CN111717312A - Vehicle steering control method, system, device, terminal device and storage medium - Google Patents
Vehicle steering control method, system, device, terminal device and storage medium Download PDFInfo
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- CN111717312A CN111717312A CN202010376151.2A CN202010376151A CN111717312A CN 111717312 A CN111717312 A CN 111717312A CN 202010376151 A CN202010376151 A CN 202010376151A CN 111717312 A CN111717312 A CN 111717312A
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- steering
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- steering angle
- control parameter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
- B62J6/05—Direction indicators
- B62J6/055—Electrical means, e.g. lamps
- B62J6/056—Electrical means, e.g. lamps characterised by control means
- B62J6/057—Automatic activation, e.g. by sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J3/00—Acoustic signal devices; Arrangement of such devices on cycles
- B62J3/10—Electrical devices
- B62J3/12—Buzzers; Horns with electrically driven airflow
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/414—Acceleration sensors
Abstract
The application is applicable to the technical field of vehicle control, and provides a vehicle steering control method, a system, a device, a terminal device and a storage medium, wherein the vehicle steering control method comprises the following steps: acquiring a steering angle value of the vehicle head through an acceleration sensor arranged on the vehicle head; determining a steering control parameter according to the steering angle value and the steering angle threshold value; and controlling a left turn indicator light and a right turn indicator light of the vehicle according to the steering control parameters. By the method, automatic control of the turn light is realized, and the effect of turning prompt can be achieved without complicated operation of a user.
Description
Technical Field
The present application belongs to the field of vehicle control technologies, and in particular, to a method, a system, a device, a terminal device, and a storage medium for controlling vehicle steering.
Background
Electric motorcycles, electric bicycles, and electric scooters have the characteristics of being small, exquisite and flexible, are widely used in people's daily life, and generally install a steering indicator lamp on a vehicle in order to improve driving safety so as to realize the function of steering prompt.
A mechanical switch used for controlling a steering indicator lamp is arranged on a handle of a traditional vehicle, and when the vehicle turns, a user needs to operate the mechanical switch to control the corresponding steering indicator lamp to be turned on so as to achieve the effect of steering prompt. This kind of operation mode is relatively loaded down with trivial details, influences user's experience.
Disclosure of Invention
The embodiment of the application provides a vehicle steering control method, a vehicle steering control system, a vehicle steering control device, terminal equipment and a storage medium, and can solve the problem that the control operation of a traditional vehicle steering indicator lamp is complex.
In a first aspect, an embodiment of the present application provides a vehicle steering control method, including:
acquiring a steering angle value of the vehicle head through an acceleration sensor arranged on the vehicle head;
determining a steering control parameter according to the steering angle value and a steering angle threshold value;
and controlling a left turn indicator light and a right turn indicator light of the vehicle according to the steering control parameters.
In a possible implementation manner of the first aspect, the steering angle threshold obtaining method includes:
acquiring a speed value of a vehicle through a speed measurement sensor installed on the vehicle;
determining the steering angle threshold value according to the speed value.
In a possible implementation manner of the first aspect, the determining the steering control parameter according to the steering angle value and the steering angle threshold includes:
comparing the absolute value of the steering angle value to the magnitude of the steering angle threshold;
under the condition that the absolute value of the steering angle value is larger than the steering angle threshold value, generating the steering starting control parameter according to the size relation between the steering angle value and zero; the turning starting control parameter is used for controlling the turning on of the left turning indicator light or the right turning indicator light.
In a possible implementation manner of the first aspect, the determining the steering control parameter according to the steering angle value and the steering angle threshold further includes:
generating a steering closing control parameter under the condition that the absolute value of the steering angle value is smaller than the steering angle threshold value; and the steering closing control parameter is used for controlling the left-turning indicator light and the right-turning indicator light to be closed.
In a possible implementation manner of the first aspect, the generating the steering start control parameter according to a magnitude relationship between the steering angle value and zero includes:
when the steering angle value is larger than zero, generating the first steering starting control parameter; the first turning starting control parameter is used for controlling the left turning indicator lamp to be turned on and controlling the right turning indicator lamp to be turned off;
when the steering angle value is less than zero, generating a second steering starting control parameter; and the second steering starting control parameter is used for controlling the left-turning indicator lamp to be turned off and controlling the right-turning indicator lamp to be turned on.
