as the rotation angle of the wheel is monitored through the wheel rotation angle sensor, and then the steering mechanism is driven to operate according to the rotation information sent by the intelligent terminal until the angle of the wheel rotates to the rotation angle required by the intelligent terminal.

S310: the V2X communication module of the vehicle sends the take-over command and the image information of the periphery of the vehicle to the roadside V2X communication facility, and the roadside V2X communication facility transmits the take-over command and the image information of the periphery of the vehicle to the server through 4G or 5G.

S311: judging whether to receive the rotation information transmitted by the V2X communication module from the server

If yes, go to step S312; if not, return to step S306.

S312: the rotation information sent by the server is received, meanwhile, the rotation information of the wheels, such as the rotation angle, is monitored through the wheel rotation angle sensor, and then the steering mechanism is driven to operate according to the rotation information sent by the server until the angle of the wheels rotates to the rotation angle required by the server.

In summary, according to the steering control method of the vehicle provided by the embodiment of the present invention, the steering mechanism is controlled according to at least one of the rotation information of the steering wheel, the rotation information sent by the automatic driving control unit, the rotation information sent by the smart device, and the rotation information sent by the server, so that the rigid connection between the steering wheel and the steering mechanism is cancelled, the steering will of the driver can be transmitted by using a wired signal or a wireless signal, and further, the steering control can be realized without a mechanical mechanism, and the position of the steering wheel can be freely arranged. Furthermore, the steering of the vehicle can be controlled in various ways, and the running safety of the vehicle is ensured.

The present invention proposes another steering control method of a vehicle, corresponding to the server of the foregoing embodiment.

Fig. 24 is a flowchart of a steering control method of a vehicle according to an embodiment of the invention. The method is applied to a server, and as shown in fig. 24, the steering control method of the vehicle according to the embodiment of the present invention includes the steps of:

s91: receiving image information and a take-over instruction of the periphery of the vehicle, which are sent by the vehicle;

s92: determining whether a monitoring terminal in an idle state exists in a plurality of monitoring terminals;

s93: if the monitoring terminal in the idle state exists, sending image information around the vehicle to any monitoring terminal in the idle state for display, acquiring a steering operation instruction input from the outside to generate rotation information, and sending the rotation information to the vehicle through the communication module.

According to one embodiment of the present invention, if there is no monitoring terminal in an idle state, rotation information is generated from image information of the periphery of the vehicle, and the rotation information is transmitted to the vehicle through the communication module.

Specifically, as shown in fig. 25, the steering control method of the vehicle includes the steps of:

s401: the server operates normally.

S402: and the server controls and judges whether a take-over instruction and real-time vehicle surrounding image information from the vehicle are received or not.

If so, go to step S403; if not, return to step S402.

S403: the server judges whether a vacant monitoring person exists or not, namely whether a monitoring terminal in an idle state exists or not.

If yes, go to step S404; if not, return to step S405.

S404: the server pushes image information around the vehicle, such as video information, to any monitoring terminal in an idle state, namely a display screen of an idle monitoring person in real time, collects steering operation instructions input by the monitoring person through a simulation steering wheel in real time, and remotely transmits the steering operation instructions to the vehicle.

S405: the server analyzes the current road condition according to the image information around the vehicle and calculates the driving route of the vehicle, so that corresponding rotation information is generated and transmitted to the vehicle.

In summary, according to the steering control method for the vehicle provided by the embodiment of the invention, after receiving the take-over instruction and the image information around the vehicle, it is determined whether there is a monitoring terminal in an idle state, and when there is a monitoring terminal in an idle state, the image information around the vehicle is sent to any monitoring terminal in an idle state for display, and the steering operation instruction input from the outside is collected to generate the rotation information, and the rotation information is sent to the vehicle through the communication module, so that the driving safety of the vehicle can be ensured by remotely controlling the steering of the vehicle.

Based on the foregoing steering control method for a vehicle, applied to a vehicle, an embodiment of the present invention also proposes a non-transitory computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the steering control method for a vehicle of the foregoing embodiment.

