CN117622046A

CN117622046A - Vehicle control method and device, vehicle and storage medium

Info

Publication number: CN117622046A
Application number: CN202311657111.5A
Authority: CN
Inventors: 孙晖云; 赵永坡; 王东东; 郝同舟; 任增光; 高思佳
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2023-12-05
Filing date: 2023-12-05
Publication date: 2024-03-01

Abstract

The application provides a control method and device of a vehicle, the vehicle and a storage medium. Since the target authentication operation is set by the target user having the control authority of the vehicle and the user not having the control authority of the vehicle does not know the target authentication operation, the user can be identified by whether the unlock authentication operation input by the user matches the target authentication operation. When the unlock authentication operation does not match the target authentication operation, it is determined that the user is likely to be a user who illegally starts the vehicle, and at this time, the steer-by-wire function is controlled to remain in a locked state so that the user cannot normally use the steer-by-wire function. The scheme can identify the user who starts the vehicle, when the unlocking authentication operation of the user is not matched with the target authentication operation, the user is considered to be an illegal user, and the illegal user is prevented from starting the vehicle through the locking steer-by-wire function, so that the vehicle is prevented from being stolen greatly. The scheme can effectively prevent the vehicle from being stolen.

Description

Vehicle control method and device, vehicle and storage medium

Technical Field

The present application relates to the field of vehicles, and more particularly, to a control method, apparatus, vehicle, and storage medium of a vehicle in the field of vehicles.

Background

Vehicles are becoming more popular as people's living standard and income are increasing. But with the consequent frequency of vehicle theft events.

Vehicles in the related art all have a vehicle body anti-theft function, and when a matching key is not detected, a door or an engine compartment cover is opened, and the vehicle performs anti-theft alarm operations such as flashing lights, whistling and the like. But the prior art cannot prevent an illegal user from driving away the vehicle.

Disclosure of Invention

The application provides a control method and device for a vehicle, the vehicle and a storage medium.

In a first aspect, there is provided a control method of a vehicle, the method including: responding to the starting operation of the vehicle, outputting first reminding information, wherein the first reminding information is used for reminding a user on the vehicle to unlock and authenticate the steer-by-wire function of the vehicle; determining whether the unlocking authentication operation is matched with a target authentication operation set by a target user in response to the unlocking authentication operation of the user, wherein the target user is a user with control authority of the vehicle; in the case where the unlock authentication operation does not match the target authentication operation, the control-by-wire steering function maintains the locked state.

According to the technical scheme, after the user starts the vehicle, the vehicle can output reminding information to remind the vehicle user to unlock and authenticate the steering-by-wire function of the vehicle. After the user inputs the unlocking authentication operation, the vehicle compares the unlocking authentication operation with the target authentication operation to determine whether the unlocking authentication operation is matched with the target authentication operation set by the target user; in the case where the unlock authentication operation does not match the target authentication operation, the control-by-wire steering function maintains the locked state. Since the target authentication operation is set by the target user having the control authority of the vehicle and the user not having the control authority of the vehicle does not know the target authentication operation, the user can be identified by whether the unlock authentication operation input by the user matches the target authentication operation. When the unlock authentication operation does not match the target authentication operation, it is determined that the user is likely to be a user who illegally starts the vehicle, and the control steer-by-wire function is kept in a locked state at this time so that the user cannot normally use the control steer-by-wire function of the vehicle. That is, according to the scheme, any user who starts the vehicle can be identified, when the unlocking authentication operation of the user is not matched with the target authentication operation, the user is considered to be an illegal user, and the illegal user is prevented from starting the vehicle through the locking steer-by-wire function, so that the vehicle is prevented from being stolen greatly. The scheme can effectively prevent the vehicle from being stolen.

With reference to the first aspect, in some possible implementations, determining whether the unlock authentication operation matches a target authentication operation set by a target user includes: under the condition that the similarity between the unlocking authentication operation and the target authentication operation is greater than or equal to the preset similarity, determining that the unlocking authentication operation is matched with the target authentication operation; and under the condition that the similarity is smaller than the preset similarity, determining that the unlocking authentication operation is not matched with the target authentication operation.

According to the technical scheme, whether the unlocking authentication operation is matched with the target authentication operation or not is determined according to whether the similarity between the unlocking authentication operation and the target authentication operation exceeds the preset similarity, the probability that the unlocking authentication operation is matched with the target authentication operation can be increased to a certain extent, the success rate of unlocking the steer-by-wire function by a target user is increased, the unlocking authentication operation of a user who illegally starts the vehicle can be prevented from being matched with the target authentication operation to a great extent, and the situation that the vehicle is stolen when the steer-by-wire function is available can be further prevented.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the unlocking authentication operation and the target authentication operation are operations completed by touching a vehicle component, and when the similarity is greater than or equal to a preset similarity, determining that the unlocking authentication operation matches the target authentication operation includes: determining that the unlocking authentication operation is matched with the target authentication operation when the time difference between the touch duration corresponding to the unlocking authentication operation and the touch duration corresponding to the target authentication operation is smaller than or equal to a preset time difference; and/or determining that the unlocking authentication operation is matched with the target authentication operation when the position deviation between the touch position corresponding to the unlocking authentication operation and the touch position corresponding to the target authentication operation is smaller than or equal to the preset position deviation.

In the above technical solution, taking the operation that the target authentication operation and the unlock authentication operation are completed by touching a vehicle component as an example, a determination process that the unlock authentication operation matches the target authentication operation is described. Specifically, the unlocking authentication operation is determined to be matched with the target authentication operation by determining whether the touch duration corresponding to the two operations and/or the touch position corresponding to the two operations are similar. Whether the unlocking authentication operation is matched with the target authentication operation or not is judged through the plurality of dimensions (touch duration and/or touch position), and accuracy of a judgment result can be improved.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the steer-by-wire function is implemented by a steer-by-wire system in the vehicle, where the steer-by-wire system includes a steering column and a steering gear, and before outputting the first alert information in response to a start operation of the vehicle, the method further includes: in response to a locking operation of the steer-by-wire function, adjusting a direction of steering assist force provided by an assist motor on the steering column to a direction opposite to a rotational direction of a steering wheel; or, decoupling the steering column and the steering gear so that the wheels associated with the steering gear do not rotate with the steering wheel to which the steering column is connected.

