WO2021082984A1

WO2021082984A1 - Vehicle control method, electronic device and storage medium

Info

Publication number: WO2021082984A1
Application number: PCT/CN2020/122174
Authority: WO
Inventors: 杨钊; 钟益林; 吴春芬; 石为利; 蔡腾龙
Original assignee: 比亚迪股份有限公司
Priority date: 2019-10-31
Filing date: 2020-10-20
Publication date: 2021-05-06
Also published as: CN112742021A

Abstract

A vehicle control method, an electronic device and a storage medium, relating to the technical field of vehicles. The vehicle control method comprises: acquiring a steering signal currently outputted by a steering system on a vehicle, the steering signal comprising at least one of a torque signal and a steering angle signal; acquiring a change trend of the steering signal, the change trend comprising instructing the steering system to keep away from or close to a reference position; and controlling, according to the change trend and the steering signal, a controlled object in a vehicle-mounted game to act.

Description

Vehicle control method, electronic equipment and storage medium

Cross-references to related applications

This disclosure claims the priority of the Chinese patent application with the application number 201911054837.3 and titled "Vehicle and Vehicle Control Method and Device" filed on October 31, 2019, the entire content of which is incorporated into this disclosure by reference.

Technical field

The present disclosure relates to the field of vehicle technology, and in particular to a vehicle and a vehicle control method, electronic equipment and storage medium.

Background technique

In the related art, when an in-vehicle game is played in a vehicle, the mobile phone is generally used as the control terminal of the game to realize the control of the in-vehicle game. However, this control method is difficult to bring an immersive experience to the user, which greatly reduces the experience fun and convenience of game control, and reduces the user's game experience.

Summary of the invention

The present disclosure proposes a vehicle and a vehicle control method, electronic equipment, and storage medium. By fully utilizing the steering signal of the vehicle's steering system and the change trend of the steering signal, the execution action control of the on-board game is realized, which greatly increases the user's control of the game. The control experience is fun and convenient, which improves the user's gaming experience.

An embodiment of the first aspect of the present disclosure proposes a vehicle control method, including the following steps: acquiring a steering signal currently output by a steering system on the vehicle, where the steering signal includes at least one of a torque signal and a rotation angle signal; acquiring The changing trend of the steering signal, wherein the changing trend is used to indicate that the steering system is away from or returning to a reference position; according to the changing trend and the steering signal, the controlled object in the vehicle-mounted game is controlled to perform actions.

According to the vehicle control method of the embodiment of the present disclosure, it is possible to obtain the steering signal currently output by the steering system on the vehicle, and obtain the changing trend of the steering signal, and control the in-vehicle game according to the changing trend and the steering signal. The accused object performs an action. Therefore, by making full use of the steering signal and the change trend of the steering signal, the execution action control of the on-board game is realized, and precise control is achieved without changing the original equipment of the vehicle. It conforms to some operating habits of the game, and not only greatly increases the user's experience in the game. The control experience is fun and convenient, and it improves the user's gaming experience.

An embodiment of the second aspect of the present disclosure proposes an electronic device, including a memory and a processor; wherein the processor reads the executable program code stored in the memory to run the executable program code corresponding to the executable program code. The program is used to implement the above-mentioned vehicle control method.

An embodiment of the third aspect of the present disclosure proposes a computer-readable storage medium that stores a computer program that, when executed by a processor, implements the above-mentioned vehicle control method.

The additional aspects and advantages of the present disclosure will be partially given in the following description, and some will become obvious from the following description, or be understood through the practice of the present disclosure.

Description of the drawings

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

FIG. 2 is a flowchart of obtaining a steering signal currently output by a steering system on a vehicle according to an embodiment of the present disclosure;

Fig. 3 is a flowchart of a vehicle control method according to a specific embodiment of the present disclosure;

FIG. 4 is a flowchart of a torque applied to the left corresponding to a left turn in a racing game according to an embodiment of the present disclosure;

Fig. 5 is a flow chart of applying a torque to the right corresponding to a right turn in a racing game according to an embodiment of the present disclosure;

FIG. 6 is a flowchart of the change of the corner signal corresponding to the left turn of the racing game when the steering wheel is turned left according to an embodiment of the present disclosure;

FIG. 7 is a flow chart of the change of the corner signal corresponding to the left turn of the racing game when the steering wheel is turned right according to an embodiment of the present disclosure;

Fig. 8 is a control setting diagram of a racing game according to an embodiment of the present disclosure;

9 is a schematic diagram of a comparison of the relationship between the steering mode corresponding to the button mode of the racing game and the real car steering mode according to an embodiment of the present disclosure;

Fig. 10 is a flowchart of a vehicle control method according to a specific embodiment of the present disclosure;

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

Fig. 12 is a schematic block diagram of an electronic device according to an embodiment of the present disclosure.

Detailed ways

The embodiments of the present disclosure are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are intended to explain the present disclosure, but should not be construed as limiting the present disclosure.