Based on the foregoing steering control method for a vehicle, applied to a server, an embodiment of the present invention further provides a non-transitory computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the steering control method for a vehicle of the foregoing embodiment.

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 M embodiments or examples 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.

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

1. A steering control system of a vehicle, characterized by comprising:

m steering wheels, wherein M is a positive integer;

the M steering wheel angle sensors are correspondingly connected with the M steering wheels, and each steering wheel angle sensor is used for acquiring rotation information of the corresponding steering wheel;

the M steering wheel driving units are connected with the corresponding steering wheel and are used for applying steering torque to the corresponding steering wheel and driving the corresponding steering wheel to rotate;

the steering mechanism is used for driving wheels of the vehicle to rotate;

a wheel rotation angle sensor for detecting rotation information of the wheel;

the control module is respectively electrically connected with the steering mechanism, the wheel angle sensor, the M steering wheel angle sensors and the M steering wheel driving units, and is used for controlling at least one steering wheel according to the rotation information of the M steering wheels and the rotation information of the wheels so as to keep the at least one steering wheel synchronous with the wheels;

a non-to-be-synchronized steering wheel among the M steering wheels having a priority lower than that of the steering wheel for controlling the vehicle is regarded as the non-to-be-synchronized steering wheel, or a steering wheel among the M steering wheels having a priority lower than that of the steering wheel for controlling the vehicle is regarded as the non-to-be-synchronized steering wheel, among the other steering wheels except for a default steering wheel, wherein the non-to-be-synchronized steering wheel,

the control module is further configured to, when receiving a trigger instruction of any one of the non-to-be-synchronized steering wheels, control the any one of the non-to-be-synchronized steering wheels according to rotation information of the wheels, so that the any one of the non-to-be-synchronized steering wheels is kept synchronized with the wheels, and after the any one of the non-to-be-synchronized steering wheels is kept synchronized with the wheels, control the steering mechanism according to the rotation information of the any one of the non-to-be-synchronized steering wheels, so that the steering mechanism drives the wheels of the vehicle to rotate according to the rotation information of the any one of the non-to-be-synchronized steering wheels.

2. The vehicle steering control system of claim 1, wherein the M is 1, and the control module is further configured to control the steering wheel according to the rotation information of the steering wheel and the rotation information of the wheels to keep the steering wheel synchronized with the wheels when the vehicle is in an automatic driving mode.

3. The vehicle steering control system according to claim 1, wherein the control module is further configured to determine a steering wheel to be synchronized among steering wheels other than the steering wheel for controlling the vehicle, and control the steering wheel to be synchronized according to the rotation information of the wheels, so that the steering wheel to be synchronized is synchronized with the wheels, when the steering mechanism is controlled according to the rotation information of the steering wheel for controlling the vehicle.

4. The vehicle steering control system according to claim 1, wherein the control module is further configured to determine a steering wheel to be synchronized in other steering wheels except the steering wheel for controlling the vehicle when the steering mechanism is controlled according to rotation information of the steering wheel for controlling the vehicle, and control the steering wheel to be synchronized of a control vehicle according to the rotation information of the wheels when it is determined that the steering wheel to be synchronized is controlled to be connected to the control vehicle, so that the steering wheel to be synchronized of the control vehicle and the wheels are kept synchronized.

5. The steering control system of a vehicle according to claim 3 or 4,

the control module is used for taking a steering wheel with the priority higher than that of the steering wheel for controlling the vehicle in the M steering wheels as the steering wheel to be synchronized; or

The control module is used for taking the steering wheel with the priority higher than that of the steering wheel for controlling the vehicle in the M steering wheels and the default steering wheel in the M steering wheels as the steering wheel to be synchronized.

6. The vehicle steering control system of claim 1, wherein the control module includes M steering wheel controllers and a steering controller, each of the steering wheel controllers being electrically connected to a respective steering wheel drive unit and a steering wheel angle sensor, the steering controller being electrically connected to the steering mechanism, the M steering wheel controllers being in communication with the steering controller, wherein,

each steering wheel controller is configured to apply a steering torque to the corresponding steering wheel when the corresponding steering wheel is operated;

each steering wheel controller is used for acquiring the rotation information of the corresponding steering wheel and sending the rotation information of the corresponding steering wheel to the steering controller;

and the steering controller is used for controlling at least one steering wheel according to the rotation information of the M steering wheels and the rotation information of the wheels so as to keep the at least one steering wheel and the wheels synchronous.