In the above technical solution, the locking of the steer-by-wire function is equivalent to before the first reminding information is output in response to the starting operation of the vehicle. Specifically, the direction of steering assist force provided by a assist motor on a steering column in a steer-by-wire system is adjusted to be opposite to the direction of rotation of a steering wheel in the vehicle. This can make the user who illegally starts the vehicle unable to easily turn the steering wheel with a small force, increase the difficulty of the user using the vehicle, and reduce the probability of the vehicle being stolen to a certain extent. Decoupling the steering column and the steering gear may cause the wheels associated with the steering gear to not rotate with the steering wheel to which the steering column is coupled. The scheme can greatly reduce the probability of the vehicle being stolen.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, after the controlling the steer-by-wire function to maintain the locked state, the method further includes: responding to the rotation operation of the user on the steering wheel in the vehicle, and determining the rotation direction of the steering wheel under the condition that the moment of the user rotating the steering wheel is larger than a preset moment; without decoupling the steering column and the steering gear, the wheels in the vehicle are controlled to rotate in a first direction that is opposite to the direction of rotation of the steering wheel.

In the above technical solution, when the unlock authentication operation is not matched with the target authentication operation, after the steer-by-wire function is controlled to maintain the locked state, if the user is detected to rotate the steering wheel and the torque for rotating the steering wheel is greater than the preset torque, the rotation direction of the steering wheel is determined at this time, and the wheel is controlled to rotate in the direction opposite to the rotation direction. That is, if there is a user turning the steering wheel with a large moment when the steering wheel is not easily turned, the wheel can be controlled to be turned in a direction opposite to the turning direction. The rotation direction of the wheels is inconsistent with the rotation direction of the steering wheel in the process, and the driving habit of people is not met, so that the difficulty of the user in using the vehicle can be further increased, and the probability of the vehicle being stolen is greatly reduced.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the method further includes: unlocking the steer-by-wire function under the condition that the unlocking authentication operation is matched with the target authentication operation; under the condition that the steer-by-wire function is successfully unlocked, outputting second reminding information, wherein the second reminding information is used for reminding the user that the steer-by-wire function can be normally used.

In the above technical solution, in the case that the unlock authentication operation is matched with the target authentication operation, it can be inferred that the user is a target user who knows the target authentication operation. At this time, the vehicle unlocks the steer-by-wire function, so that information for reminding the user that the steer-by-wire function can be normally used is output under the condition that the unlocking is successful. That is, the scheme can not only prevent the vehicle from being stolen by the user who illegally starts the vehicle to a great extent, but also enable the target user (the user who has the control authority of the vehicle) to normally use the steer-by-wire function.

With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, unlocking the steer-by-wire function includes: adjusting the direction of steering assist provided by a steering column assist motor to the direction of rotation of a steering wheel in the vehicle; or, the steering column and a steering gear in the steer-by-wire system are coupled such that wheels associated with the steering gear follow a steering wheel to which the steering column is connected.

In the technical scheme, the steer-by-wire function is unlocked in two ways. Specifically, the direction of the steering assist force provided by the assist motor on the steering column is adjusted to the direction of rotation of the steering wheel in the vehicle. This can allow the target user to easily turn the steering wheel with less effort, increasing the target user's ride experience. Coupling the steering column and the steering gear causes the wheels associated with the steering gear to follow the steering wheel to which the steering column is connected. The scheme can enable the target user to normally use the steer-by-wire function to drive.

In a second aspect, there is provided a control device of a vehicle, the device including: the output module is used for responding to the starting operation of the vehicle and outputting first reminding information, wherein the first reminding information is used for reminding a user on the vehicle to unlock and authenticate the steer-by-wire function of the vehicle; the determining module is used for responding to the unlocking authentication operation of the user and determining whether the unlocking authentication operation is matched with the target authentication operation set by a target user, wherein the target user is a user with the control authority of the vehicle; and the control module is used for controlling the steer-by-wire function to keep a locked state under the condition that the unlocking authentication operation is not matched with the target authentication operation.

With reference to the second aspect, in some possible implementations, the determining module is specifically configured to: under the condition that the similarity between the unlocking authentication operation and the target authentication operation is greater than or equal to the preset similarity, determining that the unlocking authentication operation is matched with the target authentication operation; and under the condition that the similarity is smaller than the preset similarity, determining that the unlocking authentication operation is not matched with the target authentication operation.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the unlocking authentication operation and the target authentication operation are operations completed by touching a vehicle component, and the determining module is specifically further configured to: determining that the unlocking authentication operation is matched with the target authentication operation when the time difference between the touch duration corresponding to the unlocking authentication operation and the touch duration corresponding to the target authentication operation is smaller than or equal to a preset time difference; and/or determining that the unlocking authentication operation is matched with the target authentication operation when the position deviation between the touch position corresponding to the unlocking authentication operation and the touch position corresponding to the target authentication operation is smaller than or equal to the preset position deviation.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the steer-by-wire function is implemented by a steer-by-wire system in the vehicle, where the steer-by-wire system includes a steering column and a steering gear, and before outputting the first alert information in response to a start operation of the vehicle, the apparatus further includes: an adjustment module for adjusting a direction of steering assist force provided by the assist motor on the steering column to a direction opposite to a rotation direction of the steering wheel in response to a locking operation of the steer-by-wire function; or, the apparatus further comprises: and the decoupling module is used for decoupling the steering column and the steering gear so that wheels associated with the steering gear do not rotate along with a steering wheel connected with the steering column.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, after the steering-by-wire function is controlled to maintain the locked state, the determining module is further configured to determine, in response to a turning operation of a steering wheel in the vehicle by the user, a turning direction of the steering wheel when a moment of the user turning the steering wheel is greater than a preset moment; the control module is also configured to control rotation of wheels in the vehicle in a first direction that is opposite to a direction of rotation of the steering wheel without decoupling the steering column and the steering gear.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the apparatus further includes: the unlocking module is used for unlocking the steer-by-wire function under the condition that the unlocking authentication operation is matched with the target authentication operation; the output module is used for outputting second reminding information under the condition that the steer-by-wire function is successfully unlocked, and the second reminding information is used for reminding the user that the steer-by-wire function can be normally used.

With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the unlocking module is specifically configured to: adjusting the direction of steering assist provided by a steering column assist motor to the direction of rotation of a steering wheel in the vehicle; or, the steering column and a steering gear in the steer-by-wire system are coupled such that wheels associated with the steering gear follow a steering wheel to which the steering column is connected.

