CN112742021A

CN112742021A - Vehicle and vehicle control method and device

Info

Publication number: CN112742021A
Application number: CN201911054837.3A
Authority: CN
Inventors: 杨钊; 钟益林; 吴春芬; 石为利; 蔡腾龙
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2021-05-04
Also published as: WO2021082984A1

Abstract

The invention discloses a vehicle and a control method and a control device of the vehicle, wherein the method comprises the following steps: acquiring a steering signal currently output by a steering system on a vehicle; wherein the steering signal comprises at least one of a torque signal turn angle signal; acquiring the variation trend of the steering signal; wherein the trend of change comprises an indication that the steering system is far away from or near a reference position; and controlling the controlled object in the vehicle-mounted game to act according to the variation trend and the steering signal. According to the control method of the vehicle, the execution action control of the vehicle-mounted game is realized by fully utilizing the steering signal and the variation trend of the steering signal, the experience fun and convenience of a user for game control are greatly increased, and the play experience of the user is improved.

Description

Vehicle and vehicle control method and device

Technical Field

The invention relates to the technical field of vehicles, in particular to a vehicle and a control method and device of the vehicle.

Background

With the development of smart cars, vehicles have become more than just vehicles, which can also assume a certain degree of entertainment functions, such as enabling on-board games in vehicles.

In the related art, a mobile phone is generally used as a game control terminal to control a vehicle-mounted game.

However, the control mode is difficult to bring the experience of being personally on the scene to the user, so that the experience pleasure and convenience of game control are greatly reduced, and the play experience of the user is reduced.

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 objective of the present invention is to provide a control method for a vehicle, which implements action control on a vehicle-mounted game by fully utilizing a steering signal of a steering system of the vehicle and a variation trend of the steering signal, so as to greatly increase the experience fun and convenience of a user for game control, and improve the play experience of the user.

A second object of the present invention is to provide a control device for a vehicle.

A third object of the invention is to propose a vehicle.

A fourth object of the invention is to propose an electronic device.

A fifth object of the present invention is to propose a computer-readable storage medium.

In order to achieve the above object, an embodiment of a first aspect of the present invention provides a control method for a vehicle, including: acquiring a steering signal currently output by a steering system on a vehicle, wherein the steering signal comprises at least one of a torque signal and a corner signal; acquiring a variation trend of the steering signal, wherein the variation trend is used for representing that the steering system is far away from or returns to a reference position; and controlling the controlled object in the vehicle-mounted game to act according to the change trend and the steering signal.

In addition, the control method of the vehicle according to the above embodiment of the invention may also have the following additional technical features:

according to an embodiment of the present invention, the controlling the controlled object in the in-vehicle game to perform the action according to the change trend and the turn signal further includes: according to the change trend, identifying that the steering system is in a first state continuously far away from a reference position; identifying the steering direction and the steering offset of the steering system according to the steering signal; and generating a first type of action command of the controlled object according to the steering direction and the steering offset of the steering system.

According to an embodiment of the present invention, before generating the first type of action instruction of the controlled object, the method further includes: and determining that the steering offset reaches a first preset threshold value.

According to an embodiment of the present invention, the control method of a vehicle described above further includes: and if the steering offset is determined not to reach a first preset threshold value, controlling the controlled object to execute a second type action instruction.

According to an embodiment of the present invention, the control method of a vehicle described above further includes: according to the change trend, identifying a second state that the steering system is in a gradual return reference position; and generating a second type action command of the controlled object according to the steering direction and the steering offset of the steering system.

According to an embodiment of the present invention, before generating the second type of action instruction of the controlled object, the method further includes: and determining that the steering offset amount regresses to a second preset threshold value.

According to an embodiment of the present invention, the control method of a vehicle described above further includes: and if the steering offset does not return to the second preset threshold value, controlling the controlled object to execute a first type of action instruction.

According to an embodiment of the present invention, the control method of a vehicle described above further includes: according to the change trend, identifying that the steering system is switched from the second state to the first state; and if the steering offset is detected and recognized to reach a first preset threshold value, controlling the controlled object to be switched from executing the second type of action instruction to executing the first type of action instruction.

According to an embodiment of the present invention, the control method of a vehicle described above further includes: and controlling the controlled object to continue executing the action command before the second type before the steering offset does not reach a first preset threshold value.

According to one embodiment of the invention, when the steering system is identified to be in a first state continuously far away from a reference position, and the steering signal comprises the torque signal and the steering angle signal, and when the steering offset is subjected to threshold judgment, data representing the offset in the torque signal and the steering angle signal need to simultaneously meet respective thresholds, a first type action command is generated; and when the steering system is identified to be in a second state of continuously and gradually returning to the reference position, and the steering signal comprises the torque signal and the steering angle signal, when the steering offset is subjected to threshold judgment, one of data representing the offset in the torque signal and the steering angle signal meets respective threshold, and then a second type of action command is generated.

According to an embodiment of the present invention, the control method of a vehicle described above further includes: detecting threshold setting operation, and adjusting a default threshold according to the threshold setting operation; or acquiring the operation sensitivity of the vehicle-mounted game, and adjusting a default threshold value according to the sensitivity; or acquiring scene information of the vehicle-mounted game, extracting road surface information from the scene information, and adjusting a default threshold value according to the road surface information; or acquiring the running speed of a game object of the vehicle-mounted game, and adjusting a default threshold value according to the running speed.

According to the control method of the vehicle, the steering signal currently output by the steering system on the vehicle can be acquired, the change trend of the steering signal is acquired, and the controlled object in the vehicle-mounted game is controlled to act according to the change trend and the steering signal. From this, realize the execution action control to on-vehicle recreation through make full use of turn signal and turn signal's trend of change, realize accurate control, do not change the original equipment of vehicle simultaneously, accord with some operation habits of recreation, not only greatly increased user is to the experience enjoyment and the convenience of controlling of recreation, and has improved user's experience of playing.

In order to achieve the above object, an embodiment of a second aspect of the present invention provides a control apparatus for a vehicle, including: the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a steering signal currently output by a steering system on the vehicle, and the steering signal comprises at least one of a torque signal and a corner signal; the second acquisition module is used for acquiring a variation trend of the steering signal, wherein the variation trend is used for representing that the steering system is far away from or returns to a reference position; and the first control module is used for controlling the controlled object in the vehicle-mounted game to act according to the change trend and the steering signal.

