Vehicle steering wheel and tire aligning method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle steering wheel and tire aligning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the actual angle of a steering wheel and the actual angle of a tire under the conditions that a vehicle is detected to enter a parking state, a driver is not in a driving position, and a vehicle door is in a closed locking state; calculating an angle difference according to the actual angle of the steering wheel and the actual angle of the tire; controlling the steering wheel to return along with the tires according to the angle difference. According to the embodiment of the invention, the angle difference between the steering wheel and the tire is calculated, and then the steering wheel is controlled to return along with the tire through the angle difference, so that the problem that the tire of the steer-by-wire system cannot return automatically under the parking condition is solved, unnecessary damage to a vehicle is avoided, damage to chassis components, a steering machine, the tire and the like is avoided, and the safety of the vehicle is improved. Meanwhile, the problem that the steering wheel and the tires are not aligned is solved, and it is guaranteed that the steering wheel and the tires are located in the middle straight-moving position when a driver restarts the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a vehicle steering wheel and tire return method, device, electronic equipment and storage medium. Background Art

[0002] At present, traditional cars are equipped with traditional steering systems, and the steering wheel and tires are mechanically hard-connected. However, the national standard GB17675 now stipulates that smart cars can be equipped with wire-controlled steering. To meet the development needs of intelligent driving, more and more automobile steering systems will adopt wire-controlled steering systems to replace traditional steering systems. The wire-controlled steering system cancels the mechanical connection between the steering column and the steering gear. The wire-controlled steering system includes an electric power steering column HWA and an electric power steering gear RWA. The system is controlled by two independent controllers. HWA and RWA communicate with each other through CAN signals, which can reduce the spatial layout restrictions between the steering system machinery and provide more possibilities for the design of intelligent driving cockpits. At the same time, it also enables the body and chassis to be decoupled in the steering part, increasing the possibility of realizing a detachable intelligent wire-controlled chassis.

[0003] For vehicles equipped with steer-by-wire, the driver may forget to return the steering wheel and tires to the neutral position after parking. In this case, the wheels will remain in a deflected state after the engine is turned off and the vehicle is exited. There are also cases where the driver plays a racing game while the vehicle is parked. At this time, only the steering wheel turns, and the tires do not turn or only turn a small angle. After the game is finished, the driver turns off the engine and exits the vehicle, which will cause the wheels to be in a deflected position and the steering wheel will not be aligned with the tires. As a result, the suspension will remain in a deformed state when the tires are not returned to the center position, and the rack will continue to receive the return force from the tires. Parking for a long time will aggravate the deformation of mechanical parts, the wear of the gear rack, and the aging of the tires. Summary of the invention

[0004] The object of the present invention is to provide a method, device, electronic device and storage medium for returning a vehicle steering wheel and tire to the correct position.

[0005] In order to achieve the above object, the present invention discloses a vehicle steering wheel and tire return method, characterized in that the method comprises:

[0006] When it is detected that the vehicle enters the parking state, the driver is not in the driving position, and the door is in the closed and locked state, the actual angle of the steering wheel and the actual angle of the tire are obtained;

[0007] Calculating an angle difference according to an actual angle of the steering wheel and an actual angle of the tire;

[0008] The steering wheel is controlled to follow the tire to return to the correct position according to the angle difference.

[0009] Optionally, after the step of acquiring the actual angle of the steering wheel and the actual angle of the tire when it is detected that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state, the method includes:

[0010] Identify whether the tire is in a neutral position according to the actual angle of the tire;

[0011] When it is detected that the tire is not in the middle position, calculating a return-to-center target angle of the tire according to a current tire angle of the vehicle;

[0012] The tire is controlled to return to the correct position according to the return target angle.

[0013] Optionally, after the step of controlling the tire to return to the correct position according to the return target angle, the method includes:

[0014] Detecting a power signal of a high-voltage battery corresponding to the vehicle;

[0015] If the electric quantity corresponding to the electric quantity signal is greater than the preset threshold, the tire return function continues to be executed;

[0016] If the electric quantity corresponding to the electric quantity signal is less than the preset threshold value, the tire straightening function is exited.