In a third aspect, there is provided a vehicle comprising a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor, when executing the computer program, causes the vehicle to perform the method of the first aspect or any one of the possible implementations of the first aspect.

In a fourth aspect, a computer readable storage medium is provided, in which instructions are stored which, when run on a computer or processor, cause the computer or processor to perform the method of the first aspect or any one of the possible implementations of the first aspect.

Drawings

Fig. 1 is a schematic diagram of a steer-by-wire system according to an embodiment of the present disclosure;

FIG. 2 is a schematic flow chart of a control method of a vehicle provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of a determination of whether an unlock authentication operation and a target authentication operation match provided herein;

FIG. 4 is a schematic diagram of another determination provided herein of whether an unlock authentication operation and a target authentication operation match;

FIG. 5 is a schematic illustration of a scenario for controlling wheel rotation provided by an embodiment of the present application;

FIG. 6 is a schematic flow chart of a control vehicle provided in an embodiment of the present application;

fig. 7 is a schematic structural view of a control device for a vehicle according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Detailed Description

The technical solutions in the present application will be clearly and thoroughly described below with reference to the accompanying drawings. Wherein, in the description of the embodiments of the present application, "a plurality" means two or more than two. The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as implying or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.

The steering-by-wire system cancels a mechanical connecting part between a steering wheel module and a steering execution module in the traditional steering system, converts the detected steering intention of the wheels into digital signals, and transmits the digital signals to a steering controller, so that the steering controller controls the wheels to finish the steering process. The steering-by-wire system cancels the mechanical connecting part between the steering wheel module and the steering execution module, prevents the damage of the mechanical connecting part to a driver in a traffic accident, and can greatly improve the safety running performance of the vehicle by the steering-by-wire technology.

The steering wheel module comprises steering wheels, steering columns, a power-assisted motor, a rotating speed sensor, a rotating angle sensor, a road sensing motor, a speed reducing mechanism and other vehicle components; the steer-by-wire execution module comprises a steering gear, wheels, a steering motor, a speed reducing mechanism and other vehicle components, and the steer-by-wire system further comprises a steering controller, a power supply and other components.

Wherein, for the steering wheel module, the steering wheel is used for receiving steering operation of a driver; the steering column is connected with a steering wheel and is used for controlling the advancing direction of a vehicle and transmitting the torque of the steering wheel; the rotation angle sensor and the rotation speed sensor are used for determining the rotation angle and the rotation speed of the steering wheel; the booster motor can provide auxiliary force in the same direction as the rotation direction of the steering wheel when the steering wheel rotates, so that a driver can rotate the steering wheel more easily; the road sensing motor is a motor for improving road sensing (sensing capability of a road) for a driver in the process of driving a vehicle; the reduction mechanism can play a decisive role when the driver needs to control the vehicle to stop or slow down.

For the steer-by-wire execution module, the steering column is connected with the steering device through a wire, and the steering column sends the vehicle steering intention of the digital signal to the steering controller through the wire; the steering controller drives the wheels to rotate by corresponding rotation angles based on the steering intention of the vehicle through the steering device. Wherein the steering motor and the reduction mechanism are used for overcoming steering resistance.

The steering controller is used for determining the rotation angle and the rotation direction of the wheels based on the rotation angle of the steering wheel, and sending control signals (vehicle steering intention) for controlling the rotation of the wheels by the rotation angle and the rotation direction to the steering gear, so that the steering gear drives the wheels to rotate by the rotation angle in the rotation direction. In addition, the power source may be a whole vehicle power source in the vehicle.

Fig. 1 is a schematic diagram of a steer-by-wire system according to an embodiment of the present application.

As illustrated in fig. 1, the steer-by-wire system of the vehicle illustrated in fig. 1 includes a steering wheel module including a steering wheel, a steering column, a rotation angle sensor, and a rotation speed sensor, and a steer-by-wire execution module including a steering. The whole vehicle controller senses the rotation operation of a user on the steering wheel through the steering column, and determines the rotation angle of the steering wheel through the rotation angle sensor and the rotation speed sensor. The vehicle controller determines a target rotation angle of the wheel based on the rotation angle of the steering wheel and a transmission ratio between the steering wheel and the wheel. The whole vehicle controller sends a control signal for controlling the wheels to rotate by the target rotation angle to the steering gear through a whole vehicle controller local area network (Controller Area Network, CAN) line. The steering gear drives the wheel to rotate the target rotation angle in the same direction as the rotation direction of the steering wheel.

It should be understood that the whole car CAN line in the scheme is used for signal interaction between the steer-by-wire system and the whole car controller, and the private CAN line is used for signal interaction in the steer-by-wire system.

Fig. 2 is a schematic flowchart of a control method of a vehicle provided in an embodiment of the present application.

It should be understood that the control method of the vehicle provided in the embodiment of the present application may be applied to the vehicle shown in fig. 1. Specifically, the control method of the vehicle can be applied to a whole vehicle controller in the vehicle.

Illustratively, as shown in FIG. 2, the method 200 includes:

in step 201, the vehicle controller responds to a starting operation of the vehicle and outputs first reminding information, wherein the first reminding information is used for reminding a user on the vehicle to unlock and authenticate a steer-by-wire function of the vehicle.

It should be understood that the "steer-by-wire function" in step 201 is implemented by the steer-by-wire system in the vehicle, and refers to a function that the steering wheel module in the steer-by-wire system sends the steering intention of the vehicle with the digital signal to the steering device in the steering execution module through the wire between the steering wheel module and the steering execution module, so that the steering device drives the wheels to rotate based on the steering intention of the vehicle. That is, the steer-by-wire function is a function of controlling the steering of the wheels by an electric signal to achieve the steering of the vehicle.

It should be further understood that "unlock and authenticate the steer-by-wire function of the vehicle" in the above step 201 means that the steer-by-wire function of the vehicle is locked (locked) currently, and the user needs to unlock the steer-by-wire function, and after the unlock is successful, the user can use the steer-by-wire function to realize the steering of the vehicle.

In some embodiments, the start operation includes an ignition start operation to turn a physical key or a trigger operation to a smart key for starting the vehicle.

In some embodiments, step 201 comprises: the vehicle controller responds to the starting operation of the vehicle, and displays first reminding information on a central control screen of the vehicle or plays the first reminding information through voice output equipment of the vehicle.