According to an embodiment of the present invention, the first control module is further configured to: according to the change trend, identifying that the steering system is in a first state continuously far away from a reference position; identifying the steering direction and the steering offset of the steering system according to the steering signal; and generating a first type of action command of the controlled object according to the steering direction and the steering offset of the steering system.

According to an embodiment of the present invention, before the generating of the first type of motion instruction of the controlled object, the first control module is further configured to: and determining that the steering offset reaches a first preset threshold value.

According to an embodiment of the present invention, the control device for a vehicle described above further includes: and the second control module is used for controlling the controlled object to execute a second type of action instruction if the steering offset is determined not to reach a first preset threshold value.

According to an embodiment of the present invention, the control device for a vehicle described above further includes: the first identification module is used for identifying a second state that the steering system is in a gradual return reference position according to the change trend; and the generating module is used for generating a second type of action instruction of the controlled object according to the steering direction and the steering offset of the steering system.

According to an embodiment of the present invention, before generating the second type of action instruction of the controlled object, the generating module is further configured to: and determining that the steering offset amount regresses to a second preset threshold value.

According to an embodiment of the present invention, the control device for a vehicle described above further includes: and the third control module is used for identifying that the steering offset does not return to the second preset threshold value, and controlling the controlled object to execute the first type of action instruction.

According to an embodiment of the present invention, the control device for a vehicle described above further includes: the second identification module is used for identifying that the steering system is switched from the second state to the first state according to the change trend; and the fourth control module is used for detecting and recognizing that the steering offset reaches a first preset threshold value, and controlling the controlled object to switch from executing the second type of action instruction to executing the first type of action instruction.

According to an embodiment of the present invention, the control device for a vehicle described above further includes: and the fifth control module is used for controlling the controlled object to continuously execute the action command before the second type before the steering offset does not reach the first preset threshold value.

According to an embodiment of the present invention, the control device for a vehicle described above further includes: the adjusting module is used for detecting threshold setting operation and adjusting the default threshold according to the threshold setting operation; or acquiring the operation sensitivity of the vehicle-mounted game, and adjusting a default threshold value according to the sensitivity; or acquiring scene information of the vehicle-mounted game, extracting road surface information from the scene information, and adjusting a default threshold value according to the road surface information; or acquiring the running speed of the game object of the vehicle-mounted game, and adjusting the default threshold according to the running speed.

According to the control device of the vehicle, the steering signal currently output by the steering system on the vehicle can be acquired through the first acquisition module, the change trend of the steering signal is acquired through the second acquisition module, and the controlled object in the vehicle-mounted game is controlled to act through the first control module according to the change trend and the steering signal. From this, realize the execution action control to on-vehicle recreation through make full use of turn signal and turn signal's trend of change, realize accurate control, do not change the original equipment of vehicle simultaneously, accord with some operation habits of recreation, not only greatly increased user is to the experience enjoyment and the convenience of controlling of recreation, and has improved user's experience of playing.

In order to achieve the above object, a third aspect of the present invention provides a vehicle including the control apparatus of the vehicle described above.

According to the vehicle provided by the embodiment of the invention, through the control device of the vehicle, the execution action control of the vehicle-mounted game is realized by fully utilizing the steering signal of the steering system of the vehicle and the variation trend of the steering signal, the accurate control is realized, meanwhile, the original equipment of the vehicle is not changed, some operation habits of the game are met, the experience fun and convenience of a user for game control are greatly increased, and the playing experience of the user is improved.

In order to achieve the above object, a fourth aspect of the present invention provides an electronic device, including a memory, a processor; wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for implementing the control method of the vehicle described above.

To achieve the above object, a fifth aspect of the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor, implements the above-described control method for a vehicle.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

Fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the invention;

FIG. 2 is a flow chart for obtaining a steering signal currently output by a steering system on a vehicle, according to one embodiment of the present invention;

FIG. 3 is a flowchart of a control method of a vehicle according to one embodiment of the invention;

FIG. 4 is a flow chart of applying torque to the left corresponding to a left turn in a racing game according to one embodiment of the present invention;

FIG. 5 is a flow chart of applying torque to the right corresponding to a right turn in a racing game according to one embodiment of the present invention;

FIG. 6 is a flow chart of a change in turn angle signal when turning the steering wheel left according to one embodiment of the present invention corresponding to a left turn in a racing game;

FIG. 7 is a flow chart of a change in turn angle signal when turning the steering wheel left according to one embodiment of the present invention corresponding to a left turn in a racing game;

FIG. 8 is a diagram of a maneuver setup for a racing game, according to one embodiment of the present invention;

FIG. 9 is a schematic diagram illustrating a relationship between a steering mode corresponding to a key mode of a racing game and a real car steering mode according to an embodiment of the present invention;

FIG. 10 is a flow chart of a vehicle control method according to an exemplary embodiment of the present invention;

FIG. 11 is a flowchart of a control method of a vehicle according to another embodiment of the invention;

fig. 12 is a block schematic diagram of a control apparatus of a vehicle according to an embodiment of the invention;

FIG. 13 is a block schematic diagram of a vehicle according to an embodiment of the invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

The following describes a vehicle and a control method and device of the vehicle according to an embodiment of the invention with reference to the drawings.

Fig. 1 is a flowchart of a control method of a vehicle of an embodiment of the invention. As shown in fig. 1, the control method of the vehicle includes:

and S1, acquiring a steering signal currently output by a steering system on the vehicle, wherein the steering signal comprises at least one of a torque signal and a steering angle signal.

It will be appreciated that the steering signal output by the steering system may comprise a steering angle signal, or a torque signal, or both a steering angle signal and a torque signal of the steering system.

Specifically, a Steering Angle signal or a Torque signal of the Steering system may be obtained through a Torque and Angle Sensor (TAS) attached to the vehicle Steering system, or a Torque On Sensor (TOS), or a Steering Angle Sensor (SAS), where the Steering Angle signal may correspond to a Steering Angle value of a Steering wheel, and the Torque signal may be a hand Torque value of a user, so that the Steering Angle signal or the Torque signal is collected through an Electronic Power Steering (EPS), an Electronic Stability Program (ESP), and then transmitted to a vehicle-mounted game terminal (such as a vehicle-mounted PAD, a vehicle meter, or the like) through a Controller Area Network (CAN bus), a Local Interconnect Network (LIN), or the like.