In a possible implementation manner of the first aspect, the generating a steering start control parameter according to a magnitude relationship between the steering angle value and zero further includes:
and generating a prompt tone control parameter, wherein the prompt tone control parameter is used for controlling the loudspeaker to send out a prompt tone when the left-turn indicator lamp is lightened or the right-turn indicator lamp is turned on.
In a second aspect, an embodiment of the present application provides a vehicle steering control system, including an acceleration sensor and a controller, where the acceleration sensor is installed in a head of a vehicle, the controller is installed on the vehicle, and the acceleration sensor is connected with the controller;
the acceleration sensor is used for collecting a steering angle value of a vehicle head and transmitting the collected steering angle value to the controller, and the controller is used for determining a steering control parameter according to the steering angle value and a steering angle threshold value and controlling a left-turn indicator light and a right-turn indicator light of a vehicle according to the steering control parameter.
In a third aspect, an embodiment of the present application provides a vehicle steering control apparatus, including:
the acquisition module is used for acquiring a steering angle value of the vehicle head through an acceleration sensor arranged on the vehicle head;
the steering control parameter determining module is used for determining a steering control parameter according to the steering angle value and the steering angle threshold value;
and the control module is used for controlling a left turn indicator light and a right turn indicator light of the vehicle according to the steering control parameters.
In a fourth aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the vehicle steering control method according to any one of the first aspect when executing the computer program.
In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the vehicle steering control method according to any one of the first aspect.
In a sixth aspect, the present application provides a computer program product, when running on a terminal device, for causing the terminal device to execute the vehicle steering control method according to any one of the first aspect.
It is understood that the beneficial effects of the second to sixth aspects can be seen from the description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that:
in the running process of the vehicle, the steering angle value of the vehicle head is obtained, the steering control parameter is determined according to the steering angle value and the steering angle threshold value, the left turn indicator light and the right turn indicator light of the vehicle are controlled according to the steering control parameter, automatic control of the steering lights is achieved, and the effect of turning prompt can be achieved without complex operation of a user.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic view of an application scenario of a vehicle steering control method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram of a vehicle steering control method provided by an embodiment of the present application;
fig. 3 is a schematic flowchart of a steering control parameter obtaining method according to an embodiment of the present application;
FIG. 4 is a schematic flow chart diagram of a vehicle steering control method provided by another embodiment of the present application;
FIG. 5 is a schematic structural diagram of a vehicle steering control system provided in an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a vehicle steering control device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
First, an application scenario of the vehicle steering control method in the embodiment of the present application is described, as shown in fig. 1, an acceleration sensor is installed in a head 10 of a vehicle, and a left-turn indicator light, a right-turn indicator light and a controller are respectively installed on the head 10 or a body 20 of the vehicle. In the running process of the vehicle, the acceleration sensor collects a steering angle value of the vehicle head 10 and transmits the collected steering angle value to the controller, the controller determines a steering control parameter according to the steering angle value and a steering angle threshold value and controls a left-turn indicator light and a right-turn indicator light of the vehicle according to the steering control parameter, so that the automatic control of the steering lights is realized, and the effect of turning prompt can be achieved without complicated operation of a user; meanwhile, when the vehicle is produced, a mechanical switch for controlling the steering indicating lamp is not needed, and wiring corresponding to the mechanical switch is also not needed, so that the production cost of the vehicle is reduced.
Fig. 2 shows a schematic flow chart of a vehicle steering control method provided by an embodiment of the present application, which may include, by way of example and not limitation, the following steps:
and S201, acquiring a steering angle value of the vehicle head through an acceleration sensor arranged on the vehicle head.
Specifically, the steering angle value of the vehicle head can be obtained by testing data through one or more sensors and then comprehensively analyzing the data.
For example, the method for obtaining the steering angle value of the vehicle head may include:
and A1, acquiring the steering acceleration value and the steering angle speed value of the vehicle head.
Specifically, when the vehicle is running, the acceleration sensor mounted in the vehicle head can measure the steering acceleration value and the steering angular velocity value of the vehicle head relative to the vehicle body.
And B1, carrying out fusion calculation on the steering acceleration value and the steering angle speed value through a complementary filtering algorithm to obtain a steering angle value.
Specifically, the steering acceleration value and the steering angular velocity value are fused by using a complementary filtering algorithm, so that the precision of the steering angle value can be improved, and the determined steering angle value is the rotation angle of the vehicle head relative to the vehicle body.