In some embodiments, step 201 comprises: the vehicle control unit responds to the starting operation of the vehicle and determines whether the vehicle has a driving intention or not; and under the condition that the vehicle has a driving intention, the whole vehicle controller outputs first reminding information.

In the technical scheme, after the vehicle controller detects that the vehicle is started, whether the vehicle has a driving intention or not is determined; under the condition that the vehicle has a driving intention, the whole vehicle controller outputs reminding information for unlocking and authenticating the steering-by-wire function of the vehicle. This process can avoid the situation where the user starts the vehicle, does not turn the vehicle away, does not use the steer-by-wire function, and can use only the vehicle components on the vehicle.

In some embodiments, the method for determining that the vehicle has a driving intention includes any one of the following: under the condition that the starting of a navigation system in the vehicle is detected, the whole vehicle controller determines that the vehicle has a driving intention; under the condition that the steering wheel in the vehicle is detected to be touched by the hand of a user, the whole vehicle controller determines that the vehicle has a driving intention; in the case where it is detected that the shift position in the vehicle is shifted from the park or neutral position to the running shift position, the vehicle control unit determines that the vehicle has a running intention.

It will be appreciated that navigation systems are typically used to navigate a destination or to control steering wheel rotation using a hand when a user has a need to drive. Thus, it may be determined that the vehicle has a traveling intention by detecting that a navigation system in the vehicle is turned on or a steering wheel is touched by a user's hand.

In some embodiments, the steering wheel is provided with a temperature sensor, and the method for determining the touch of the steering wheel by the hand of the user comprises the following steps: and under the condition that the temperature of the surface of the steering wheel is detected to be in a hand temperature range by the temperature sensor, the whole vehicle controller determines that the steering wheel is touched by a hand of a user.

In some embodiments, the driving range includes any one of a forward range and a reverse range.

In a possible implementation, the steer-by-wire function is implemented by a steer-by-wire system in the vehicle, the steer-by-wire system comprising a steering column and a steering gear, the method 200 further comprising, prior to step 201: the whole vehicle controller responds to the locking operation of the steering-by-wire function and adjusts the direction of steering power provided by a power-assisted motor on the steering column to be opposite to the rotating direction of a steering wheel; or the whole vehicle controller decouples the steering column and the steering gear so that wheels associated with the steering gear do not rotate along with a steering wheel connected with the steering column.

It should be understood that the "locking operation" in the above-described scheme may be understood as an operation of locking the steer-by-wire function so that the steer-by-wire function cannot be used normally. Because the steer-by-wire system cancels the mechanical connection component between the steering wheel module and the steer-by-wire execution module, the locking operation of the steer-by-wire function can be regarded as a soft locking operation in the application, and the rotation relation among a plurality of vehicle components in the steer-by-wire system is adjusted so as to achieve the process that the wheels do not rotate along with the steering wheel, and the position relation of each vehicle component in the steer-by-wire system is not changed.

In the above technical solution, the locking of the steer-by-wire function is equivalent to before the first reminding information is output in response to the starting operation of the vehicle. Specifically, the direction of steering assist force provided by an assist motor on a steering column in a steer-by-wire system is adjusted to be opposite to the direction of rotation of a steering wheel. This can make the user who illegally starts the vehicle unable to easily turn the steering wheel with a small force, increase the difficulty of the user using the vehicle, and reduce the probability of the vehicle being stolen to a certain extent. Decoupling the steering column and the steering gear may cause the wheels associated with the steering gear to not rotate with the steering wheel to which the steering column is coupled. The scheme can greatly reduce the probability of the vehicle being stolen.

In some embodiments, the locking operation of the steer-by-wire function is an operation of locking the vehicle.

In some embodiments, the steer-by-wire function may be locked upon detecting that a door of the vehicle is closed and that no user is present on the vehicle for a first preset period of time.

In some embodiments, the vehicle controller decouples the steering column and the steering gear, comprising: the whole vehicle controller adjusts a target transmission ratio between a rotation angle when the wheel rotates and a rotation angle when the steering wheel rotates to a preset transmission ratio.

Optionally, the preset gear ratio is 0:N.

It should be appreciated that the target gear ratio is a gear ratio that meets a reasonable range and that the target gear ratio cannot be too small or too large. The larger the target transmission ratio is, the smaller the rotation angle of the steering wheel is, the larger the rotation angle of the wheels is, the more agile and flexible steering reaction of the vehicle is, and the situation of out-of-control steering of the vehicle exists. The smaller the target gear ratio, the smaller the turning angle of the steering wheel, the smaller the turning angle of the wheels, and the steering reaction of the vehicle becomes very sluggish, resulting in a decrease in the drivability of the vehicle.

In the technical scheme, the whole vehicle controller adjusts the target transmission ratio between the rotation angle of the wheel and the rotation angle of the steering wheel to be 0:N, so that a user who illegally starts the vehicle cannot use the steer-by-wire function at all. The scheme can effectively avoid the vehicle from being stolen.

In some embodiments, the target gear ratio is 1:12 in the case where the vehicle is a bus.

In some embodiments, where the vehicle is a small car, the target gear ratio is 1:8.

In other embodiments, the vehicle control unit may decouple the steering column and the steering device without responding to the turning operation of the steering wheel.

Step 202, the vehicle controller responds to the unlocking authentication operation of the user, and determines whether the unlocking authentication operation is matched with the target authentication operation set by the target user, wherein the target user is a user with the control authority of the vehicle.

It should be appreciated that the "target user" in step 202 described above may be the owner of the vehicle, friends or family of the vehicle.

In a possible implementation manner, the determining in step 202 whether the unlock authentication operation matches the target authentication operation set by the target user includes: under the condition that the similarity between the unlocking authentication operation and the target authentication operation is greater than or equal to the preset similarity, the whole vehicle controller determines that the unlocking authentication operation is matched with the target authentication operation; and under the condition that the similarity is smaller than the preset similarity, the whole vehicle controller determines that the unlocking authentication operation is not matched with the target authentication operation.

It should be understood that the similarity between the unlock authentication operation and the target authentication operation is used to describe the similarity of the unlock authentication operation and the target authentication operation. Different authentication operations, the similarity between the unlocking authentication operation and the target authentication operation is determined to be different, and the method and the device are described in detail in a later scheme.

In some embodiments, the unlock authentication operation and the target authentication operation are an authentication operation performed by a gesture (gesture authentication operation for short), an authentication operation performed by outputting a keyword (keyword authentication operation for short), an operation performed by touching a vehicle component (touch authentication operation for short).