The following describes the vehicle and the vehicle control method, electronic equipment, and storage proposed according to the embodiments of the present disclosure with reference to the accompanying drawings.

Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present disclosure. As shown in Figure 1, the vehicle control method includes:

S1. Acquire a steering signal currently output by the steering system on the vehicle, where the steering signal includes at least one of a torque signal and a steering angle signal.

It can be understood that the steering signal output by the steering system may include a steering angle signal, or a torque signal, or a steering angle signal and a torque signal.

Specifically, the information of the steering system can be obtained through the torque sensor (Torque and Angle Sensor, TAS) attached to the vehicle steering system, or the torque sensor (Torque Only Sensor, TOS), or the steering angle sensor (SAS). The angle signal or torque signal, where the angle signal can correspond to the angle value of the steering wheel, and the torque signal can be the user’s hand torque value, which can be passed through the electronic power steering (Electric Power Stability, referred to as EPS) or the Electronic Stability Program (Electronic Stability Program). , ESP for short) is collected, and then transmitted to the on-board game terminal (such as on-board PAD, instrumentation, etc.) through the Controller Area Network (CAN bus), or Local Interconnect Network (LIN line), etc. ).

Fig. 2 is a flowchart of obtaining a steering signal currently output by a steering system on a vehicle according to an embodiment of the present disclosure. As shown in Figure 2, step S1 includes:

S201: Obtain a steering angle signal or a torque signal of the steering system through the TAS/TOS/SAS attached to the steering system of the vehicle.

S202: Collect the corner signal and torque signal through EPS/ESP.

Among them, the vehicle can judge whether to collect the corner signal and torque signal through EPS/ESP according to the actual situation.

S203: Transmit the corner signal and the torque signal to the vehicle-mounted game terminal through a CAN bus or a LIN line.

Among them, the embodiment of the present disclosure can determine whether to transmit the corner signal and the torque signal to the vehicle-mounted game terminal by combining with the actual network topology of the vehicle.

S2: Obtain a change trend of the steering signal, where the change trend is used to characterize that the steering system is away from or returns to a reference position.

In this embodiment, the reference position may be the position when the steering wheel of the vehicle is in the middle position and the tires are in the front position (or the steering wheel is in a free state), and the changing trend of the steering signal may be the changing trend of the turning angle signal or the torque signal, such as According to the change trend of the turning angle signal, it is judged that the change trend is from straight to left, from straight to right (steering system is far from the reference position), from right to straight, etc. (steering system returns to the reference position).

S3: Control the controlled object in the car game to perform actions according to the change trend and the turn signal.

It is understandable that the embodiments of the present disclosure may be preset with control standards corresponding to the steering direction and the steering offset, so as to identify the steering direction of the steering system based on the acquired steering signal currently output by the steering system on the vehicle. And the steering offset, and then according to the steering direction and steering offset, control the controlled object in the car game to perform actions. Among them, when the steering signal is the torque, the steering offset is the specific value of the torque, and the reference position is the position where the torque is 0; when the steering signal is the turning angle, the steering offset is the size of the turning angle, and the reference position is the steering wheel return. Positive position.

That is to say, when the vehicle is parked on a flat road, the steering wheel can rotate freely, and the on-board game terminal can obtain the current steering signal output by the steering system on the vehicle, and then go through the built-in application or the bottom layer corresponding to the development of the on-board game terminal. The driver maps the turning angle or torque signal that changes when the user turns the steering wheel into input event instructions corresponding to the left and right steering actions in the car racing game or other types of games such as left and right movement and rotation. It should be noted that the vehicle control method of the embodiment of the present disclosure is also applicable to other vehicle-mounted games, such as left-to-right movement or left-to-right rotation in Tetris games, and left-to-right card selection corresponding to chess and card games. In order to avoid redundancy, This will not be repeated in detail.

In summary, according to the vehicle control method of the embodiment of the present disclosure, the steering signal currently output by the steering system on the vehicle is obtained, and the steering direction and steering offset of the steering system are identified according to the steering signal, and the steering direction and steering offset are identified according to the steering direction and steering offset. Move, control the controlled object in the car game to move. As a result, by making full use of the steering signal of the original steering system of the vehicle to realize the control of the execution of the in-vehicle game, it greatly increases the fun and convenience of the user’s experience of game control, improves the user’s game experience, and compares it with the original vehicle. In other words, a new steering control strategy is provided to realize the use of real cars to play games, so that in addition to the conventional driving mode, the vehicle also has an in-vehicle game mode.

Based on the above-mentioned embodiments, it should be understood that, according to the specific application scenarios, the changing trend of the steering signal and the steering signal, the way to control the controlled object in the car game to perform actions is different. The following is a combination of specific application scenarios. Take the steering direction, or the steering offset, or the steering direction and the steering offset as an example, for example, the description is as follows:

Fig. 3 is a flowchart of a vehicle control method according to a specific embodiment of the present disclosure. As shown in Figure 3, the method includes:

S301: Acquire a steering signal currently output by the steering system on the vehicle, where the steering signal includes at least one of a torque signal and a steering angle signal.