[0017] Optionally, after the step of controlling the tire to return to the correct position according to the return target angle, the method includes:

[0018] Detecting a request signal of an autonomous driving ADAS corresponding to the vehicle;

[0019] If the request corresponding to the request signal of the autonomous driving ADAS is enabled, then the vehicle tire return function is exited;

[0020] If the request corresponding to the request signal of the autonomous driving ADAS is not enabled, the vehicle tire return function continues to be executed.

[0021] Optionally, before the step of acquiring the actual angle of the steering wheel and the actual angle of the tire when it is detected that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state, the method includes:

[0022] Collect the vehicle's ignition signal, actual vehicle speed, and actual status of the power system;

[0023] When it is detected that the ignition signal is an ignition-off signal, the actual vehicle speed is less than or equal to the parking speed threshold, and the actual state of the power system is the off state, determining that the vehicle enters the parking state, and timing a first duration of the parking state;

[0024] When the first duration is greater than a preset time, it is determined that the vehicle meets a return-to-center condition.

[0025] Optionally, before the step of acquiring the actual angle of the steering wheel and the actual angle of the tire when it is detected that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state, the method includes:

[0026] Collect information about whether the driver of the vehicle is in the driving position of the vehicle and whether the doors are in a closed and locked state;

[0027] When it is detected that the driver of the vehicle is not in the driving position and the vehicle door is in a closed and locked state, determining that the vehicle enters a return-to-center state, and timing a second duration of the return-to-center state;

[0028] When the second duration is greater than a preset time, it is determined that the vehicle meets a return-to-center condition.

[0029] Optionally, calculating the angle difference according to the actual angle of the steering wheel and the actual angle of the tire comprises:

[0030] Detecting whether a tire angle signal and a steering wheel angle signal corresponding to the vehicle are in a valid state;

[0031] If the angle signal is in the valid state, calculating the angle difference according to the tire angle signal and the steering wheel angle signal;

[0032] If the angle signal is not in the valid state, the steering wheel follows the tire return function.

[0033] The present invention discloses a vehicle steering wheel and tire return device, which is applied to a vehicle controller in a motor control system. The device comprises:

[0034] An acquisition module is used to acquire the actual angle of the steering wheel and the actual angle of the tire when it is detected that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state;

[0035] A calculation module, used for calculating an angle difference according to an actual angle of the steering wheel and an actual angle of the tire;

[0036] The following module is used to control the steering wheel to follow the tire to return to the normal position according to the angle difference.

[0037] Optionally, the device further comprises:

[0038] A first module is used to identify whether the tire is in a middle position state according to the actual angle of the tire;

[0039] A second module is used to calculate a return target angle of the tire according to a current tire angle of the vehicle when it is detected that the tire is not in the middle position state;

[0040] The third module is used to control the tire to return to the correct position according to the return target angle.

[0041] Optionally, the device further comprises:

[0042] A fourth module is used to detect a power signal of a high-voltage battery corresponding to the vehicle;

[0043] A fifth module, configured to continue to execute the tire straightening function if the electric quantity corresponding to the electric quantity signal is greater than a preset threshold;

[0044] The sixth module is used to exit the tire return function if the power corresponding to the power signal is less than the preset threshold

[0045] Optionally, the device further comprises:

[0046] A seventh module is used to detect a request signal of an automatic driving ADAS corresponding to the vehicle;

[0047] An eighth module is used for exiting the vehicle tire return function if the request corresponding to the request signal of the autonomous driving ADAS is enabled;

[0048] The ninth module is used to continue to execute the vehicle tire return function if the request corresponding to the request signal of the autonomous driving ADAS is not enabled.

