The invention discloses a commercial vehicle driving neutral position self-learning method, and aims at the problems that after an electric power steering system of a commercial vehicle is loaded, the vehicle deviates, a steering wheel is unstable, finally, the vehicle cannot go straight or is snakelike left and right, and the driver always manually corrects and resets the steering wheel for a long time, and driving fatigue is generated. Whether the vehicle deviates or not is judged by detecting the steering wheel turning angle, the vehicle speed, the steering wheel torque and the torque duration time in the vehicle running process, and the neutral position of the steering wheel turning angle is adjusted in real time after it is judged that the vehicle deviates indeed. Therefore, the EPS does not generate redundant steering wheel aligning torque due to changes before and after the load of the vehicle, and the loaded vehicle does not deviate due to the load, so that the driving burden of the driver and vehicle safety accidents caused by the deviation of the vehicle can be obviously reduced, and the driving hand feeling is also improved.