In an embodiment of the present disclosure, the steering angle signal or torque signal of the steering system can be obtained through the TAS/TOS/SAS attached to the vehicle steering system.

S302: Obtain a change trend of the steering signal, where the change trend is used to characterize that the steering system moves away from or returns to a reference position.

Wherein, the change trend of the steering signal may be a change trend of a corner signal or a torque signal, for example, it is judged whether the change trend is a left turn or a right turn according to the change trend of the corner signal.

S303: According to the change trend, identify that the steering system is in the first state where the steering system is continuously far away from the reference position.

For example, when it is recognized that the changing trend of the corner signal is turning left, the vehicle can change from straight to left turning, that is, the steering system is in the first state away from the reference position; when the changing trend of the turning angle signal is recognized as turning right, the vehicle It can change from going straight to turning right, that is, the steering system is also in the first state away from the reference position.

S304: Identify the steering direction and steering offset of the steering system according to the steering signal.

In this embodiment, after obtaining the steering angle signal or torque signal of the steering system, the steering direction and steering offset of the steering system can be identified based on the steering angle signal or torque signal. Among them, 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 a left turn, and a mapping relationship between the steering offset and the torque signal (torque) can also be preset. When the steering torque is obtained, the steering offset of the steering system can be obtained by querying the mapping relationship.

S305: According to the steering direction and the steering offset of the steering system, generate a first type of action instruction of the controlled object.

In this embodiment, after recognizing that the steering system is in the first state where the steering system is continuously far away from the reference position, and recognizing the steering direction and steering offset of the steering system, the embodiment of the present disclosure can be based on the steering direction and steering offset of the steering system. The amount of movement generates the first type of action instruction of the controlled object, where the first type of action instruction can be a left turn instruction or a right turn instruction. As a result, the controlled object is jointly controlled by the change trend, the steering direction, and the magnitude of the steering offset, so as to generate action instructions more accurately, thereby more accurately control the steering of the controlled object, and improve the accuracy of steering.

As an example, the CAN signal is taken as an example to illustrate the specific application rules. Among them, the CAN torque signal message is of periodic type. The torque signal can be a signed signal. Among them, when the user does not add an external force to the steering wheel, that is, the torque value when the steering wheel is in a free state, the corresponding torque signal is 0Nm (actually due to assembly errors, about 0Nm is a positive or negative value) . When the user applies a torque to turn the steering wheel left and right, where the driver faces the steering wheel, the steering wheel counterclockwise steering direction is left, and clockwise is right, the torque signal value will change with the change of the user's force on the steering wheel. This is considered to be the rule The torque signal value is positive when the user applies the torque to the left and the torque signal value is negative when the torque is applied to the right. Those skilled in the art can make adjustments according to the actual situation. The turning angle signal can be a signed signal. After the corresponding turning angle signal is calibrated and centered on the vehicle through the zero point, the turning angle value is 0° when the steering wheel of the vehicle is in the middle position and the tire is in the front position (actually due to assembly errors, approximately Positive and negative values near 0°), where the steering wheel can be automatically returned to the right through the EPS system motor or the user's hand-feeling simulator motor in the steering-by-wire system, or it can be returned manually by the user. When the steering wheel turns left and right, facing the steering wheel, the steering wheel counterclockwise steering direction is left, clockwise is right, the angle signal value will change with the left and right rotation angle of the steering wheel, when the steering wheel is turned to the left based on the zero value, the angle signal value is Positive, when turning to the right, the corner signal value is negative (refer to ISO8855, the positive value of the corner signal indicates the direction to the left, and the negative value indicates the direction to the right). Specifically, the left and right steering and the corresponding relationship between positive and negative can be determined according to the actual situation. Adjustment.

It should be noted that the vehicle-mounted game terminal can map the received positive and negative torque signals (or positive and negative corner signals) to the left turn instruction or right turn instruction required by the racing game, and the vehicle-mounted game terminal performs the corresponding relationship to the left. When turning the steering wheel to the left (or turning the steering wheel to the left), it can support the "turn left" action, and when applying a torque to the right (or turning the steering wheel to the right), it can support the "turning to the right" action. For the torque signal, because the user needs to hold his hand on the steering wheel, the steering wheel will receive a small applied torque value. Therefore, it can be specified that the torque value is within a certain range around the positive and negative values of 0Nm, which is approximately equivalent to that the steering wheel is already in a free state. For the steering angle signal, since it is difficult for the user to maintain the steering wheel at the neutral position zero, it can be specified that the steering angle value within a certain range around the zero point can be approximately equivalent to the steering wheel having returned to the neutral zero position.

Fig. 4 is a flowchart of a torque applied to the left corresponding to a left turn in a racing game according to an embodiment of the present disclosure. As shown in Figure 4, according to the steering direction and steering offset of the steering system, generating an action command for the controlled object includes the following steps:

In S401, the user applies a torque to the left to turn the steering wheel, and collects the torque signal value through the on-board game terminal.