FIG. 2 is a flow chart illustrating the acquisition of a steering signal currently output by a steering system on a vehicle, according to a particular exemplary embodiment. As shown in fig. 2, the method includes:

and S201, acquiring a steering angle signal or a torque signal of the steering system through a TAS/TOS/SAS attached to the vehicle steering system.

And S202, collecting a rotation angle signal and a torque signal through the EPS/ESP.

The vehicle can judge whether to acquire the corner signal and the torque signal through the EPS/ESP according to the actual situation.

And S203, transmitting the rotation angle signal and the torque signal to the vehicle-mounted game terminal in a CAN bus or LIN line mode and the like.

The embodiment of the invention can judge whether the turning angle signal and the torque signal are transmitted to the vehicle-mounted game terminal by combining the actual network topology structure of the vehicle.

And S2, acquiring the variation trend of the steering signal, wherein the variation trend is used for representing that the steering system is far away from or returns to the reference position.

Specifically, the reference position may be a position where the vehicle steering wheel is in a middle position while the tire is in a front position (or the steering wheel is in a free state), and the trend of change in the steering signal may be a trend of change in the steering angle signal or the torque signal, such as a trend of change from straight to left, a trend of change from straight to right (the steering system is away from the reference position), a trend of change from right to straight, or the like, as determined from the trend of change in the steering angle signal (the steering system returns to the reference position).

And S3, controlling the controlled object in the vehicle-mounted game to move according to the change trend and the steering signal.

It can be understood that, in the embodiment of the present invention, control criteria corresponding to a steering direction and a steering offset may be preset, so that after a steering signal currently output by a steering system on a vehicle is obtained, the steering direction and the steering offset of the steering system are identified, and a controlled object in a vehicle-mounted game is controlled to act according to the steering direction and the steering offset. When the steering signal is torque, the steering offset is a specific value of the torque, and the reference position is a position where the torque is 0; when the steering signal is a steering angle, the steering offset is the magnitude of the steering angle, and the reference position is the return position of the steering wheel.

That is to say, when the vehicle is in a flat road parking condition, the steering wheel can rotate freely, the vehicle-mounted game terminal can acquire a steering signal currently output by a steering system on the vehicle, and then a turning angle or torque signal changed when a user rotates the steering wheel is mapped to an input event command corresponding to left-right steering action in a vehicle-mounted racing game or left-right movement, rotation and the like of other types of games through a built-in application program or a bottom layer drive program correspondingly developed by the vehicle-mounted game terminal. It should be noted that the vehicle control method according to the embodiment of the present invention is also applicable to other vehicle-mounted games, such as left-right movement or left-right rotation in a tetris game, left-right card selection corresponding to a chess game, and the like, and is not described in detail herein in order to avoid redundancy.

In summary, according to the control method of the vehicle in the embodiment of the present invention, the steering signal currently output by the steering system on the vehicle is obtained, the steering direction and the steering offset of the steering system are identified according to the steering signal, and the controlled object in the vehicle-mounted game is controlled to move according to the steering direction and the steering offset. From this, realize the execution action control to the on-vehicle recreation through the original a steering system's of make full use of vehicle turn to signal, greatly increased user has improved user's experience of playing to the experience enjoyment and the convenience that the recreation was controlled to relative original vehicle, provided a new steering control strategy, realized playing the recreation with real car, make the vehicle except that conventional driving mode, still have on-vehicle recreation mode.

Based on the above embodiments, it should be understood that, the manner of controlling the controlled object in the in-vehicle game to perform the action according to the change trend of the steering signal and the steering signal differs according to the usage of the specific application scenario, and the following is taken as an example according to the steering direction, the steering offset, or the steering direction and the steering offset in conjunction with the specific application scenario, and the following description is given as follows:

FIG. 3 is a flow chart illustrating a method of controlling a vehicle, according to a particular exemplary embodiment. As shown in fig. 3, the method includes:

s301, obtaining a steering signal currently output by a steering system on the vehicle, wherein the steering signal comprises at least one of a torque signal and a steering angle signal.

In one embodiment of the invention, the steering angle signal or torque signal of the steering system can be obtained through a TAS/TOS/SAS attached to the vehicle steering system.

S302, acquiring a variation trend of the steering signal, wherein the variation trend is used for representing that the steering system is far away from or returns to a reference position.

Specifically, the change trend of the steering signal may be a change trend of the steering angle signal or the torque signal, such as a left turn or a right turn according to the change trend of the steering angle signal.

S303, identifying that the steering system is in a first state continuously far away from the reference position according to the change trend.

Specifically, the trend of change of the steering signal may be a trend of change of the steering angle signal or the torque signal, for example, when it is recognized that the trend of change of the steering angle signal is a left turn, the vehicle may change from straight running to a left turn, that is, the steering system is in a first state away from the reference position; when the trend of change of the turning angle signal is recognized as a right turn, the vehicle can be changed from straight running to a right turn, i.e., the steering system is also in the first state away from the reference position.

And S304, identifying the steering direction and the steering offset of the steering system according to the steering signal.

Specifically, after a steering angle signal or a torque signal of the steering system is obtained, the steering direction and the steering offset of the steering system can be identified according to the steering angle signal or the torque signal. The steering direction can be determined according to the steering angle signal or the torque signal, if the steering angle signal is a left-turn signal, the steering is left-turn, a mapping relation between the steering offset and the torque signal (torque) can be preset, and when the steering torque is obtained, the steering offset of the steering system is obtained by inquiring the mapping relation.

And S305, generating a first type action command of the controlled object according to the steering direction and the steering offset of the steering system.

Specifically, after recognizing that the steering system is in a first state continuously far away from the reference position, and recognizing the steering direction and the steering offset of the steering system, the embodiment of the present invention may generate a first type of action command of the controlled object according to the steering direction and the steering offset of the steering system, where the first type of action command may be a left turn command or a right turn command. Therefore, the controlled object is controlled through the change trend, the steering direction and the steering offset, so that the action command is generated more accurately, the steering of the controlled object is controlled more accurately, and the steering accuracy is improved.