And S202, determining a steering control parameter according to the steering angle value and the steering angle threshold value.
For example, the method for obtaining the steering angle threshold value may include:
and A2, acquiring the speed value of the vehicle through a speed measurement sensor mounted on the vehicle.
Specifically, the speed measuring sensor is installed on the vehicle head or the vehicle body, and when the vehicle runs, the speed measuring sensor can measure the real-time speed of the vehicle.
And B2, determining a steering angle threshold according to the speed value.
Specifically, when the vehicle runs, different turning radii are required for different vehicle speeds, and when the vehicle runs at a low speed, the required turning radii are smaller; when the vehicle is running at high speed, the required turning radius is large. Therefore, different steering angle threshold values are set according to different speed values of the vehicle, the phenomenon that the steering indicating lamp is turned on by mistake can be effectively avoided, and the steering control precision is improved.
Illustratively, the steering angle threshold is calculated as:
θ1＝kv+a
wherein, theta1Is a steering angle threshold; v is a speed function of the vehicle, k is a proportionality constant and a is a compensation constant. The values of k and a can be obtained by a designer through limited times of tests and also can be obtained by a simulation mode of building a model.
For example, as shown in fig. 3, the method for obtaining the steering control parameter may include:
s2021, comparing the absolute value of the steering angle value with the steering angle threshold value.
Specifically, the steering acceleration value obtained in step S201 may be a positive value or a negative value, the steering angle threshold value obtained in step S202 is a positive value, and by comparing the absolute value of the steering angle value with the steering angle threshold value, it may be determined whether the steering angle value of the vehicle head reaches the steering angle threshold value, so as to determine whether the user has an intention to turn.
And S2022, under the condition that the absolute value of the steering angle value is larger than the steering angle threshold value, generating a steering starting control parameter according to the magnitude relation between the steering angle value and zero.
Specifically, if the absolute value of the steering angle value is greater than the steering angle threshold, it indicates that the user has an intention to turn at this time, and when it is determined that the user has the intention to turn, a steering start control parameter is generated and used for controlling the left-turn indicator light or the right-turn indicator light to be turned on.
In one embodiment of the present application, the steering shutdown control parameter is generated in the event that the absolute value of the steering angle value is less than the steering angle threshold.
Specifically, the absolute value of the steering angle value is smaller than the steering angle threshold value, which indicates that the user does not intend to turn at the moment, and then the steering off control parameter is generated, and then the left turn indicator light and the right turn indicator light are controlled to be turned off according to the steering off control parameter.
After the step S2022 determines that the user has the turning intention, the turning direction of the user needs to be determined to ensure that the corresponding turn indicator is turned on, so as to play a correct prompting role. Because the turning directions of the vehicle head are different when the turning angle value of the vehicle head is determined in the step S201, the positive and negative values of the obtained turning angle value are different, for example, when the vehicle head turns right, the turning angle value is a positive value; when the vehicle head turns left, the steering angle value is a negative value. Therefore, the turning direction can be determined by determining the positive or negative of the steering angle value.
For example, the steering-on control parameter may include a first steering-on control parameter and a second steering-on control parameter, and the generating the steering-on control parameter according to the magnitude relationship between the steering angle value and zero in S2022 may include:
a3, when the steering angle value is greater than zero, generating a first steering on control parameter.
Specifically, the first turning-on control parameter is used for controlling the turning-on of the left-turning indicator lamp and the turning-off of the right-turning indicator lamp.
And B3, when the steering angle value is less than zero, generating a second steering opening control parameter.
Specifically, the second steering start control parameter is used for controlling the left-turn indicator light to be turned off and controlling the right-turn indicator light to be turned on.
In one embodiment of the application, when the indicator lamp that turns left is lighted or the indicator lamp that turns right is lighted, generate the warning sound control parameter, warning sound control parameter is used for turning left the indicator lamp and lights or when the indicator lamp that turns right opens, and control loudspeaker send the warning sound.
Specifically, when the user intends to turn left, the left turn indicator lamp is controlled to be turned on, and meanwhile, the loudspeaker is controlled to give out prompt sound; when the user intends to turn right, the right turn indicator lamp is controlled to be turned on, and the loudspeaker is controlled to give out prompt tone. When the user intention was turned, the indicator that turns to of vehicle was lighted, sent the prompt tone simultaneously, carries out the reputation and indicates simultaneously, ensures that other pedestrians can receive the suggestion to improve user's driving safety.