S402: Determine whether the torque signal value is greater than or equal to Game TorquePressLeft, if yes, perform step S404, otherwise, perform step S403.

Among them, Game TorquePressLeft can be the left turn pressing torque value, and can be combined with the direction control needs of different users to support adjustment, thereby improving the user experience.

S403, the car is driving in a straight line.

S404, the car turns to the left.

Fig. 5 is a flow chart of torque applied to the right corresponding to a right turn in a racing game according to an embodiment of the present disclosure. As shown in Figure 5, according to the steering direction and steering offset of the steering system, generating the action command of the controlled object includes the following steps:

In S501, the user applies a torque to the right to turn the steering wheel, and collects the torque signal value through the on-board game terminal.

S502: Determine whether the torque signal value is less than or equal to Game TorquePressRight, if yes, perform step S504, otherwise, perform step S503.

Among them, Game TorquePressRight can be the right-turn pressing torque value, and can be combined with the direction control needs of different users to support adjustment, thereby improving the user experience.

S503, the car is driving in a straight line.

S504, the car turns to the right.

Fig. 6 is a flow chart of the change of the corner signal corresponding to the left turn of the racing game when the steering wheel is turned left according to an embodiment of the present disclosure. As shown in Figure 6, according to the steering direction and steering offset of the steering system, generating the action command of the controlled object includes the following steps:

In S601, the steering wheel is turned to the left based on the middle position, and the corner signal value is collected through the on-board game terminal.

S602: Determine whether the turning angle signal value is greater than or equal to Game Angle PressLeft, if yes, perform step S604, otherwise, perform step S603.

Among them, Game Angle PressLeft is the left turn press corner value, which can be adjusted according to the direction control needs of different users, so as to meet user needs and improve user experience.

S603, the car is driving in a straight line.

S604, the car turns to the left.

FIG. 7 is a flow chart of the change of the corner signal corresponding to the right turn of the racing game when the steering wheel is turned right according to an embodiment of the present disclosure. As shown in Figure 7, according to the steering direction and steering offset of the steering system, generating the action command of the controlled object includes the following steps:

In S701, the steering wheel is turned to the right based on the intermediate position, and the corner signal value is collected through the on-board game terminal.

S702: Determine whether the turning angle signal value is less than or equal to Game Angle Press Right, if yes, perform step S704, otherwise, perform step S703.

Among them, Game Angle PressRight is the right turn press corner value, which can be adjusted according to the direction control needs of different users, so as to meet user needs and improve user experience.

S703, the car is driving in a straight line.

S704, the car turns to the right.

In addition, as shown in FIG. 8, the control of the racing game can include three types of steering control methods: somatosensory mode (ie, gravity-sensing steering), steering wheel mode, and button mode (single-sided/double-sided). When the button mode is used for the car control, the corresponding analytical relationship between the positive and negative torque signal (positive and negative corner signal) and the left and right steering event triggering in the racing game using the virtual button (or the left and right area of the screen) touch control method can be as follows: When the torque signal value is greater than or equal to Game TorquePressLeft, the left steering command of the racing game is continuously activated, and the car continues to steer to the left, that is, the virtual key of the racing left turn is continuously touched; when the torque signal value is less than or equal to Game TorquePressRight, The right steering command of the racing game is continuously activated, and the car continues to steer to the right, that is, the virtual button of the racing right turn is continuously touched; when the corner signal value is greater than or equal to Game Angle PressLeft, the racing game’s left steering command is continuously activated. The car keeps turning to the left, that is, the virtual button of the car turning left is continuously touched; whether the corner signal value is less than or equal to the Game Angle PressRight, the racing game's right turn command is continuously activated, and the car keeps turning to the right, that is, the car turns right virtual The button is continuously touched.

Fig. 9 is a comparison diagram of the relationship between the steering mode corresponding to the button mode of the racing game and the real car steering mode according to an embodiment of the present disclosure. As shown in Figure 9, Figure 9(a) is a schematic diagram when the vehicle is driving straight, Figure 9(b) is a schematic diagram of controlling the steering of the vehicle through the racing game button mode (steering wheel), and Figure 9(c) is a schematic diagram of turning the vehicle through a real vehicle . It can be seen from Figure 9 that when the car is controlled by the steering wheel of the vehicle, the control strategy of using the real car to simulate the steering of the car is realized, without changing the original equipment of the vehicle, and the steering experience is the same as using the button to control the car, which is in line with game users. Operating habits, and by controlling the steering wheel to control the steering angle of the vehicle can be more sensitive to control the steering angle, effectively improving the user's gaming experience.

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

It should be understood that when the user is experiencing the game, sometimes the steering system will turn slightly due to the shaking of the hand. At this time, if the steering signal of the steering system is collected, the steering of the car will be controlled when it should not be turned, which greatly reduces Therefore, a first preset threshold can be preset, and only when the steering offset of the steering system reaches the first preset threshold (Game Torque Press Left), the first type of action of the controlled object is generated Command to realize the steering of the car, effectively improve the accuracy and accuracy of judging the steering, reduce the error caused by the shaking of the experiencer, and improve the experience of the game.