Specifically, the specific application rule is described by taking the CAN signal as an example, wherein the CAN torque signal message is periodic. The torque signal may be a signed type signal, wherein the corresponding torque signal is 0Nm (actually about 0Nm positive and negative due to assembly error) when the user does not add external force to the steering wheel, i.e., the torque value when the steering wheel is in a free state. When a user applies a torque to steer the steering wheel left and right, wherein the driver faces the steering wheel, the counterclockwise steering direction of the steering wheel is left, and the clockwise steering direction is right, the torque signal value will change with the change of the user's force applied to the steering wheel. The turning angle signal can be a signed signal, after the corresponding turning angle signal is calibrated and centered through zero point on the vehicle, the turning angle value is 0 degree when the vehicle steering wheel is in the middle position and the tire is in the front position (actually, the turning angle value is about a positive value and a negative value of 0 degree because of assembly error), wherein the steering wheel can finish automatic correction through a motor of an EPS system or a motor of a user hand feeling simulator in a steer-by-wire system, and can also be manually corrected through a user. When the steering wheel is turned left and right, the counter-clockwise turning direction of the steering wheel is left and the clockwise turning direction is right, the turning angle signal value changes along with the change of the left and right turning angles of the steering wheel, when the steering wheel is turned left based on the zero point value, the turning angle signal value is positive, and when the steering wheel is turned right, the turning angle signal value is negative (according to the regulation of ISO8855, a positive value of the turning angle signal indicates that the steering is left, and a negative value indicates that the steering is right), and the corresponding relation between the left and right turning and the positive and negative can be specifically adjusted according to the actual conditions.

It should be noted that the in-vehicle game terminal may map the received positive and negative torque signals (or positive and negative rotation angle signals) to a left rotation command or a right rotation command required by the racing game, and the in-vehicle game terminal may support a "left rotation" action when applying a leftward torque to play a direction (or left turning a steering wheel) and a "right rotation" action when applying a rightward torque to play a direction (or right turning a steering wheel) according to the corresponding relationship. In the case of the torque signal, since the user needs to hold the steering wheel with his hand while the steering wheel is subjected to a small applied torque value, it is possible to specify that the torque value is approximately equal to the steering wheel already in the free state within a certain range of values around the positive and negative values of 0Nm, and to specify that the steering angle value is approximately equal to the steering wheel already returning to the neutral zero point position within a certain range of values around the neutral zero point since it is difficult for the user to maintain the steering wheel at the neutral zero point.

As an example, as shown in fig. 4, fig. 4 is a flowchart corresponding to a left turn of a racing game by applying a torque to the left, and generating an action command of a controlled object according to a steering direction and a steering offset of a steering system, including the following steps:

s401, a user applies a leftward moment to rotate a steering wheel, and a torque signal value is collected through the vehicle-mounted game terminal.

S402, judging whether the torque signal value is larger than or equal to the Game Torque PressLeft, if so, executing a step S404, otherwise, executing a step S403.

The Game Torque PressLeft can be a left-turn pressing torque value, and can support adjustment by combining direction control requirements of different users, so that the use experience of the users is improved.

And S403, the racing car runs in a straight line.

S404, the racing car turns to the left.

As shown in fig. 5, fig. 5 is a flowchart corresponding to the right turn of the racing game when a moment is applied to the right, and the motion command of the controlled object is generated according to the steering direction and the steering offset of the steering system, and the method comprises the following steps:

s501, a user applies a rightward moment to rotate a steering wheel, and a torque signal value is collected through a vehicle-mounted game terminal.

S502, judging whether the torque signal value is less than or equal to the Game Torque PressRight, if so, executing step S504, otherwise, executing step S503.

The Game Torque Pressright can be a right-turn pressing torque value, and can support adjustment by combining direction control requirements of different users, so that the use experience of the users is improved.

S503, the racing car runs in a straight line.

S504, the racing car turns to the right.

As another example, as shown in fig. 6, fig. 6 is a flowchart of a change in the steering angle signal when the steering wheel is turned left corresponding to a left turn in a racing game, and the method for generating the motion command of the controlled object according to the steering direction and the steering offset of the steering system includes the following steps:

s601, steering the left of the steering wheel by taking the middle position as a reference, and acquiring a turning angle signal value through the vehicle-mounted game terminal.

S602, judging whether the value of the turning Angle signal is larger than or equal to the Game Angle PressLeft, if so, executing the step S604, otherwise, executing the step S603.

The left turn press turning Angle value can be adjusted by combining direction control requirements of different users, so that the user requirements are met, and the user use experience is improved.

And S603, the racing car runs in a straight line.

S604, the racing car turns to the left.

As shown in fig. 7, fig. 7 is a flowchart of the change of the steering angle signal corresponding to the right turn of the racing game when the steering wheel is turned to the right, and the operation command of the controlled object is generated according to the steering direction and the steering offset of the steering system, including the following steps:

and S701, steering the right side of the steering wheel by taking the middle position as a reference, and acquiring a turning angle signal value through the vehicle-mounted game terminal.

S702, determine whether the corner signal value is less than or equal to the Game Angle PressRight, if yes, go to step S704, otherwise go to step S703.

The corner value is pressed for the right turn, direction control requirements of different users can be combined, and adjustment is carried out, so that the user requirements are met, and the user use experience is improved.

And S703, the racing car runs in a straight line.

S704, the racing car turns to the right.

In addition, as shown in fig. 8, the control of the racing game may include 3 types of steering control modes: somatosensory mode (i.e. gravity-induced steering), steering wheel mode, push-button mode (single/double-sided). When the key mode is adopted for the racing car control, the positive and negative torque signals (positive and negative rotation angle signals) and the event trigger corresponding analysis relationship of left and right steering in the virtual key (or left and right areas of a screen) touch control mode in the racing car game can be as follows: when the torque signal value is larger than or equal to Game Torque Press left, continuously activating a left steering command of the racing car Game, and continuously maintaining steering to the left by the racing car, namely continuously touching a left steering virtual key of the racing car; when the torque signal value is less than or equal to Game Torque PressRight, the right steering command of the racing Game is continuously activated, and the racing car continuously maintains steering to the right, namely the right steering virtual key of the racing car is continuously touched; when the turning Angle signal value is larger than or equal to the Game Angle Pressleft, the left turning command of the racing car Game is continuously activated, the racing car continuously turns left, namely the left turning virtual key of the racing car is continuously touched; if the turn signal value is less than or equal to the Game Angle PressRight, the right turn command of the racing car Game is continuously activated, and the racing car continuously keeps turning to the right, namely the virtual key for turning right of the racing car is continuously touched.