And S203, controlling a left turn indicator light and a right turn indicator light of the vehicle according to the steering control parameters.
Specifically, the steering control parameters are obtained in step S202, and then the left turn indicator light and the right turn indicator light of the vehicle are controlled according to the steering control parameters, so that the automatic control of the steering lights is realized, the steering indicator lights are controlled without a user operating a mechanical switch, the operation of the user is simplified, and the experience of the user is improved; meanwhile, when the vehicle is produced, a mechanical switch for controlling the steering indicating lamp is not needed, and wiring corresponding to the mechanical switch is also not needed, so that the production cost of the vehicle is reduced.
For clarity of the operation of the vehicle steering control method, a specific embodiment is described below, and a specific flow diagram is shown in fig. 4.
S401, acquiring a steering acceleration value theta of the head of the vehicle and a speed value of the vehicle.
S402, calculating a steering angle threshold value theta according to the speed value1。
S403, judging whether the absolute value | theta | of the steering acceleration value is larger than a steering angle threshold value theta1。
S404, when the absolute value of the steering acceleration value is less than the steering angle thresholdValue theta1And when the automobile runs, the left turn indicator light and the right turn indicator light are controlled to be turned off.
S405, when the absolute value | theta | of the steering acceleration value is larger than the steering angle threshold value theta1And judging whether the steering acceleration value theta is larger than zero or not.
And S406, when the steering acceleration value theta is smaller than zero, controlling the left-turn indicator lamp to be turned off, and controlling the right-turn indicator lamp to be turned on.
And S407, when the steering acceleration value theta is larger than zero, controlling the left-turn indicator lamp to be turned on, and controlling the right-turn indicator lamp to be turned off.
The automatic control of the vehicle steering indicating lamp is realized through the steps S401 to S407, and the effect of turning prompt can be achieved without complicated operation of a user; meanwhile, when the vehicle is produced, a mechanical switch for controlling the steering indicating lamp is not needed, and wiring corresponding to the mechanical switch is also not needed, so that the production cost of the vehicle is reduced.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 5 shows a schematic structural diagram of a vehicle steering control system provided in an embodiment of the present application, and the vehicle steering control system may include an acceleration sensor 52, a left turn indicator lamp 54, a right turn indicator lamp 53, and a controller 51, where the acceleration sensor 52 is installed in a head of a vehicle, the controller 51 is installed on the vehicle, and the acceleration sensor 52 is connected to the controller 51.
Specifically, the acceleration sensor 52 is configured to collect a steering angle value of the vehicle head, and transmit the collected steering angle value to the controller 51, and the controller 51 is configured to determine a steering control parameter according to the steering angle value and a steering angle threshold, and control the left turn indicator 54 and the right turn indicator 53 of the vehicle according to the steering control parameter.
In one embodiment of the present application, the vehicle steering control system may further include a speed sensor mounted on the vehicle head or the vehicle body, and the speed sensor is connected to the controller 51.
Specifically, in the running process of the vehicle, the speed measuring sensor tests the speed value of the vehicle and transmits the speed value to the controller 51, the controller 51 determines a steering angle threshold according to the speed value, then determines a steering control parameter according to the steering angle value and the steering angle threshold, and controls the left turn indicator lamp 54 and the right turn indicator lamp 53 of the vehicle according to the steering control parameter, so that the automatic control of the steering indicator lamp of the vehicle is realized, and the effect of turning prompt can be achieved without complicated operation of a user; meanwhile, when the vehicle is produced, a mechanical switch for controlling the steering indicating lamp is not needed, and wiring corresponding to the mechanical switch is also not needed, so that the production cost of the vehicle is reduced.
Fig. 6 shows a schematic structural diagram of a vehicle steering control device provided in an embodiment of the present application, corresponding to the vehicle steering control method described in the above embodiment, and only the relevant portions of the embodiment of the present application are shown for convenience of description.
Referring to fig. 6, the vehicle steering control apparatus in the embodiment of the present application may include an acquisition module 61, a steering control parameter determination module 62, and a control module 63;
the acquisition module 61 is used for acquiring a steering angle value of the vehicle head through an acceleration sensor arranged on the vehicle head;
a steering control parameter determining module 62, configured to determine a steering control parameter according to the steering angle value and the steering angle threshold;
and the control module 63 is used for controlling a left turn indicator light and a right turn indicator light of the vehicle according to the steering control parameters.