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

That is to say, taking the controlled object as a racing car as an example, assuming that the current car is driving straight, if the detected steering offset does not reach the first preset threshold, it means that the steering offset may be caused by the shaking of the experiencer. , Do not control the vehicle to turn, keep the car going straight, that is, control the controlled object to execute the second type of action command.

It should be noted that the first preset threshold can be set according to actual conditions, which is not specifically limited here.

According to an embodiment of the present disclosure, the above-mentioned vehicle control method further includes: according to the changing trend, identifying that the steering system is in a second state of gradually returning to the reference position; generating the controlled steering system according to the steering direction and steering offset of the steering system. The second type of action instruction for the object.

It is understandable that the embodiments of the present disclosure can also determine whether the steering system gradually returns to the reference position according to the change trend of the steering signal, so as to generate the second type of action command for the controlled object according to the steering direction and steering offset of the steering system. . That is, when it is recognized that the change trend of the steering signal of the car is gradually returning to the reference position, the car is controlled to drive in a straight line.

According to an embodiment of the present disclosure, before generating the second-type action instruction of the controlled object, the method further includes: determining that the steering offset returns to the second preset threshold.

In this embodiment, when the user releases the torque value of the left steering wheel until the torque signal collected by the on-board game terminal is less than or equal to the left turn release torque value (Game Torque Release Left), that is, the steering offset returns to the second preset threshold, In the racing game, the left steering command is continuously suppressed, and the racing car keeps driving in a straight line. The second preset threshold can also be set according to actual conditions, which is not specifically limited here. In the same way, when the user releases the torque value of the right steering wheel until the torque signal collected by the on-board game terminal is greater than or equal to the right-turn release torque value (Game Torque Release Right), the right steering command of the racing game is continuously suppressed and the car keeps driving straight.

In addition, when the steering wheel returns to the center position from the left to the center until the corner signal of the on-board game terminal is less than or equal to the left turn release angle value (Game Angle ReleaseLeft), the left steering command of the racing game is continuously suppressed, and the car keeps driving in a straight line; When the right-handed center position returns to the vehicle-mounted game terminal corner signal is greater than or equal to the right-turn release corner value (Game Angle ReleaseRight), the racing game's right steering command is continuously suppressed, and the car keeps driving in a straight line.

It should be noted that if the torque value (angle value) to the left is released until the steering wheel is in an approximately free state, if a torque value to the right is applied, resulting in a negative torque signal value and less than the Game TorquePressRight value, it may violate The intent of the operation resulted in a right turn. Similarly, if the torque value to the right (angle value) is released until the steering wheel is in an approximately free state, if the torque value to the left is applied and the torque signal value is positive and greater than the value of Game TorquePressLeft, it may violate the intention of the operation. Turn left.

According to an embodiment of the present disclosure, the above-mentioned vehicle control method further includes: recognizing that the steering offset has not returned to a second preset threshold, then controlling the controlled object to execute the first type of action instruction.

In this embodiment, using the torque signal to control the left turn as an example, when the user releases the torque value of the left steering wheel until the torque signal collected by the on-board game terminal is not less than or equal to the left turn release torque (Game Torque Release Left), that is, steering deviation When the displacement does not return to the second preset threshold, the left steering 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 car is controlled to keep turning left, so as to avoid misjudgment leading to steering deviation If the amount does not return to the second preset threshold, the controlled object is controlled to execute the second type of action instruction, and the user experience is improved.

It should be noted that the methods for controlling the right turn through the torque signal and controlling the left and right turns through the corner signal are the same as the above. In order to avoid redundancy, it will not be described in detail here.

It is understandable that when the change trend of the steering signal of the steering wheel is in the first state of continuously being far away from the reference position,

When the steering signal is a corner signal, the first preset threshold is Game Angle PressLeft, and the first preset threshold is Game Angle PressLeft, and the second preset threshold is Game Angle ReleaseLeft; the first preset threshold is Game Angle ReleaseLeft; The preset threshold is GameAnglePressRight, approaching the reference position from the right, and the second preset threshold is GameAngleReleaseRight;

When the steering signal is a torque signal, the leftward is far away from the reference position, the first preset threshold value is Game Torque PressLeft, and the second preset threshold value is Game Torque ReleaseLeft; the first preset threshold value is Game Torque ReleaseLeft; rightward away from the reference position, the first The preset threshold is Game Torque PressRight, approaching the reference position from the right, and the second preset threshold is Game Torque ReleaseRight;

When the steering signal is a corner signal and a torque signal, the leftward is away from the reference position, the first preset threshold is Game Angle PressLeft and Game Torque PressLeft; the left approach to the reference position, the second preset threshold is Game Angle ReleaseLeft or Game Torque ReleaseLeft; where to the right away from the reference position, 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 embodiments of the present disclosure may be different, so that shaking of the steering wheel can be effectively avoided, and user experience can be improved.