It should be noted that, as shown in fig. 9, fig. 9 is a comparison diagram of a relationship between a steering mode corresponding to a racing game key mode and a real car steering mode, fig. 9(a) is a schematic diagram when a car moves straight, fig. 9(b) is a schematic diagram when the car is controlled to steer by the racing game key mode (steering wheel), and fig. 9(c) is a schematic diagram when the car is steered by the real car, so that when the car is controlled by the steering wheel of the car, a control strategy of simulating the steering of the racing car by the real car is implemented, the original equipment of the car is not changed, the steering experience same as that of the racing car controlled by the keys is not changed, the operation habit of a game user is met, and the steering angle can be controlled more sensitively when the car is controlled to steer by controlling the steering wheel, thereby effectively improving.

According to an embodiment of the present invention, before generating the first type of action instruction of the controlled object, the method further includes: determining that the steering offset reaches a first preset threshold value.

It should be understood that when a user experiences a Game, sometimes a steering system is slightly steered due to hand shaking, and at this time, if a steering signal of the steering system is collected, the racing car is controlled to steer when the steering system is not steered, so that the experience of the user is greatly reduced.

According to one embodiment of the invention, if the steering offset does not reach the first preset threshold value, the controlled object is controlled to execute the second type action instruction.

That is, taking the controlled object as an example of a racing car, assuming that the current racing car is in a straight running state, if the detected steering offset amount does not reach the first preset threshold value, it indicates that the steering offset may be caused by shaking of the experiencer at this time, the vehicle is not controlled to steer, and the racing car is kept in the straight running state, that is, the controlled object is controlled to execute the second type of action command.

The first preset threshold may be set according to actual conditions, and is not particularly limited herein.

According to an embodiment of the present invention, the control method of a vehicle described above further includes: according to the variation trend, identifying a second state that the steering system is in a gradual return reference position; and generating a second type action command of the controlled object according to the steering direction and the steering offset of the steering system.

It can be understood that, in the embodiment of the present invention, it may also be determined whether the steering system gradually returns to the reference position according to the variation trend of the steering signal, so as to generate the second type of motion command of the controlled object according to the steering direction and the steering offset of the steering system. That is, when it is recognized that the variation trend of the racing car steering signal gradually returns to the reference position, the racing car is controlled to run straight.

Specifically, when the torque value of the left steering wheel released by the user is less than or equal to a left turn release torque value (Game torque release left) or the torque signal collected by the vehicle-mounted Game terminal returns to a second preset threshold, the left turn command of the racing Game is continuously inhibited, and the racing car keeps running straight, wherein the second preset threshold can also be set according to the actual situation, which is not specifically limited herein. Similarly, when the torque signal collected by the vehicle-mounted Game terminal when the user releases the torque value of the right steering wheel is greater than or equal to the right turning release torque value (Game torque releaseright), the right turning command of the racing Game is continuously inhibited, and the racing car keeps running in a straight line.

In addition, when the steering wheel is returned to the middle position from the left direction until the turning Angle signal of the vehicle-mounted Game terminal is less than or equal to a left turning release turning Angle value (Game Angle ReleaseLeft), the left turning command of the racing car Game is continuously inhibited, and the racing car keeps running in a straight line; when the steering wheel is returned to the right middle position until the vehicle Game terminal turning Angle signal is greater than or equal to the right turning release turning Angle value (Game Angle ReleaseRight), the right turning command of the racing Game is continuously suppressed, and the racing car keeps running straight.

It should be noted that if the leftward torque value (turning angle value) is released to the point where the steering wheel is in the approximate free state, if the rightward torque value is applied, which results in the torque signal value being a negative value and less than the Game torque pressright value, the rightward steering may be caused against the operational intention. Similarly, if the right torque value (turning angle value) is released to the point where the steering wheel is in an approximately free state, if the application of a leftward torque value results in a torque signal value that is positive and greater than the value of the Game torque pressleft, then steering to the left may result against the operational intent.

According to an embodiment of the present invention, the control method of a vehicle described above further includes: and if the steering offset does not return to the second preset threshold value, controlling the controlled object to execute the first type of action command.

Specifically, for the example of controlling the left turn by the torque signal, when the torque value of the left steering wheel released by the user is not less than or equal to a left turn release torque value (Game torque release left), that is, the steering offset does not return to the second preset threshold, the left turn command of the racing Game is not suppressed, and the controlled object is controlled to execute the first type of action command, that is, the racing car is controlled to keep turning left, so that the situation that the controlled object executes the second type of action command when the steering offset does not return to the second preset threshold due to misjudgment is avoided, and the user experience is improved.

It should be noted that the manner of controlling the right turn by the torque signal and controlling the left turn and the right turn by the turn angle signal is the same as that described above, and detailed description is omitted here to avoid redundancy.

It will be appreciated that, when the trend of the change in the steering signal of the steering wheel is in the first state continuously away from the reference position,

when the steering signal is a turning signal, wherein the turning signal is far away from the reference position to the left, the first preset threshold value is Game Angle Pressleft, the turning signal is close to the reference position from the left, and the second preset threshold value is Game Angle ReleaseLeft; moving away from the reference position to the right, the first preset threshold is GameAngle PressRight, moving close to the reference position from the right, and the second preset threshold is Game Angle ReleaseRight;

when the steering signal is a Torque signal, wherein the steering signal is far away from the reference position to the left, the first preset threshold value is Game Torque Pressleft, the steering signal is close to the reference position from the left, and the second preset threshold value is Game Torque ReleaseLeft; the first preset threshold is Game Torque PressRight, the reference position is approached from the right, and the second preset threshold is Game Torque ReleaseRight;

when the steering signal is a turning Angle signal and a Torque signal, wherein the turning signal is far away from the reference position leftwards, the first preset threshold is Game Angle PressLeft and Game Torque PressLeft; approaching the reference position from the left, wherein the second preset threshold is Game Angle ReleaseLeft or Game Torque ReleaseLeft; wherein, the first preset threshold is Game Angle PressRight and Game Torque PressRight; from the right to the reference position, the second preset threshold is Game Angle ReleaseRight or Game Torque ReleaseRight.

In addition, the values of the first preset threshold and the second preset threshold in the embodiment of the invention can be different, so that the steering wheel can be effectively prevented from shaking, and the user experience is improved.

According to an embodiment of the present invention, the control method of a vehicle described above further includes: according to the change trend, identifying that the steering system is switched from the second state to the first state; and detecting and identifying that the steering offset reaches a first preset threshold value, and controlling the controlled object to switch from executing the second type of action instruction to executing the first type of action instruction.