The procedure of whether or not the different authentication operations match the target authentication operation is described in detail as follows.

First kind: gesture authentication operations

For the gesture authentication operation, in some embodiments, the unlocking authentication operation and the target authentication operation are authentication operations completed through a gesture, and the vehicle controller determines whether the unlocking authentication operation and the target authentication operation are matched by comparing whether the similarity between the gesture corresponding to the unlocking authentication operation and the gesture corresponding to the target authentication operation is greater than or equal to a first similarity.

In some embodiments, the vehicle controller determines a similarity between a gesture corresponding to the unlock authentication operation and a gesture corresponding to the target authentication operation by a positional deviation between a position of a plurality of reference points on the hand in the gesture corresponding to the unlock authentication operation and a position of a plurality of reference points on the hand in the gesture corresponding to the target authentication operation.

In some embodiments, the plurality of reference points are nail caps on respective fingers on the hand.

Specifically, by comparing whether the similarity between the gesture corresponding to the unlock authentication operation and the gesture corresponding to the target authentication operation is greater than or equal to the first similarity, the vehicle controller determines whether the unlock authentication operation is matched with the target authentication operation set by the target user, including: when the similarity between the gesture corresponding to the unlocking authentication operation and the gesture corresponding to the target authentication operation is greater than or equal to the first similarity, the whole vehicle controller determines that the unlocking authentication operation is matched with the target authentication operation; and under the condition that the similarity between the gesture corresponding to the unlocking authentication operation and the gesture corresponding to the target authentication operation is smaller than the first similarity, the whole vehicle controller determines that the unlocking authentication operation is not matched with the target authentication operation.

In other embodiments, the overall vehicle controller determines whether the unlock authentication operation matches the target authentication operation by comparing whether a similarity between a gesture corresponding to the unlock authentication operation and a gesture corresponding to the target authentication operation exceeds a first similarity, and whether a time difference between a gesture duration corresponding to the unlock authentication operation and a gesture duration corresponding to the target authentication operation does not exceed a preset duration.

Specifically, by comparing whether the similarity between the gesture corresponding to the unlocking authentication operation and the gesture corresponding to the target authentication operation is greater than or equal to the first similarity, and whether the time difference between the gesture duration corresponding to the unlocking authentication operation and the gesture duration corresponding to the target authentication operation is less than or equal to the preset duration, the whole vehicle controller determines whether the unlocking authentication operation and the target authentication operation are matched, including: when the similarity between the gesture corresponding to the unlocking authentication operation and the gesture corresponding to the target authentication operation is greater than or equal to the first similarity, and the time difference between the gesture duration corresponding to the unlocking authentication operation and the gesture duration corresponding to the target authentication operation is less than or equal to the preset duration, the whole vehicle controller determines that the unlocking authentication operation is matched with the target authentication operation; and under the condition that the similarity between the gesture corresponding to the unlocking authentication operation and the gesture corresponding to the target authentication operation is smaller than the first similarity, and the time difference between the gesture duration corresponding to the unlocking authentication operation and the gesture duration corresponding to the target authentication operation is larger than the preset duration, the whole vehicle controller determines that the unlocking authentication operation is not matched with the target authentication operation.

Fig. 3 is a schematic diagram of determining whether an unlock authentication operation and a target authentication operation match.

For example, the procedure of whether the unlock authentication operation and the target authentication operation match is described with the operations that the unlock authentication operation and the target authentication operation are performed by a gesture of a gesture, the target authentication operation is an operation in which the palm is open, the back of the hand faces the face (particularly as shown in (a) of fig. 3) and lasts for a first target period of time 5s, the unlock authentication operation is an operation in which the back of the hand faces the face (particularly as shown in (b) of fig. 3) and lasts for a first period of time 5.1s, the preset duration of time is 0.2, and the first similarity is 0.8 as an example.

The vehicle controller determines that the similarity between the gesture corresponding to the unlocking authentication operation and the gesture corresponding to the target authentication operation is 0.9 and is greater than the first similarity by 0.8, and the time difference between the gesture duration 5.1 corresponding to the unlocking authentication operation and the gesture duration 5 corresponding to the target authentication operation is 0.1 and is smaller than the preset duration 0.2. Therefore, the vehicle controller determines that the unlock authentication operation matches the target authentication operation.

Second kind: keyword authentication operations

For the keyword authentication operation, in some embodiments, the unlocking authentication operation and the target authentication operation are authentication operations completed by outputting keywords, and the whole vehicle controller determines whether the unlocking authentication operation and the target authentication operation match by comparing whether a similarity between a keyword corresponding to the unlocking authentication operation and a keyword corresponding to the target authentication operation is greater than or equal to a second similarity.

In some embodiments, the vehicle controller performs vectorization on a keyword corresponding to the unlocking authentication operation and a keyword corresponding to the target authentication operation to obtain a first word vector and a second word vector; and the whole vehicle controller determines the distance between the first word vector and the second word vector to obtain the similarity between the key words corresponding to the unlocking authentication operation and the key words corresponding to the target authentication operation.

For example, the process of whether the unlocking authentication operation and the target authentication operation are matched is described by taking the example that the unlocking authentication operation and the target authentication operation are authentication operations completed by outputting key words, the key word corresponding to the target authentication operation is any one of "driving" and "going", the key word corresponding to the unlocking authentication operation is "driving and going to the a place", and the second similarity is 0.8.

The vehicle controller determines that the similarity between the keyword corresponding to the unlocking authentication operation and the keyword corresponding to the target authentication operation is 0.9 and is greater than the second similarity by 0.8. Therefore, the vehicle controller determines that the unlock authentication operation matches the target authentication operation.

Third kind: touch authentication operation

In a possible implementation manner, the unlocking authentication operation and the target authentication operation are operations completed by touching a vehicle component, and when a similarity between the unlocking authentication operation and the target authentication operation is greater than or equal to a preset similarity, determining that the unlocking authentication operation matches the target authentication operation includes: determining that the unlocking authentication operation is matched with the target authentication operation when the time difference between the touch duration corresponding to the unlocking authentication operation and the touch duration corresponding to the target authentication operation is smaller than or equal to a preset time difference; and/or determining that the unlocking authentication operation is matched with the target authentication operation when the position deviation between the touch position corresponding to the unlocking authentication operation and the touch position corresponding to the target authentication operation is smaller than or equal to the preset position deviation.