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

It is understandable that the first state can be a state in which the steering system continues to move away from the reference position, and the second state can be a state in which the steering system is gradually returning to the reference position. When the steering system is recognizing the tendency to gradually return to the reference position. When switching to a state where the trend is continuously far away from the reference position, the action command executed by the controlled object at this time needs to be switched from the second type of action command to the execution of the first type of action command.

At the same time, in order to avoid misjudgment caused by the experiencer shaking the steering wheel, it is possible to recognize the steering system from a state of gradually returning to the reference position to a state of continuously moving away from the reference position, and a state of continuing to move away from the reference position. When the steering offset reaches the first preset threshold, the controlled object is controlled to switch from executing the second type of action instruction to executing the first type of action instruction, thereby effectively improving the accuracy and accuracy of judging steering and avoiding misjudgments. According to an embodiment of the present disclosure, before the steering offset does not reach the first preset threshold, the controlled object is controlled to continue to execute the second type of action instruction.

That is to say, taking the controlled object as a racing car as an example, assuming that the current racing car is currently in a state of gradually moving away from the reference position, if the detected steering offset does not reach the first preset threshold, it may be due to the experiencer. Steering deviation due to shaking, keep the car continuing to execute the second type of action command, such as keeping the car going straight.

According to an embodiment of the present disclosure, when it is recognized that the steering system is in the first state continuously far away from the reference position, the steering signal includes the torque signal and the rotation angle signal, and when the steering offset is thresholded, the torque signal and the rotation angle signal When the data representing the offset in the data needs to meet the respective thresholds at the same time, the first type of action command is generated; when it is recognized that the steering system is in the second state of continuously returning to the reference position, the steering signal includes a torque signal and a rotation angle signal, When the steering offset is judged by the threshold, if one of the data representing the offset in the torque signal and the rotation angle signal meets the respective threshold, the second type of action command is generated.

As an example, a comprehensive control mode is adopted in combination with the torque signal and the rotation angle signal. As shown in FIG. 10, when the steering signal includes the torque signal and the rotation angle signal, the above-mentioned vehicle control method includes the following steps:

S1101, using the intermediate position as the reference of the rotation angle signal, and using the zero torque position as the reference of the torque signal, steering the steering wheel, and collecting the torque signal value and the rotation angle signal value through the on-board game terminal.

S1102: Determine whether the rotation angle signal value is greater than or equal to Game Angle Press Left, and whether the torque signal value is greater than or equal to Game Torque Press Left, if yes, perform step S1104, otherwise, perform step S1103.

S1103, the car is driving in a straight line.

S1104, the car turns to the left.

S1105, when the steering wheel returns to the center position from left to center.

S1106: When judging whether the rotation angle signal of the in-vehicle game terminal is less than or equal to Game Angle Release Left, or whether the torque signal value is less than or equal to Game Torque Release Left, if yes, perform step S1107; otherwise, perform step S1104.

S1107: When the steering wheel is turned to the right, it is determined whether the rotation angle signal value of the in-vehicle game terminal is less than or equal to Game Angle Press Right and whether the torque signal value is less than or equal to Game Torque Press Right. If yes, perform step S1108; otherwise, perform step S1103.

S1108, the car turns to the right.

As another example, as shown in FIG. 11, when the steering signal includes a torque signal and a rotation angle signal, the above-mentioned vehicle control method includes the following steps:

S1201, using the intermediate position as the reference of the rotation angle signal, and using the zero torque position as the reference of the torque signal, steering the steering wheel, and the torque signal value and the rotation angle signal value collected through the on-board game terminal.

S1202: Determine whether the rotation angle signal value is less than or equal to Game Angle Press Right, and whether the torque signal value is less than or equal to Game Torque Press Right, if yes, perform step S1204, otherwise, perform step S1203.

S1203, the car is driving in a straight line.

S1204, the car turns to the right.

S1205, when the steering wheel returns to the center position from left to center.

S1206: Determine whether the vehicle-mounted game terminal corner signal is greater than or equal to Game Angle Release Right, or whether the torque signal value is greater than or equal to Game Torque Release Right, if yes, perform step S1207, otherwise, perform step S1204.

S1207: When the steering wheel is turned to the left, it is determined whether the steering angle signal value of the in-vehicle game terminal is greater than or equal to Game Angle Press Left and whether the torque signal value is greater than or equal to Game Torque Press Left. If yes, perform step S1208; otherwise, perform step S1203.

S1208, the car turns to the left.

It should be noted that when returning to the positive position from the left to the middle position, if the overshoot to a certain angle during the return to the positive process, the corner signal value will be negative and less than the Game Angle Press Right value, and the torque value to the right will be applied to cause the torque signal When the value is negative and less than the Game Torque Press Right value, it may violate the intention of the operation and lead to a right turn. Similarly, you need to pay attention to turning from right to the middle position and returning to the positive position. If the value is over-adjusted to a certain angle during the return process, the corner signal value will be caused. If it is a positive value and greater than a certain Game Angle Press Left value, and a torque value to the left is applied, resulting in a positive torque signal value and greater than a certain Game Torque Press Left value, it may violate the operation intention and cause a left turn.