It is understood that the first state may be a state of a trend of the steering system continuously moving away from the reference position, the second state may be a state of a trend of the steering system gradually returning to the reference position, and when it is identified that the steering system is switched from a state of gradually returning to the reference position to a state of continuously moving away from the reference position, the action command executed by the controlled object needs to be switched from the second type of action command to the first type of action command.

Meanwhile, in order to avoid misjudgment caused by shaking of the steering wheel by an experiencer, when the steering system is switched from the state of gradually returning to the reference position to the state of continuously keeping away from the reference position and the steering offset in the state of continuously keeping away from the reference position reaches a first preset threshold value, the controlled object is controlled to be switched from executing the second type of action instruction to executing the first type of action instruction, so that the accuracy and the precision of steering judgment are effectively improved, and the misjudgment is avoided. According to one embodiment of the invention, the controlled object is controlled to continue to execute the second type action command before the steering offset amount does not reach the first preset threshold value.

That is, taking the controlled object as the racing car as an example, assuming that the current racing car is currently in a state of gradually departing from the reference position, if the detected steering offset does not reach the first preset threshold, it indicates that the steering offset may be caused by shaking of the experiencer at this time, and the racing car is kept to continue to execute the second type of action instruction, for example, keep the racing car going straight.

According to one embodiment of the invention, when the steering system is identified to be in a first state continuously far away from a reference position, and the steering signal comprises a torque signal and a corner signal, and when the steering offset is subjected to threshold judgment, data representing the offset in the torque signal and the corner signal simultaneously meet respective thresholds, a first type action command is generated; and when the steering system is identified to be in a second state of continuously and gradually returning to the reference position, under the condition that the steering signal comprises a torque signal and a steering angle signal, and when the steering offset is subjected to threshold judgment, one of data representing the offset in the torque signal and the steering angle signal meets respective threshold, and a second type of action command is generated.

As an example, the integrated control mode is adopted by combining the torque signal and the steering angle signal, as shown in fig. 10, when the steering signal includes the torque signal and the steering angle signal, the control method of the vehicle described above includes the steps of:

and S1101, taking the middle position as the reference of the corner signal, taking the zero torque position as the reference of the torque signal, steering the steering wheel, and acquiring a torque signal value and a corner signal value through the vehicle-mounted game terminal.

S1102, judging whether the rotation Angle signal value is larger than or equal to the Game Angle Press Left and the Torque signal value is larger than or equal to the Game Torque Press Left, if so, executing the step S1104, otherwise, executing the step S1103.

S1103, the racing car runs in a straight line.

S1104, the racing car turns to the left.

And S1105, when the steering wheel returns to the middle position from the left side.

S1106, judging whether the turn Angle signal of the vehicle-mounted Game terminal is less than or equal to the Game Angle Release Left or whether the Torque signal value is less than or equal to the Game Torque Release Left, if so, executing the step S1107, otherwise, executing the step S1104.

S1107, when the steering wheel turns to the Right, the vehicle-mounted Game terminal turning Angle signal value is judged to be less than or equal to the Game Angle Press Right, and whether the Torque signal value is less than or equal to the Game Torque Press Right, if yes, step S1108 is executed, otherwise, step S1103 is executed.

S1108, the racing car turns to the right.

As another example, as shown in fig. 11, when the steering signal includes a torque signal and a steering angle signal, the control method of the vehicle described above includes the steps of:

and S1201, taking the middle position as the reference of the corner signal, taking the zero torque position as the reference of the torque signal, steering the steering wheel, and acquiring the torque signal value and the corner signal value through the vehicle-mounted game terminal.

S1202, determine whether the rotation Angle signal value is less than or equal to the Game Angle Press Right and the Torque signal value is less than or equal to the Game Torque Press Right, if yes, execute step S1204, otherwise, execute step S1203.

S1203, the racing car runs in a straight line.

S1204, the racing car turns to the right.

And S1205, when the steering wheel returns to the middle position from the left direction.

S1206, judging whether the vehicle-mounted Game terminal corner signal is greater than or equal to the Game Angle Release Right or not, or whether the Torque signal value is greater than or equal to the Game Torque Release Right, if so, executing the step S1207, otherwise, executing the step S1204.

S1207, when the steering wheel turns to the Left, judging whether the turning Angle signal value of the vehicle-mounted Game terminal is larger than or equal to the Game Angle Press Left and the Torque signal value is larger than or equal to the Game Torque Press Left, if so, executing a step S1208, otherwise, executing a step S1203.

S1208, the racing car turns to the left.

It should be noted that, if the Right Torque value is applied to the Right direction, the operation intention may be violated to cause the Right direction turning, and similarly, if the Right direction turning is performed to the middle position turning, the operation intention may be violated to cause the Left direction turning if the Torque signal value is applied to the Left direction turning, the operation intention may be violated to cause the Torque signal value to be positive and greater than the certain gain Angle Press Left value.

Therefore, the threshold value can be set according to personal habits, and the problems can be avoided.

According to an embodiment of the present invention, the control method of a vehicle described above further includes: detecting threshold setting operation, and adjusting a default threshold according to the threshold setting operation; or acquiring the operation sensitivity of the vehicle-mounted game, and adjusting a default threshold value according to the sensitivity; or acquiring scene information of the vehicle-mounted game, extracting road surface information from the scene information, and adjusting a default threshold value according to the road surface information; or acquiring the running speed of the game object of the vehicle-mounted game, and adjusting the default threshold according to the running speed.

Specifically, when the default threshold value is adjusted, the embodiments of the present invention can be divided into two categories, namely manual adjustment and automatic adjustment. The automatic adjustment mode can close or open the sub-adjustment items according to actual requirements, so that the user can be guaranteed to meet different individual requirements preferentially by using the manual adjustment mode, and the influence of poor adaptability of the sub-adjustment mode in the automatic adjustment mode is avoided.

In particular, the manual adjustment may be by a physical key/knob adjustment, or a touch screen adjustment.

In one example, the user may manually enter or adjust the default threshold value when adjusting the mode via a physical button/knob. The manual input mode can independently adjust or set the threshold values of the left side and the right side, so that the problem of left-right steering feeling difference caused by actual vehicle assembly difference or left-right tire pressure difference of a steering system is effectively solved.