In one embodiment of the present application, the steering control parameter determination module 62 includes a speed value acquisition unit and a steering angle threshold determination unit;
the system comprises a speed value acquisition unit, a speed sensor and a speed control unit, wherein the speed value acquisition unit is used for acquiring a speed value of a vehicle through the speed sensor arranged on the vehicle;
and the steering angle threshold value determining unit is used for determining the steering angle threshold value according to the speed value.
In one embodiment of the present application, the steering control parameters further include a steering start control parameter, and the steering control parameter determination module 62 further includes a comparison unit and a first control parameter generation unit;
the comparison unit is used for comparing the absolute value of the steering angle value with the steering angle threshold value;
the first control parameter generating unit is used for generating the steering starting control parameter according to the magnitude relation between the steering angle value and zero under the condition that the absolute value of the steering angle value is larger than the steering angle threshold value; the turning starting control parameter is used for controlling the turning on of the left turning indicator light or the right turning indicator light.
In one embodiment of the present application, the steering control parameters further include a steering off control parameter, and the steering control parameter determination module 62 further includes a second control parameter generation unit;
the second control parameter generating unit is used for generating a steering closing control parameter under the condition that the absolute value of the steering angle value is smaller than the steering angle threshold value; and the steering closing control parameter is used for controlling the left-turning indicator light and the right-turning indicator light to be closed.
In an embodiment of the present application, the steering-on control parameter includes a first steering-on control parameter and a second steering-on control parameter, and the first control parameter generating unit may include a first sub-control parameter generating unit and a second sub-control parameter generating unit;
the first sub-control parameter generating unit is used for generating the first steering starting control parameter when the steering angle value is larger than zero; the first turning starting control parameter is used for controlling the left turning indicator lamp to be turned on and controlling the right turning indicator lamp to be turned off;
the second sub-control parameter generating unit is used for generating a second steering starting control parameter when the steering angle value is smaller than zero; and the second steering starting control parameter is used for controlling the left-turning indicator lamp to be turned off and controlling the right-turning indicator lamp to be turned on.
In an embodiment of the present application, the first control parameter generating unit may further include a third sub-control parameter generating unit;
and the third sub-control parameter generating unit is used for generating a prompt tone control parameter, and the prompt tone control parameter is used for controlling the loudspeaker to send out a prompt tone when the left-turn indicator lamp is lightened or the right-turn indicator lamp is turned on.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
The vehicle steering control device shown in fig. 6 may be a software unit, a hardware unit, or a combination of software and hardware unit built in an existing terminal device, may be integrated into the terminal device as a separate pendant, or may exist as a separate terminal device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 7, the terminal device 7 of this embodiment may include: at least one processor 70 (only one processor 70 is shown in fig. 7), a memory 71, and a computer program 72 stored in the memory 71 and operable on the at least one processor 70, wherein the processor 70 implements the steps in any of the various method embodiments described above, such as the steps S201 to S203 in the embodiment shown in fig. 2, when the computer program 72 is executed by the processor 70. Alternatively, the processor 70, when executing the computer program 72, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the modules 61 to 63 shown in fig. 6.
Illustratively, the computer program 72 may be partitioned into one or more modules/units that are stored in the memory 71 and executed by the processor 70 to implement the present invention. The one or more modules/units may be a series of instruction segments of the computer program 72 capable of performing specific functions, which are used to describe the execution process of the computer program 72 in the terminal device 7.
The terminal device 7 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device 7 may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will appreciate that fig. 7 is only an example of the terminal device 7, and does not constitute a limitation to the terminal device 7, and may include more or less components than those shown, or combine some components, or different components, for example, and may further include input/output devices, network access devices, and the like.
The Processor 70 may be a Central Processing Unit (CPU), and the Processor 70 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may in some embodiments be an internal storage unit of the terminal device 7, such as a hard disk or a memory of the terminal device 7. In other embodiments, the memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the terminal device 7. The memory 71 is used for storing an operating system, an application program, a Boot Loader (Boot Loader), data, and other programs, such as program codes of the computer program 72. The memory 71 may also be used to temporarily store data that has been output or is to be output.