In summary, all thresholds can be set according to personal habits, which can avoid the above problems.

According to an embodiment of the present disclosure, the above-mentioned vehicle control method further includes: detecting a threshold value setting operation, and adjusting the default threshold value according to the threshold value setting operation; or, obtaining the operating sensitivity of the on-board game, and setting the default value according to the sensitivity. Or, obtain the scene information of the car game, extract the road surface information from the scene information, and adjust the default threshold according to the road surface information; or, obtain the running speed of the game object of the car game, and adjust the default value according to the running speed. The threshold is adjusted.

In this embodiment, when adjusting the default threshold value in the embodiment of the present disclosure, it can be divided into two types: manual adjustment and automatic adjustment. Among them, the automatic adjustment mode can be closed or opened according to actual needs to ensure that the user can preferentially use the manual adjustment mode to meet different individual needs, and the influence of the poor adaptability of the molecular adjustment mode at the lower part of the automatic adjustment mode.

Among them, manual adjustment can be adjusted by physical buttons/knobs, or by touching the screen.

In an example, the user can manually input or adjust the default threshold when the user adjusts the way through the physical button/knob. Among them, the manual input method can separately adjust or set the left and right thresholds, so as to effectively solve the problem of the difference in steering feel caused by the actual vehicle assembly difference or the difference in left and right tire pressures.

In another example, when the user adjusts the way through the touch screen, he can manually input or adjust the size of the default threshold through the default threshold setting interface of the on-board pad. Among them, when the angle signal control mode is adopted, the user needs to manually adjust the steering wheel to the middle position to obtain the angle zero point or the steering system rotates to the middle position to obtain the angle zero point value, while the torque signal control mode does not need to return to the middle position to obtain the torque. Zero point, but when the torque control mode is adopted, the user can obtain the torque zero point value by fully releasing the hand torque. Relevant technicians can choose between two control modes or choose a fusion control of the two modes according to the actual situation

Among them, the automatic adjustment mode can be adjusted according to the operating sensitivity of the racing car, or according to the driving scene of the racing car, or according to the speed of the racing car.

In one example, when adjusting the operating sensitivity according to the racing car, the car-mounted pad can automatically reduce or increase the corresponding threshold after receiving the operating sensitivity information fed back by the game according to the adjustment of the operating sensitivity in the racing game setting items. Among them, the specific corresponding relationship is that a higher sensitivity corresponds to a smaller positive threshold and a larger negative threshold, and a low sensitivity corresponds to a larger positive threshold and a smaller negative threshold.

In another example, when adjusting according to the racing scene, the car pad can receive the game feedback according to the difference of the road surface of the racing car, such as the difference of snow, mud, sand, asphalt, or the difference of wet and dry roads. After the driving scene information, the on-board pad automatically decreases or increases the corresponding threshold. Among them, the specific corresponding 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 adjusting according to the driving speed of the racing car, after the car-mounted pad receives the driving speed information fed back by the game, the car-mounted pad automatically decreases or increases the corresponding threshold. Among them, the specific corresponding relationship is that a higher vehicle speed corresponds to a smaller positive threshold and a larger negative threshold, and a low vehicle speed corresponds to a larger positive threshold and a smaller negative threshold.

Among them, the default thresholds for Game Angle PressLeft, GameAngleReleaseLeft, Game Angle PressRight, GameAngleReleaseRight, GameTorquePressLeft, GameTorqueReleaseLeft, GameTorquePressRight, and GameTorqueReleaseRight can be shown in Table 1.

Table 1

变量名variable name	推荐值 Recommended value

GameAnglePressLeftGameAnglePressLeft	10°10°
GameAngleReleaseLeftGameAngleReleaseLeft	8°8°
GameAnglePressRightGameAnglePressRight	-10°-10°
GameAngleReleaseRightGameAngleReleaseRight	-8°-8°
GameTorquePressLeftGameTorquePressLeft	0.5Nm0.5Nm
GameTorqueReleaseLeftGameTorqueReleaseLeft	0.3Nm0.3Nm
GameTorquePressRightGameTorquePressRight	-0.5Nm-0.5Nm
GameTorqueReleaseRightGameTorqueReleaseRight	-0.3Nm-0.3Nm

In addition, Table 2 is a comparison diagram of the advantages and disadvantages of controlling the vehicle by torque signal, corner signal, torque signal, and corner signal. Users can choose and set the corresponding control mode according to their driving habits and game types.

Table 2

According to the vehicle control method proposed in the embodiments of the present disclosure, the steering signal currently output by the steering system on the vehicle can be obtained, and the change trend of the steering signal can be obtained, and the controlled object in the vehicle game can be controlled according to the change trend and the steering signal. action. Therefore, by making full use of the steering signal and the change trend of the steering signal to realize the execution control of the on-board game and realize precise control without changing the original equipment of the vehicle. It conforms to some operating habits of the game and avoids the shaking of the steering wheel and affects the user. The sense of experience not only greatly increases the fun and convenience of the user's experience of game control, but also improves the user's gaming experience.