It should be understood that the operation performed by touching the vehicle component in the above-described scheme belongs to the touch authentication operation.

In some embodiments, the vehicle component is any one of a steering wheel, a switch on a steering wheel, a seat, an interior mirror, an interior glass lifter.

Fig. 4 is a schematic diagram of another determination provided herein as to whether an unlock authentication operation and a target authentication operation match.

For example, the procedure of whether the unlocking authentication operation and the target authentication operation are matched is described taking as an example that the unlocking authentication operation and the target authentication operation are operated by pressing two switches on the steering wheel for a certain duration, and the target authentication operation is operated by pressing the two switches simultaneously for a target duration of 5s (specifically, two switches are arranged on two sides of the steering wheel in fig. 4), the unlocking authentication operation is operated by pressing the left switch of the two switches for a duration of 4s, and pressing the right switch of the two switches for a duration of 5s, and the preset difference value is 0.4 s.

The vehicle controller determines that the time difference between the touch time length corresponding to the unlocking authentication operation and the touch time length corresponding to the target authentication operation is 0.5s and is greater than the preset difference value by 0.4s. Therefore, the vehicle controller determines that the unlock authentication operation does not match the target authentication operation.

In some embodiments, the unlock authentication operation and the target authentication operation are operations by depressing two switches on the steering wheel, the switches being double-control switches, for a certain period of time.

It should be understood that the double control switch refers to a switch with both normally open and normally closed contacts.

In some embodiments, in the case where the target authentication operation is an operation in which the two switches are simultaneously pressed for the target duration, a process of further verifying whether the unlock authentication operation and the target authentication operation match may be added if a time difference between times in which the two switches are pressed in the unlock authentication operation is less than or equal to a preset time difference.

In some embodiments, the unlocking authentication operation and the target authentication operation are operations performed by touching the vehicle component for a certain period of time, and the method 200 further includes, prior to step 202: the whole vehicle controller controls the display screen of the vehicle to display an electronic timing device for timing; under the condition that the unlocking authentication operation is detected, the whole vehicle controller controls the electronic timing device to start timing; and the vehicle controller determines a first time difference between the timing time on the electronic timing device and the timing starting time when the unlocking authentication operation is finished as a touch duration corresponding to the unlocking authentication operation.

In step 203, the vehicle controller controls the steer-by-wire function to maintain the locked state when the unlock authentication operation is not matched with the target authentication operation.

It should be understood that the "steer-by-wire function maintaining locked state" in step 203 described above refers to a state in which the steer-by-wire function is still locked, at which time the user still cannot use the steer-by-wire function to achieve steering of the vehicle.

In some embodiments, after the vehicle controller in step 203 controls the steer-by-wire function to maintain the locked state, the method further includes at least one of: the vehicle controller displays early warning information on a display screen of the vehicle, wherein the early warning information is used for warning the user to be far away from the vehicle; the whole vehicle controller controls a steering wheel in the vehicle to vibrate based on the early warning information; and the whole vehicle controller controls the seat in the vehicle to vibrate based on the early warning information.

In the above technical solution, when the unlock authentication operation is not matched with the target authentication operation, the vehicle controller identifies the user as a target authentication operation for which the user is not aware of correctly unlocking the steer-by-wire function, and identifies the user as a user for illegally starting the vehicle. At the moment, the whole vehicle controller displays early warning information on a display screen of the vehicle, and/or controls a steering wheel in the vehicle to vibrate based on the early warning information, and/or controls a seat in the vehicle to vibrate based on the early warning information, so that the user can be warned to be far away from the vehicle, the user can be dissuaded to a certain extent, and the anti-theft effect is achieved on the vehicle.

In some embodiments, after the vehicle controller in step 203 controls the steer-by-wire function to maintain the locked state, the method further includes: the whole vehicle controller outputs an early warning signal and second reminding information within a second preset duration, wherein the early warning signal is used for indicating that the unlocking authentication fails, and the second reminding information is used for reminding the user to carry out the unlocking authentication of the steer-by-wire function again.

According to the technical scheme, under the condition that the user is a user who illegally starts the vehicle, the early warning signal output by the scheme can warn the user, so that the user can be dissuaded to a certain extent, and the vehicle is theft-proof. When the user knows the target authentication operation, but the input unlocking authentication operation is not matched with the target authentication operation due to misoperation, the second reminding information output by the scheme can remind the user to carry out unlocking authentication of the steer-by-wire function again, and the probability that the target user can use the steer-by-wire function is increased.

In a possible implementation manner, after the vehicle controller in step 203 controls the steer-by-wire function to maintain the locked state, the method 200 further includes: the whole vehicle controller responds to the rotation operation of the user on the steering wheel in the vehicle, and determines the rotation direction of the steering wheel under the condition that the moment of the user rotating the steering wheel is larger than the preset moment; under the condition that the steering column and the steering gear are not decoupled, the whole vehicle controller controls wheels in the vehicle to rotate in a first direction, and the first direction is opposite to the rotation direction of the steering wheel.

It should be understood that the above schemes describe: the steering column and the steering gear are not decoupled, but the direction of the steering assist force provided by the assist motor on the steering column is adjusted to be opposite to the direction of rotation of the steering wheel in the vehicle. That is, in the case where the steer-by-wire function is locked by adjusting the direction of the steering assist force provided by the assist motor on the steering column to a direction opposite to the direction of rotation of the steering wheel in the vehicle, the steering wheel is less likely to be rotated. The target user can unlock the steer-by-wire function through the target authentication operation, and easily turn the steering wheel with a small force. However, the user who illegally starts the vehicle does not know the target authentication operation, but the user may turn the steering wheel with a large force, and at this time, the whole vehicle controller controls the wheels in the vehicle to turn in a first direction opposite to the turning direction of the steering wheel. The scheme can further increase the difficulty of the user to use the vehicle.

Fig. 5 is a schematic view of a wheel rotation control according to an embodiment of the present application.

For example, as shown in fig. 5, in the case where the steer-by-wire function of the vehicle is locked (the direction of the steering assist force provided by the assist motor on the steering column is adjusted to the direction opposite to the turning direction of the steering wheel in the vehicle), the vehicle control unit determines that the turning direction of the steering wheel is clockwise in response to the turning operation of the steering wheel in the vehicle by the user, in the case where the torque of the user turning the steering wheel is greater than the preset torque. The vehicle controller controls wheels in the vehicle to rotate in a counterclockwise direction.

