Vehicle and vehicle steering control system and method

Abstract

A vehicle control system includes: a steering wheel, a steering wheel steering angle sensor configured to acquire rotation information of the steering wheel, a steering wheel drive unit connected to the steering wheel and configured to drive the steering wheel to rotate, a steering mechanism configured to drive wheels of the vehicle to rotate, a wheel steering angle sensor configured to detect rotation information of the wheels, and a control module. The control module is electrically connected to the steering mechanism, the wheel steering angle sensor, the steering wheel steering angle sensor, and the steering wheel drive unit separately.

1 . A vehicle steering control system, comprising:
 a steering wheel;   a steering wheel steering angle sensor configured to acquire rotation information of the steering wheel;   a steering wheel drive unit connected to the steering wheel and configured to drive the steering wheel to rotate;   a steering mechanism configured to drive wheels of the vehicle to rotate;   a wheel steering angle sensor configured to detect rotation information of the wheels; and   a control module, the control module being electrically connected to the steering mechanism, the wheel steering angle sensor, the steering wheel steering angle sensor, and the steering wheel drive unit separately, and the control module being configured to: obtain the rotation information of the wheels before the vehicle enters a steering-wheel driving mode; and control the steering wheel drive unit according to the rotation information of the wheels to drive the steering wheel to rotate, until a rotation angle of the steering wheel is the same as a rotation angle of the wheels.   
     
     
         2 . The vehicle steering control system according to  claim 1 , wherein:
 the control module comprises:
 a steering wheel controller and a steering controller; wherein: 
 the steering wheel controller is electrically connected to the steering wheel drive unit and the steering wheel steering angle sensor; 
 the steering controller is electrically connected to the steering mechanism and the wheel steering angle sensor; 
 the steering wheel controller communicates with the steering controller; 
 the steering controller is configured to: obtain the rotation information of the wheels before the vehicle enters the steering-wheel driving mode; and transmit the rotation information of the wheels to the steering wheel controller; and 
 the steering wheel controller controls the steering wheel drive unit according to the rotation information of the wheels to drive the steering wheel to rotate, until the rotation angle of the steering wheel is the same as the rotation angle of the wheels. 
   
     
     
         3 . The vehicle steering control system according to  claim 1 , wherein: there are a plurality of steering wheels and a plurality of steering wheel drive units corresponding to the steering wheels one by one, and each steering wheel drive unit is configured to drive a steering wheel corresponding to the steering wheel drive unit to rotate, wherein:
 the control module being configured to: obtain the rotation information of the wheels before the vehicle enters the steering-wheel driving mode; and control the steering wheel drive unit according to the rotation information of the wheels to drive the steering wheel to rotate, until the rotation angle of the steering wheel is the same as the rotation angle of the wheels comprises:
 the control module being configured to: obtain the rotation information of the wheels before the vehicle enters the steering-wheel driving mode; and control a steering wheel drive unit of a to-be-controlled vehicle according to the rotation information of the wheels to drive a steering wheel of the to-be-controlled vehicle to rotate, until the rotation angle of the steering wheel of the to-be-controlled vehicle is the same as the rotation angle of the wheels. 
   
     
     
         4 . The vehicle steering control system according to  claim 1 , wherein:
 there are a plurality of steering wheels and a plurality of steering wheel drive units corresponding to the steering wheels one by one;   each steering wheel drive unit is configured to drive a steering wheel corresponding to the steering wheel drive unit to rotate; and   the control module controls at least one steering wheel drive unit according to the obtained rotation information of the wheels to drive the steering wheel to rotate, until the rotation angle of at least one steering wheel is the same as the rotation angle of the wheels.   
     
     
         5 . The vehicle steering control system according to  claim 1 , wherein:
 when an autonomous-driving control unit of the vehicle receives an autonomous-driving exit instruction of a driver through a receiving assembly, there is a failure in the autonomous-driving control unit, or a driving environment of the vehicle does not meet an autonomous driving condition, and the autonomous-driving control unit controls the vehicle to switch from an autonomous-driving mode to the steering-wheel driving mode.   
     
     
         6 . The vehicle steering control system according to  claim 5 , further comprising:
 before the vehicle enters the steering-wheel driving mode, determining whether the vehicle is successfully started, wherein:   the steering controller is configured to: skip receiving an angle control signal from the steering wheel drive unit or the autonomous-driving control unit when the vehicle is not successfully started; and control the rotation angle of the wheels to remain unchanged.   
     
     
         7 . The vehicle steering control system according to  claim 6 , wherein:
 the control module communicates with an in-vehicle intelligent device through a communication bus of the vehicle,
 wherein the in-vehicle intelligent device obtains status information and steering wheel information of the vehicle when the in-vehicle intelligent device detects the running of a target program of the in-vehicle intelligent device, and controls a target object of the in-vehicle intelligent device according to the rotation information of the steering wheel when the vehicle is in the autonomous-driving mode. 
   