In another example, when the user adjusts the mode through the touch screen, the user may manually input or adjust the size of the default threshold through a default threshold setting interface of the vehicle-mounted pad. When the corner signal control mode is adopted, a user needs to manually adjust the steering wheel to the middle position to obtain a corner zero point or the steering system automatically rotates to the middle position to obtain a corner zero point value, while when the torque signal control mode is adopted, the user does not need to return to the middle position to obtain a torque zero point, but when the torque control mode is adopted, the user can obtain a torque zero point value by fully releasing hand torque. Related technicians can select two control modes or perform fusion control selection of the two modes according to actual conditions

Wherein, the automatic adjusting mode can be adjusted according to the operation sensitivity of the racing car, or according to the running scene of the racing car, or according to the running speed of the racing car.

In one example, when the operation sensitivity of the racing car is adjusted, the vehicle-mounted pad automatically decreases or increases the corresponding threshold value after receiving the operation sensitivity information fed back by the game according to the adjustment of the operation sensitivity of the racing car game in the setting item. The specific correspondence is that a high sensitivity corresponds to a small positive threshold and a large negative threshold, and a low sensitivity corresponds to a large positive threshold and a small negative threshold.

In another example, when adjusting according to the driving scene of the racing car, the on-board pad may automatically decrease or increase the corresponding threshold value after receiving the driving scene information fed back by the game according to the difference of the road surface on which the racing car is driving, such as the difference of snow, mud, sand, asphalt, or the difference of wet, dry road surface. The specific correspondence relationship is that a high road adhesion coefficient corresponds to a small positive threshold and a large negative threshold, and a low road adhesion coefficient corresponds to a large positive threshold and a small negative threshold.

In another example, when the vehicle pad is adjusted according to the running speed of the racing car, after the vehicle pad receives the running speed information fed back by the game, the vehicle pad automatically decreases or increases the corresponding threshold value. The specific corresponding relationship is that a higher vehicle speed corresponds to a smaller positive threshold and a larger negative threshold, and a lower vehicle speed corresponds to a larger positive threshold and a smaller negative threshold.

Wherein, the default threshold values for Game Angle Pressleft, GameAngleReleaseLeft, Game Angle Pressright, GameAngleReleaseRight, GameTorque Pressleft, GameTorque ReleaseLeft, GameTorque Pressright, GameTorque ReleaseRight may be as shown in Table 1.

TABLE 1

Name of variable	Recommended value
		GameAnglePressLeft
	10°
		GameAngleReleaseLeft	8°
GameAnglePressRight	-10°
		GameAngleReleaseRight	-8°
GameTorquePressLeft	0.5Nm
		GameTorqueReleaseLeft	0.3Nm
GameTorquePressRight	-0.5Nm
		GameTorqueReleaseRight	-0.3Nm

In addition, as shown in table 2, table 2 is a table comparison diagram of advantages and disadvantages of controlling the vehicle through the torque signal, the steering angle signal, the torque signal and the steering angle signal, respectively, and the user can select and set a corresponding control mode according to the driving habit and the game type.

TABLE 2

According to the control method of the vehicle, which is provided by the embodiment of the invention, the steering signal currently output by the steering system on the vehicle can be obtained, the change trend of the steering signal is obtained, and the controlled object in the vehicle-mounted game is controlled to act according to the change trend and the steering signal. From this, realize the execution action control to on-vehicle recreation through make full use of turn signal and turn signal's trend of change, realize accurate control, do not change the original equipment of vehicle simultaneously, accord with some operation habits of recreation, avoid the steering wheel to rock, influence user experience and feel, not only greatly increased user is to the experience enjoyment and the convenience that the recreation was controlled, and has improved user's experience of playing.

Fig. 12 is a block diagram schematically illustrating a control apparatus of a vehicle according to an embodiment of the present invention. As shown in fig. 12, the control device 10 for a vehicle includes: a first acquisition module 100, a second acquisition module 200, and a first control module 300.

The first obtaining module 100 is configured to obtain a steering signal currently output by a steering system on a vehicle, where the steering signal includes at least one of a torque signal and a steering angle signal. The second obtaining module 200 is configured to obtain a trend of the steering signal, where the trend is used to characterize that the steering system moves away from or returns to the reference position. The first control module 300 is used for controlling the controlled object in the vehicle-mounted game to act according to the change trend and the steering signal. According to an embodiment of the invention, the first control module 300 is further configured to: according to the variation trend, identifying that the steering system is in a first state continuously far away from the reference position; identifying the steering direction and the steering offset of a steering system according to the steering signal; and generating a first type of action command of the controlled object according to the steering direction and the steering offset of the steering system.

According to an embodiment of the present invention, before generating the first type of motion instruction of the controlled object, the first control module 300 is further configured to: determining that the steering offset reaches a first preset threshold value.

According to an embodiment of the present invention, the control device 10 for a vehicle further includes: and a second control module. And the second control module is used for controlling the controlled object to execute the second type of action instruction if the steering offset does not reach the first preset threshold value.

According to an embodiment of the present invention, the control device 10 for a vehicle further includes: the device comprises a first identification module and a generation module. The first identification module is used for identifying a second state that the steering system is in a gradual return reference position according to the change trend. And the generating module is used for generating a second type of action instruction of the controlled object according to the steering direction and the steering offset of the steering system.

According to an embodiment of the present invention, the control device 10 for a vehicle further includes: and a third control module. And the third control module is used for identifying that the steering offset does not return to a second preset threshold value, and controlling the controlled object to execute the first type of action command.

According to an embodiment of the present invention, the control device 10 for a vehicle further includes: the device comprises a second identification module and a fourth control module. The second identification module is used for identifying that the steering system is switched from the second state to the first state according to the change trend. And the fourth control module is used for detecting and recognizing that the steering offset reaches a first preset threshold value, and controlling the controlled object to switch from executing the second type of action instruction to executing the first type of action instruction.

According to an embodiment of the present invention, the control device 10 for a vehicle further includes: and a fifth control module. And the fifth control module is used for controlling the controlled object to continuously execute the action command before the second type before the steering offset does not reach the first preset threshold.

According to one embodiment of the invention, when the steering system is identified to be in a first state continuously far away from a reference position, and the steering signal comprises a torque signal and a corner signal, and when the steering offset is subjected to threshold judgment, data representing the offset in the torque signal and the corner signal need to simultaneously meet respective thresholds, a first type action command is generated; and when the steering system is identified to be in a second state of continuously and gradually returning to the reference position, under the condition that the steering signal comprises a torque signal and a steering angle signal, and when the steering offset is subjected to threshold judgment, one of data representing the offset in the torque signal and the steering angle signal meets respective threshold, and a second type of action command is generated.