In a possible implementation, after step 203, the method 200 further includes: under the condition that the unlocking authentication operation is matched with the target authentication operation, the whole vehicle controller unlocks the steer-by-wire function; under the condition that the steer-by-wire function is successfully unlocked, the whole vehicle controller outputs second reminding information, and the second reminding information is used for reminding the user that the steer-by-wire function can be normally used.

In a possible implementation manner, the vehicle controller unlocks the steer-by-wire function, and includes: the whole vehicle controller adjusts the direction of steering power provided by a power-assisted motor on a steering column to the rotation direction of a steering wheel in the vehicle; or the whole vehicle controller couples the steering column and a steering device in the steer-by-wire system so as to enable wheels associated with the steering device to rotate along with a steering wheel connected with the steering column.

In some embodiments, a vehicle controller couples the steering column and a steering gear in the steer-by-wire system, comprising: the whole vehicle controller restores the preset transmission ratio between the rotation angle of the wheel and the rotation angle of the steering wheel to the target transmission ratio.

Optionally, the preset gear ratio is 0:N.

In the technical scheme, the whole vehicle controller restores the preset transmission ratio 0:N between the rotation angle of the wheel when the wheel rotates and the rotation angle of the steering wheel when the steering wheel rotates to the target transmission ratio, so that the target user can normally use the steer-by-wire function, and the driving requirement of the target user is further met.

Fig. 6 is a schematic flow chart of a control vehicle according to an embodiment of the present application.

For example, the vehicle controller responds to the starting operation of the vehicle, and displays first reminding information on a central control screen of the vehicle, wherein the first reminding information is used for reminding a user on the vehicle to perform unlocking authentication on a steer-by-wire function of the vehicle. And the whole vehicle controller determines whether the unlocking authentication operation input by the user is matched with the target authentication operation.

And under the condition that the unlocking authentication operation is matched with the target authentication operation, the whole vehicle controller unlocks the steer-by-wire function. Specifically, the steering column sends a coupling request to the steering gear, which, upon receipt of the coupling request, pulls the associated wheel toward a position alignment of the steering wheel rotation. After the alignment action is completed, the diverter sends a signal to the steering column that the coupling is successful. And under the condition that the steer-by-wire function is successfully unlocked (successfully coupled), the whole vehicle controller displays second reminding information on the center control screen, wherein the second reminding information is used for reminding the user that the steer-by-wire function can be normally used. Wherein the process enables a target user (a user who has control authority of the vehicle) to normally use the steer-by-wire function.

Under the condition that the unlocking authentication operation is not matched with the target authentication operation, the whole vehicle controller determines that the unlocking authentication fails and outputs an early warning signal of the unlocking authentication failure and second reminding information for reminding the user of reauthenticating, and at the moment, the steer-by-wire function is still in a locking state. And the whole vehicle controller responds to the re-input unlocking authentication operation of the user and compares the re-input unlocking authentication operation with the target authentication operation. And under the condition that the unlocking authentication operation is not matched with the target authentication operation, the whole vehicle controller continuously controls the steer-by-wire function to keep a locking state, and the alarm signal is not released. Wherein the process can largely prevent a user who illegally starts the vehicle from stealing the vehicle.

Fig. 7 is a schematic structural diagram of a control device for a vehicle according to an embodiment of the present application.

Illustratively, as shown in FIG. 7, the apparatus 700 includes:

the output module 701 is configured to output, in response to a start operation of a vehicle, first alert information, where the first alert information is used to alert a user on the vehicle to perform unlock authentication on a steer-by-wire function of the vehicle;

a determining module 702, configured to determine, in response to an unlock authentication operation of the user, whether the unlock authentication operation matches a target authentication operation set by a target user, where the target user is a user having control authority of the vehicle;

And a control module 703 for controlling the steer-by-wire function to maintain the locked state in the case where the unlock authentication operation does not match the target authentication operation.

Optionally, the determining module 702 is specifically configured to: under the condition that the similarity between the unlocking authentication operation and the target authentication operation is greater than or equal to the preset similarity, determining that the unlocking authentication operation is matched with the target authentication operation; and under the condition that the similarity is smaller than the preset similarity, determining that the unlocking authentication operation is not matched with the target authentication operation.

Optionally, the unlocking authentication operation and the target authentication operation are operations completed by touching a vehicle component, and the determining module 702 is specifically further configured to: determining that the unlocking authentication operation is matched with the target authentication operation when the time difference between the touch duration corresponding to the unlocking authentication operation and the touch duration corresponding to the target authentication operation is smaller than or equal to a preset time difference; and/or determining that the unlocking authentication operation is matched with the target authentication operation when the position deviation between the touch position corresponding to the unlocking authentication operation and the touch position corresponding to the target authentication operation is smaller than or equal to the preset position deviation.

Optionally, the steer-by-wire function is implemented by a steer-by-wire system in the vehicle, the steer-by-wire system comprising a steering column and a steering gear, the apparatus 700 further comprising, prior to outputting the first alert message in response to a start-up operation of the vehicle: an adjustment module for adjusting a direction of steering assist force provided by the assist motor on the steering column to a direction opposite to a rotation direction of the steering wheel in response to a locking operation of the steer-by-wire function; or, the apparatus 700 further comprises: and the decoupling module is used for decoupling the steering column and the steering gear so that wheels associated with the steering gear do not rotate along with a steering wheel connected with the steering column.

Optionally, after the steer-by-wire function is controlled to maintain the locked state, the determining module 702 is further configured to determine, in response to a turning operation of the steering wheel in the vehicle by the user, a turning direction of the steering wheel if a torque of the user turning the steering wheel is greater than a preset torque; the control module 703 is also configured to control rotation of wheels in the vehicle in a first direction that is opposite to the direction of rotation of the steering wheel without decoupling the steering column and the steering gear.

Optionally, the apparatus 700 further comprises: the unlocking module is used for unlocking the steer-by-wire function under the condition that the unlocking authentication operation is matched with the target authentication operation; the output module 701 is configured to output a second reminder when the steer-by-wire function is successfully unlocked, where the second reminder is used to remind the user that the steer-by-wire function can be normally used.

Optionally, the unlocking module is specifically configured to: adjusting the direction of steering assist provided by a steering column assist motor to the direction of rotation of a steering wheel in the vehicle; or, the steering column and a steering gear in the steer-by-wire system are coupled such that wheels associated with the steering gear follow a steering wheel to which the steering column is connected.