7. An in-vehicle smart device, characterized in that the in-vehicle smart device communicates with a control module of a steering control system of a vehicle according to any one of claims 1-6 via a communication bus of the vehicle, the steering control system comprising M steering wheels, wherein,

when M is equal to 1, the vehicle-mounted intelligent device acquires the state information and the steering wheel information of the vehicle when monitoring the operation of a target program, and controls a target object according to the rotation information of the steering wheel when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode.

8. The in-vehicle smart device of claim 7,

when M is greater than 1, the vehicle-mounted intelligent device acquires the state information and the steering wheel information of the vehicle when monitoring the running of a target program, determines a non-to-be-synchronized steering wheel in the M steering wheels when the vehicle is in a steering wheel driving mode or in an automatic driving mode, and controls a target object according to the rotation information of at least one steering wheel in the non-to-be-synchronized steering wheel.

9. The in-vehicle smart device of claim 7, wherein when M >1,

the vehicle-mounted intelligent equipment acquires the state information and the steering wheel information of the vehicle when monitoring the running of a target program, and controls a target object according to the rotation information of at least one steering wheel in the M steering wheels when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode.

10. A mobile smart device, characterized in that it communicates wirelessly with a control module of a steering control system of a vehicle according to any one of claims 1-6, the steering control system comprising M steering wheels, wherein,

when M is equal to 1, the mobile intelligent device sends a request instruction to the control module when monitoring that the target program runs, and receives state information and steering wheel information of the vehicle sent by the control module;

and when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, the mobile intelligent equipment controls a target object according to the rotation information of the steering wheel.

11. The mobile smart device of claim 10, wherein when M >1,

the mobile intelligent equipment sends a request instruction to the control module when monitoring that a target program runs, and receives the state information and the steering wheel information of the vehicle sent by the control module;

and when the vehicle is in a steering wheel driving mode or an automatic driving mode, the mobile intelligent equipment determines a non-to-be-synchronized steering wheel in the M steering wheels, and controls a target object according to the rotation information of at least one steering wheel in the non-to-be-synchronized steering wheel.

12. The mobile smart device of claim 10, wherein when M >1,

and when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, the mobile intelligent equipment controls a target object according to the rotation information of at least one steering wheel in the M steering wheels.

13. A vehicle characterized by comprising a steering control system of the vehicle according to any one of claims 1-6.

14. A steering control method for a vehicle, wherein a control system of the vehicle includes M steering wheels, M steering wheel driving units, and a steering mechanism, each steering wheel driving unit is connected to a corresponding steering wheel, each steering wheel driving unit is configured to apply a steering torque to the corresponding steering wheel and drive the corresponding steering wheel to rotate, the steering mechanism is configured to drive wheels of the vehicle to rotate, and M is a positive integer, wherein the method includes the following steps:

acquiring rotation information of M steering wheels of the vehicle and rotation information of the wheels; and

controlling at least one steering wheel according to the rotation information of the M steering wheels and the rotation information of the wheels so as to keep the at least one steering wheel synchronous with the wheels;

the controlling at least one of the steering wheels according to the rotation information of the M steering wheels and the rotation information of the wheels includes: when the steering mechanism is controlled according to the rotation information of the steering wheel for controlling the vehicle, determining a steering wheel to be synchronized in other steering wheels except the steering wheel for controlling the vehicle, and controlling the steering wheel to be synchronized according to the rotation information of the wheels so as to keep the steering wheel to be synchronized and the wheels in synchronization;

taking the steering wheel with the priority higher than that of the steering wheel for controlling the vehicle among the M steering wheels as the steering wheel to be synchronized; or

And taking the steering wheel with the priority higher than that of the steering wheel for controlling the vehicle in the M steering wheels and a default steering wheel in the M steering wheels as the steering wheel to be synchronized.