     
     
         8 . The vehicle steering control system according to  claim 7 , wherein:
 the control module performs wireless communication with a mobile intelligent device,   wherein:
 in response to the mobile intelligent device detecting the running of a target program of the mobile intelligent device, the mobile intelligent device transmits a request instruction to the control module, and receives the status information and the steering wheel information of the vehicle that are transmitted by the control module; and 
 in response to the vehicle being in the autonomous-driving mode, the mobile intelligent device controls a target object of the mobile intelligent device according to the rotation information of the steering wheel. 
   
     
     
         9 . The vehicle steering control system according to  claim 8 , wherein the status information of the vehicle comprises: a driving mode of the vehicle. 
     
     
         10 . A vehicle, comprising the vehicle steering control system according to  claim 1 . 
     
     
         11 . A vehicle control method for a vehicle control system comprising:
 obtaining rotation information of the wheels before the vehicle enters a steering-wheel driving mode; and   controlling the steering wheel drive unit according to the rotation information of the wheels to drive the steering wheel to rotate, until a rotation angle of the steering wheel is the same as a rotation angle of the wheels, wherein:   the vehicle control system comprises:
 a steering wheel, a steering wheel drive unit, and a steering mechanism, the steering wheel drive unit being connected to the steering wheel, the steering wheel drive unit being configured to drive the steering wheel to rotate, and the steering mechanism being configured to drive wheels of the vehicle to rotate, the method. 
   
     
     
         12 . The vehicle control method according to  claim 11 , wherein the controlling the steering wheel drive unit according to the rotation information of the wheels to drive the steering wheel to rotate, until the rotation angle of the steering wheel is the same as the rotation angle of the wheels comprises:
 obtaining the rotation information of the wheels before the vehicle enters the steering-wheel driving mode; transmitting the rotation information of the wheels to a steering wheel controller; and controlling, by the steering wheel controller, the steering wheel drive unit according to the rotation information of the wheels to drive the steering wheel to rotate, until the rotation angle of the steering wheel is the same as the rotation angle of the wheels.   
     
     
         13 . The vehicle control method according to  claim 11 , wherein:
 there are a plurality of steering wheels and a plurality of steering wheel drive units corresponding to the steering wheels one by one, and   each steering wheel drive unit is configured to drive a steering wheel corresponding to the steering wheel drive unit to rotate, wherein:   the obtaining rotation information of the wheels before the vehicle enters a steering-wheel driving mode, and controlling the steering wheel drive unit according to the rotation information of the wheels to drive the steering wheel to rotate, until the rotation angle of the steering wheel is the same as the rotation angle of the wheels comprises:
 obtaining the rotation information of the wheels before the vehicle enters the steering-wheel driving mode; and controlling a steering wheel drive unit of a to-be-controlled vehicle according to the rotation information of the wheels to drive a steering wheel of the to-be-controlled vehicle to rotate, until the rotation angle of the steering wheel of the to-be-controlled vehicle is the same as the rotation angle of the wheels. 
   
     
     
         14 . The vehicle control method according to  claim 11 , wherein:
 there are a plurality of steering wheels and a plurality of steering wheel drive units corresponding to the steering wheels one by one,   each steering wheel drive unit is configured to drive a steering wheel corresponding to the steering wheel drive unit to rotate, and   at least one steering wheel drive unit is controlled according to the obtained rotation information of the wheels to drive the steering wheel to rotate until the rotation angle of the at least one steering wheel is the same as the rotation angle of the wheels.   
     
     
         15 . The vehicle control method according to  claim 11 , wherein:
 when an autonomous-driving control unit of the vehicle receives an autonomous-driving exit instruction of a driver through a receiving assembly, there is a failure in the autonomous-driving control unit, or a driving environment of the vehicle does not meet an autonomous driving condition, and the autonomous-driving control unit controls the vehicle to switch from an autonomous-driving mode to a steering-wheel driving mode.   
     
     
         16 . The vehicle control method according to  claim 15 , further comprising:
 determining whether the vehicle is successfully started before the vehicle enters the steering-wheel driving mode,
 in response to the vehicle not being successfully started, skipping receiving of an angle control signal from the steering wheel drive unit or the autonomous-driving control unit, and controlling the rotation angle of the wheels to remain unchanged. 
   
     
     
         17 . The vehicle control method according to  claim 16 , wherein:
 an in-vehicle intelligent device communicates with the vehicle through a communication bus of the vehicle; and   the method further comprises:
 obtaining status information and steering wheel information of the vehicle when the running of a target program of the in-vehicle intelligent device is detected; and 
 controlling a target object of the in-vehicle intelligent device according to the rotation information of the steering wheel when the vehicle is in the autonomous-driving mode. 
   
     
     
         18 . The vehicle control method according to  claim 17 , wherein:
 a mobile intelligent device performs wireless communication with the vehicle; and   the method comprises:
 transmitting a request instruction to the vehicle when the running of a target program of the mobile intelligent device is detected, and receiving the status information and the steering wheel information of the vehicle that are transmitted by the vehicle; and 
 controlling a target object of the mobile intelligent device according to the rotation information of the steering wheel when the vehicle is in the autonomous-driving mode. 
   
     
     
         19 . The vehicle control method according to  claim 18 , wherein the status information of the vehicle comprises: a driving mode of the vehicle.