Illustratively, as shown in FIG. 8, the vehicle 800 includes: a memory 801, a processor 802, and a computer program 803 stored in the memory 801 and running on the processor 802, wherein the processor 802, when executing the computer program 803, enables the vehicle to perform any one of the vehicle control methods described above.

In this embodiment, the vehicle may be divided into functional modules according to the above method example, for example, each functional module may be corresponding to a specific functional module, or two or more functions may be integrated into one processing module, where the integrated modules may be implemented in a hardware form. It should be noted that, in this embodiment, the division of the modules is schematic, only one logic function is divided, and another division manner may be implemented in actual implementation.

In the case of dividing each function module with corresponding each function, the vehicle may include: the device comprises an output module, a determining module, a control module, an unlocking module, an adjusting module and the like. It should be noted that, all relevant contents of each step related to the above method embodiment may be cited to the functional description of the corresponding functional module, which is not described herein.

The vehicle provided in the present embodiment is used for executing the control method of the vehicle, so that the same effects as those of the implementation method can be achieved.

In case an integrated unit is employed, the vehicle may comprise a processing module, a memory module. The processing module can be used for controlling and managing the actions of the vehicle. The memory module may be used for the vehicle to execute, inter alia, program codes and data.

Wherein the processing module may be a processor or controller that may implement or execute the various illustrative logical blocks, modules, and circuits described in connection with the present disclosure. A processor may also be a combination of computing functions, e.g., including one or more microprocessors, digital signal processing (digital signal processing, DSP) and microprocessor combinations, etc., and a memory module may be a memory.

The present embodiment provides a computer-readable storage medium having instructions stored therein that, when executed on a computer or processor, cause the computer or processor to perform the method of controlling any one of the vehicles described above.

The present embodiment also provides a computer program product comprising instructions which, when run on a computer or processor, cause the computer or processor to perform the above-described related steps to implement a method of controlling any one of the vehicles described above.

The vehicle, the computer readable storage medium, the computer program product or the chip containing the instructions provided in this embodiment are used to execute the corresponding method provided above, so that the benefits achieved by the method can refer to the benefits in the corresponding method provided above, and are not repeated herein.

It will be appreciated by those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

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

responding to the starting operation of the vehicle, outputting first reminding information, wherein the first reminding information is used for reminding a user on the vehicle to unlock and authenticate the steer-by-wire function of the vehicle;

determining whether the unlocking authentication operation is matched with a target authentication operation set by a target user or not in response to the unlocking authentication operation of the user, wherein the target user is a user with control authority of the vehicle;

and controlling the steer-by-wire function to maintain a locked state in the case that the unlock authentication operation does not match the target authentication operation.

2. The method of claim 1, wherein the determining whether the unlock authentication operation matches a target authentication operation set by a target user comprises:

determining that the unlocking authentication operation is matched with the target authentication operation under the condition that the similarity between the unlocking authentication operation and the target authentication operation is greater than or equal to a preset similarity;

and under the condition that the similarity is smaller than the preset similarity, determining that the unlocking authentication operation is not matched with the target authentication operation.

3. The method according to claim 2, wherein the unlocking authentication operation and the target authentication operation are operations completed by touching a vehicle component, and wherein the determining that the unlocking authentication operation matches the target authentication operation in a case where the similarity is greater than or equal to a preset similarity includes:

determining that the unlocking authentication operation is matched with the target authentication operation when the time difference between the touch duration corresponding to the unlocking authentication operation and the touch duration corresponding to the target authentication operation is smaller than or equal to a preset time difference; and/or the number of the groups of groups,

and determining that the unlocking authentication operation is matched with the target authentication operation under the condition that the position deviation between the touch position corresponding to the unlocking authentication operation and the touch position corresponding to the target authentication operation is smaller than or equal to the preset position deviation.

4. The method of claim 1, wherein the steer-by-wire function is implemented by a steer-by-wire system in the vehicle, the steer-by-wire system comprising a steering column and a steering gear, the method further comprising, prior to outputting the first alert information in response to a launch operation of the vehicle:

In response to a locking operation of the steer-by-wire function, adjusting a direction of steering assist force provided by an assist motor on the steering column to a direction opposite to a rotational direction of a steering wheel; or alternatively, the first and second heat exchangers may be,

and decoupling the steering column and the steering gear so that wheels associated with the steering gear do not rotate with a steering wheel connected with the steering column.

5. The method of claim 4, wherein after the controlling the steer-by-wire function to remain in a locked state, the method further comprises:

determining a rotation direction of a steering wheel in the vehicle in response to a rotation operation of the steering wheel by the user, in the case that a torque of the user to rotate the steering wheel is greater than a preset torque;

and controlling wheels in the vehicle to rotate in a first direction, which is opposite to the rotation direction of the steering wheel, without decoupling the steering column and the steering gear.

6. The method according to claim 1, wherein the method further comprises:

unlocking the steer-by-wire function under the condition that the unlocking authentication operation is matched with the target authentication operation;

And under the condition that the steer-by-wire function is successfully unlocked, outputting second reminding information, wherein the second reminding information is used for reminding the user that the steer-by-wire function can be normally used.

7. The method of claim 6, wherein unlocking the steer-by-wire function comprises:

adjusting the direction of steering power provided by a power-assisted motor on a steering column to be the rotation direction of a steering wheel in the vehicle; or alternatively, the first and second heat exchangers may be,

and coupling the steering column and a steering gear in the steer-by-wire system so that wheels associated with the steering gear rotate along with a steering wheel connected with the steering column.

8. A control device of a vehicle, characterized by comprising:

the output module is used for responding to the starting operation of the vehicle and outputting first reminding information, wherein the first reminding information is used for reminding a user on the vehicle to unlock and authenticate the steer-by-wire function of the vehicle;

the matching module is used for responding to the unlocking authentication operation of the user and determining whether the unlocking authentication operation is matched with a target authentication operation set by a target user, wherein the target user is a user with the control authority of the vehicle;

And the control module is used for controlling the steer-by-wire function to keep a locked state under the condition that the unlocking authentication operation is not matched with the target authentication operation.

9. A vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, causes the vehicle to perform the method of controlling a vehicle as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein instructions, which when run on a computer or a processor, cause the computer or the processor to execute the control method of the vehicle according to any one of claims 1 to 7.