15. The steering control method of a vehicle according to claim 14, wherein the M-1, and the controlling the steering mechanism according to the rotation information of the M steering wheels includes:

and when the vehicle is in an automatic driving mode, controlling the steering wheel according to the rotation information of the steering wheel so as to keep the steering wheel and the wheels synchronous.

16. The steering control method of a vehicle according to claim 14, wherein the controlling at least one of the steering wheels based on the rotation information of the M steering wheels and the rotation information of the wheels includes:

when the steering mechanism is controlled according to the rotation information of the steering wheel for controlling the vehicle, determining the steering wheel to be synchronized in other steering wheels except the steering wheel for controlling the vehicle;

and when the condition that the to-be-synchronized steering wheel is connected with the control vehicle is determined, controlling the to-be-synchronized steering wheel of the control vehicle according to the rotation information of the wheels so as to keep the to-be-synchronized steering wheel and the wheels of the control vehicle in synchronization.

17. The steering control method of a vehicle according to claim 14 or 16, wherein a non-to-be-synchronized steering wheel among steering wheels other than the steering wheel for controlling the vehicle is not kept synchronized with the wheels, a steering wheel of the M steering wheels having a priority lower than that of the steering wheel for controlling the vehicle is regarded as the non-to-be-synchronized steering wheel, or a steering wheel of other steering wheels other than a default steering wheel having a priority lower than that of the steering wheel for controlling the vehicle is regarded as the non-to-be-synchronized steering wheel, wherein the method further comprises:

when a triggering instruction of any one non-to-be-synchronized steering wheel is received, controlling the any one non-to-be-synchronized steering wheel according to the rotation information of the wheels so as to keep the any one non-to-be-synchronized steering wheel and the wheels in synchronization; and

after any non-to-be-synchronized steering wheel is kept synchronous with the wheels, the steering mechanism is controlled according to the rotation information of any non-to-be-synchronized steering wheel, so that the steering mechanism drives the wheels of the vehicle to rotate according to the rotation information of any non-to-be-synchronized steering wheel.

18. A control method of an in-vehicle smart device according to any of claims 7-9, wherein the in-vehicle smart device communicates with a vehicle through a communication bus of the vehicle, the vehicle comprising M steering wheels, wherein the method comprises the steps of: when M is equal to 1, the compound is,

when the running of a target program is monitored, state information and steering wheel information of the vehicle are acquired;

and when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, controlling a target object according to the rotation information of the steering wheel.

19. The method for controlling the in-vehicle smart device according to claim 18, wherein when M >1, the method further comprises:

and when the vehicle is in a steering wheel driving mode or an automatic driving mode, determining a non-to-be-synchronized steering wheel in the M steering wheels, and controlling a target object according to the rotation information of at least one steering wheel in the non-to-be-synchronized steering wheel.

20. The method for controlling the in-vehicle smart device according to claim 18, wherein when M >1, the method further comprises:

and when the vehicle is not in a steering wheel driving mode and is not in an automatic driving mode, controlling a target object according to the rotation information of at least one steering wheel in the M steering wheels.

21. A method for controlling a mobile smart device according to any one of claims 10-12, wherein the mobile smart device is in wireless communication with the vehicle, the vehicle comprising M steering wheels, wherein the method comprises the steps of: when M is equal to 1, the compound is,

when the target program is monitored to run, sending a request instruction to the vehicle, and receiving state information and steering wheel information of the vehicle sent by the vehicle;

22. The method for controlling a mobile intelligent device according to claim 21, wherein when M >1, further comprising:

sending a request instruction to the vehicle when monitoring that a target program runs, and receiving state information and steering wheel information of the vehicle sent by the vehicle;

and when the vehicle is in a steering wheel driving mode or an automatic driving mode, determining a non-to-be-synchronized steering wheel in the M steering wheels, and controlling a target object according to rotation information of at least one steering wheel in the non-to-be-synchronized steering wheel.

23. The method for controlling a mobile intelligent device according to claim 21, wherein when M >1, further comprising:

24. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements a steering control method of a vehicle according to any one of claims 14-17.