According to an embodiment of the present invention, the control device 10 for a vehicle further includes: the adjusting module is used for detecting threshold setting operation and adjusting the default threshold according to the threshold setting operation; or acquiring the operation sensitivity of the vehicle-mounted game, and adjusting a default threshold value according to the sensitivity; or acquiring scene information of the vehicle-mounted game, extracting road surface information from the scene information, and adjusting a default threshold value according to the road surface information; or acquiring the running speed of the game object of the vehicle-mounted game, and adjusting the default threshold according to the running speed.

It should be noted that the foregoing explanation of the embodiment of the control method for the vehicle is also applicable to the control device for the vehicle in this embodiment, and the details are not repeated here.

According to the control device of the vehicle, which is provided by the embodiment of the invention, the steering signal currently output by the steering system on the vehicle can be acquired through the first acquisition module, the change trend of the steering signal is acquired through the second acquisition module, and the controlled object in the vehicle-mounted game is controlled to act through the first control module according to the change trend and the steering signal. From this, realize the execution action control to on-vehicle recreation through make full use of turn signal and turn signal's trend of change, realize accurate control, avoid the steering wheel to rock, influence user experience and feel, do not change the original equipment of vehicle simultaneously, accord with some operation habits of recreation, not only greatly increased user is to the experience enjoyment and the convenience that the recreation was controlled, and has improved user's experience of playing.

As shown in fig. 13, an embodiment of the present invention proposes a vehicle 20 including the control device 10 of the vehicle described above.

According to the vehicle provided by the embodiment of the invention, through the control device of the vehicle, the execution action control of the vehicle-mounted game is realized by fully utilizing the steering signal and the variation trend of the steering signal, the accurate control is realized, the shaking of the steering wheel is avoided, the user experience is not influenced, meanwhile, the original equipment of the vehicle is not changed, some operation habits of the game are met, the experience pleasure and the convenience of the user in game control are greatly increased, and the playing experience of the user is improved.

The embodiment of the invention provides electronic equipment, which comprises a memory and a processor; the processor reads the executable program codes stored in the memory to run programs corresponding to the executable program codes, so as to realize the control method of the vehicle.

An embodiment of the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the control method of the vehicle described above.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

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 control method of a vehicle, characterized by comprising the steps of:

acquiring a steering signal currently output by a steering system on a vehicle, wherein the steering signal comprises at least one of a torque signal and a corner signal;

acquiring a variation trend of the steering signal, wherein the variation trend is used for representing that the steering system is far away from or returns to a reference position;

and controlling the controlled object in the vehicle-mounted game to act according to the change trend and the steering signal.

2. The method according to claim 1, wherein the controlling the controlled object in the in-vehicle game to perform the action according to the variation trend and the steering signal further comprises:

according to the change trend, identifying that the steering system is in a first state continuously far away from a reference position;

identifying the steering direction and the steering offset of the steering system according to the steering signal;

and generating a first type of action command of the controlled object according to the steering direction and the steering offset of the steering system.

3. The method according to claim 2, wherein before generating the first type of action instruction of the controlled object, the method further comprises:

and determining that the steering offset reaches a first preset threshold value.

4. The method of claim 3, further comprising:

and if the steering offset is determined not to reach a first preset threshold value, controlling the controlled object to execute a second type action instruction.

5. The method of claim 4, further comprising:

according to the change trend, identifying a second state that the steering system is in a gradual return reference position;

and generating a second type action command of the controlled object according to the steering direction and the steering offset of the steering system.

6. The method according to claim 5, wherein before generating the second type of action instruction of the controlled object, further comprising:

and determining that the steering offset amount regresses to a second preset threshold value.

7. The method of claim 6, further comprising:

and if the steering offset does not return to the second preset threshold value, controlling the controlled object to execute a first type of action instruction.

8. The method of claim 7, further comprising:

according to the change trend, identifying that the steering system is switched from the second state to the first state;

and if the steering offset is detected and recognized to reach a first preset threshold value, controlling the controlled object to be switched from executing the second type of action instruction to executing the first type of action instruction.

9. The method of claim 8, further comprising:

and controlling the controlled object to continue executing the second type of action instruction before the steering offset does not reach a first preset threshold value.

10. The method according to any one of claims 1 to 9,

when the steering system is identified to be in a first state continuously far away from a reference position, under the condition that the steering signal comprises the torque signal and the corner signal, and when the steering offset is subjected to threshold judgment, data representing the offset in the torque signal and the corner signal need to meet respective thresholds at the same time, and then a first type of action instruction is generated;

and when the steering system is identified to be in a second state of continuously and gradually returning to the reference position, and the steering signal comprises the torque signal and the steering angle signal, when the steering offset is subjected to threshold judgment, one of data representing the offset in the torque signal and the steering angle signal meets respective threshold, and then a second type of action command is generated.

11. The method of claim 10, further comprising:

detecting threshold setting operation, and adjusting a default threshold according to the threshold setting operation; alternatively, the first and second electrodes may be,

acquiring the operation sensitivity of the vehicle-mounted game, and adjusting a default threshold value according to the sensitivity; alternatively, the first and second electrodes may be,

acquiring scene information of the vehicle-mounted game, extracting road surface information from the scene information, and adjusting a default threshold value according to the road surface information; alternatively, the first and second electrodes may be,

and acquiring the running speed of a game object of the vehicle-mounted game, and adjusting a default threshold value according to the running speed.

12. A control apparatus of a vehicle, characterized by comprising:

the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a steering signal currently output by a steering system on the vehicle, and the steering signal comprises at least one of a torque signal and a corner signal;

the second acquisition module is used for acquiring a variation trend of the steering signal, wherein the variation trend is used for representing that the steering system is far away from or returns to a reference position;

and the first control module is used for controlling the controlled object in the vehicle-mounted game to act according to the change trend and the steering signal.

13. A vehicle, characterized by comprising: the control device of a vehicle according to claim 12.

14. An electronic device comprising a memory, a processor;

wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the control method of the vehicle according to any one of claims 1 to 11.

15. A computer-readable storage medium, in which a computer program is stored, which program, when being executed by a processor, is characterized by carrying out a control method of a vehicle according to any one of claims 1-11.