The present application further provides a computer-readable storage medium, which stores a computer program 72, and when the computer program 72 is executed by the processor 70, the steps in the above-mentioned method embodiments can be implemented.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by the computer program 72 to instruct the relevant hardware, where the computer program 72 can be stored in a computer readable storage medium, and when the computer program 72 is executed by the processor 70, the steps of the methods of the embodiments described above can be implemented. Wherein the computer program 72 comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or apparatus capable of carrying computer program code to a terminal device, recording medium, computer Memory, Read-Only Memory (ROM), random-access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A vehicle steering control method characterized by comprising:
acquiring a steering angle value of the vehicle head through an acceleration sensor arranged on the vehicle head;
determining a steering control parameter according to the steering angle value and a steering angle threshold value;
and controlling a left turn indicator light and a right turn indicator light of the vehicle according to the steering control parameters.
2. The vehicle steering control method according to claim 1, characterized in that the steering angle threshold value acquisition method includes:
acquiring a speed value of a vehicle through a speed measurement sensor installed on the vehicle;
determining the steering angle threshold value according to the speed value.
3. The vehicle steering control method of claim 1, wherein the steering control parameter comprises a steering-on control parameter, and wherein determining the steering control parameter based on the steering angle value and a steering angle threshold comprises:
comparing the absolute value of the steering angle value to the magnitude of the steering angle threshold;
under the condition that the absolute value of the steering angle value is larger than the steering angle threshold value, generating the steering starting control parameter according to the size relation between the steering angle value and zero; the turning starting control parameter is used for controlling the turning on of the left turning indicator light or the right turning indicator light.
4. The vehicle steering control method of claim 3, wherein the steering control parameters further include a steering off control parameter, the determining a steering control parameter as a function of the steering angle value and a steering angle threshold, further comprising:
generating a steering closing control parameter under the condition that the absolute value of the steering angle value is smaller than the steering angle threshold value; and the steering closing control parameter is used for controlling the left-turning indicator light and the right-turning indicator light to be closed.
5. The vehicle steering control method according to claim 3, wherein the steering-on control parameter includes a first steering-on control parameter and a second steering-on control parameter, and the generating the steering-on control parameter according to a magnitude relation of the steering angle value and zero includes:
when the steering angle value is larger than zero, generating the first steering starting control parameter; the first turning starting control parameter is used for controlling the left turning indicator lamp to be turned on and controlling the right turning indicator lamp to be turned off;
when the steering angle value is less than zero, generating a second steering starting control parameter; and the second steering starting control parameter is used for controlling the left-turning indicator lamp to be turned off and controlling the right-turning indicator lamp to be turned on.
6. The vehicle steering control method according to claim 5, wherein the generating of the steering-on control parameter according to the magnitude relationship between the steering angle value and zero further comprises:
and generating a prompt tone control parameter, wherein the prompt tone control parameter is used for controlling the loudspeaker to send out a prompt tone when the left-turn indicator lamp is lightened or the right-turn indicator lamp is turned on.
7. A vehicle steering control system is characterized by comprising an acceleration sensor, a left-turn indicator light, a right-turn indicator light and a controller, wherein the acceleration sensor is installed in the head of a vehicle, the controller is installed on the vehicle, and the acceleration sensor is connected with the controller;
the acceleration sensor is used for collecting a steering angle value of a vehicle head and transmitting the collected steering angle value to the controller, and the controller is used for determining a steering control parameter according to the steering angle value and a steering angle threshold value and controlling a left-turn indicator light and a right-turn indicator light of a vehicle according to the steering control parameter.
8. A vehicle steering control apparatus, characterized by comprising:
the acquisition module is used for acquiring a steering angle value of the vehicle head through an acceleration sensor arranged on the vehicle head;
the steering control parameter determining module is used for determining a steering control parameter according to the steering angle value and the steering angle threshold value;
and the control module is used for controlling a left turn indicator light and a right turn indicator light of the vehicle according to the steering control parameters.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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| CN202010376151.2A CN111717312B (en) | 2020-05-07 | 2020-05-07 | Vehicle steering control method, system, device, terminal device and storage medium |
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| CN202010376151.2A CN111717312B (en) | 2020-05-07 | 2020-05-07 | Vehicle steering control method, system, device, terminal device and storage medium |
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| CN111717312B (en) | 2021-06-25 |
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