Fig. 12 is a schematic block diagram of an electronic device according to an embodiment of the present disclosure. As shown in FIG. 12, the electronic device 10 includes: a memory 100 and a processor 200; wherein the processor 200 reads the executable program code stored in the memory 100 to run a program corresponding to the executable program code for use in Realize the above-mentioned vehicle control method.

The embodiment of the present disclosure proposes a computer-readable storage medium, and the computer-readable storage medium stores a computer program, and when the program is executed by a processor, the above-mentioned vehicle control method is realized.

In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying the pointed device or element It must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure.

In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In the present disclosure, unless otherwise clearly defined and defined, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection. , Or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, it can be the internal connection of two components or the interaction relationship between two components, unless otherwise specified The limit. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present disclosure can be understood according to specific circumstances.

In the present disclosure, unless otherwise clearly defined and defined, the first feature “on” or “under” the second feature may be in direct contact with the first and second features, or the first and second features may be indirectly through an intermediary. contact. Moreover, the "above", "above" and "above" of the first feature on the second feature may mean that the first feature is directly above or diagonally above the second feature, or it simply means that the level of the first feature is higher than the second feature. The “below”, “below” and “below” of the second feature of the first feature may be that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

In the description of this specification, descriptions with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean specific features described in conjunction with the embodiment or example , Structures, materials, or characteristics are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification without contradicting each other.

Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present disclosure. Those of ordinary skill in the art can comment on the foregoing within the scope of the present disclosure. The embodiment undergoes changes, modifications, substitutions, and modifications.

Claims

A vehicle control method includes the following steps:

Acquiring a steering signal currently output by a steering system on the vehicle, where the steering signal includes at least one of a torque signal and a steering angle signal;

Acquiring a change trend of the steering signal, where the change trend is used to characterize that the steering system is away from or returns to a reference position;

According to the changing trend and the turning signal, the controlled object in the vehicle-mounted game is controlled to perform actions.
The method according to claim 1, wherein the controlling the controlled object in the vehicle-mounted game to perform actions according to the change trend and the turning signal comprises:

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

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

According to the steering direction of the steering system and the steering offset, a first-type action instruction of the controlled object is generated.
The method according to claim 2, wherein before said generating the first-type action instruction of the controlled object, the method further comprises:

It is determined that the steering offset reaches a first preset threshold.
The method according to claim 3, wherein the method further comprises:

It is determined that the steering offset does not reach the first preset threshold, then the controlled object is controlled to execute the second type of action instruction.
The method according to claim 4, wherein the method further comprises:

According to the change trend, identifying that the steering system is in the second state of gradually returning to the reference position;

According to the steering direction of the steering system and the steering offset, a second-type action instruction of the controlled object is generated.
The method according to claim 5, wherein before said generating the second-type action instruction of the controlled object, the method further comprises:

It is determined that the steering offset returns to the second preset threshold.
The method according to claim 6, wherein the method further comprises:

Recognizing that the steering offset has not returned to the second preset threshold, then controlling the controlled object to execute the first type of action instruction.
The method according to claim 7, wherein the method further comprises:

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

It is detected and recognized that the steering offset reaches a first preset threshold, and the controlled object is controlled to switch from executing the second type of action instruction to executing the first type of action instruction.
The method according to claim 8, wherein the method further comprises:

Before the steering offset does not reach the first preset threshold, control the controlled object to continue to execute the second type of action instruction.
The method according to any one of claims 1-9, wherein:

When it is recognized that the steering system is in the first state that is continuously far away from the reference position, and the steering signal includes the torque signal and the rotation angle signal, when the steering offset is subjected to a threshold judgment, the torque The signal and the data representing the offset in the rotation angle signal need to meet their respective thresholds at the same time, then the first type of action instruction is generated;

When it is recognized that the steering system is in the second state of continuously returning to the reference position and the steering signal includes the torque signal and the steering angle signal, when the steering offset is subjected to a threshold judgment, the When one of the data representing the offset in the torque signal and the rotation angle signal meets the respective threshold, the second type of action command is generated.
The method according to claim 10, wherein the method further comprises:

The detection threshold setting operation is to adjust the default threshold according to the threshold setting operation; or,

Acquire the operating sensitivity of the vehicle-mounted game, and adjust the default threshold according to the sensitivity; or,

Acquire scene information of the vehicle-mounted game, extract road surface information from the scene information, and adjust the default threshold according to the road surface information; or,

The running speed of the game object of the vehicle-mounted game is acquired, and the default threshold is adjusted according to the running speed.
An electronic device including a memory and a processor;

Wherein, the processor runs the program corresponding to the executable program code by reading the executable program code stored in the memory, so as to realize the vehicle operation according to any one of claims 1-11. Control Method.
A computer-readable storage medium storing a computer program, which when executed by a processor, realizes the vehicle control method according to any one of claims 1-11.