[0049] Optionally, the device further comprises:

[0050] The tenth module is used to collect the vehicle's ignition signal, actual vehicle speed and actual status of the power system;

[0051] An eleventh module is configured to determine that the vehicle enters the parking state and time a first duration of the parking state when it is detected that the ignition signal is an ignition off signal, the actual vehicle speed is less than or equal to the parking speed threshold, and the actual state of the power system is a shutdown state;

[0052] A twelfth module is used to determine that the vehicle meets the return condition when the first duration is greater than a preset time.

[0053] Optionally, the device further comprises:

[0054] The thirteenth module is used to collect whether the driver of the vehicle is in the driving position of the vehicle and whether the door is in a closed and locked state;

[0055] A fourteenth module is used to determine that the vehicle enters a return-to-center state and time a second duration of the return-to-center state when it is detected that the driver of the vehicle is not in the driving position and the vehicle door is in a closed and locked state;

[0056] A fifteenth module is configured to determine that the vehicle meets a return-to-center condition when the second duration is greater than a preset time.

[0057] Optionally, the calculation module includes:

[0058] A first calculation submodule is used to detect whether the tire angle signal and the steering wheel angle signal corresponding to the vehicle are in a valid state;

[0059] a first calculation submodule, configured to calculate an angle difference according to the tire angle signal and the steering wheel angle signal if the angle signal is in the valid state;

[0060] The first calculation submodule is used to exit the steering wheel following tire return function if the angle signal is not in the valid state.

[0061] An embodiment of the present invention further discloses an electronic device, comprising at least one processor and a memory communicatively connected to the at least one processor;

[0062] The memory is used to store computer programs;

[0063] The processor is used to implement the method described in the embodiment of the present invention when executing the program stored in the memory.

[0064] The embodiment of the present invention further discloses a computer-readable storage medium on which a computer program is stored. When executed by one or more processors, the processors are enabled to execute the method described in the embodiment of the present invention.

[0065] Beneficial effects of the present invention:

[0066] The present invention provides a method for returning the steering wheel and tire of a vehicle, by obtaining the actual angle of the steering wheel and the actual angle of the tire when detecting that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state; calculating the angle difference according to the actual angle of the steering wheel and the actual angle of the tire; and controlling the steering wheel to follow the tire to return to the center according to the angle difference. The embodiment of the present invention solves the problem that the tire of the wire control steering system cannot automatically return to the center under parking conditions by calculating the angle difference between the steering wheel and the tire, and then controlling the steering wheel to follow the tire to return to the center according to the angle difference, thereby avoiding unnecessary damage to the vehicle, and avoiding damage to chassis components, steering gears, and tires, etc. At the same time, it solves the problem that the steering wheel and tire are not aligned, ensuring that the steering wheel and tire of the driver are in the middle straight position when the vehicle is restarted, and the vehicle can be quickly started and driven, thereby improving the driving comfort of the driver, conforming to the development route of the intelligentization of the wire control steering system, improving the product competitiveness, and meeting the requirements of the times for the development of vehicle intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 A flowchart of the steps of a method for restoring the steering wheel and tire of a vehicle provided in an embodiment of the present invention;

[0068] Figure 2 It is a structural schematic diagram of a vehicle steering wheel and tire return device provided in an embodiment of the present invention;

[0069] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0070] Figure 4 This is an example diagram of judging the enabling conditions for the RWA control of the tire of a vehicle to return to the correct position according to an embodiment of the present invention;

[0071] Figure 5 This is an example diagram of ADAS intervention condition judgment for RWA controlling the tire of a car to return to the correct position according to an embodiment of the present invention;

[0072] Figure 6 A flowchart of obtaining the actual angle of a vehicle tire by RWA according to an embodiment of the present invention;

[0073] Figure 7 This is an example diagram of determining when a jam is detected according to an embodiment of the present invention;

[0074] Figure 8 A flowchart of obtaining the actual angle of a vehicle tire by RWA according to an embodiment of the present invention;

[0075] Fig. 9 This is an example diagram of determining when a jam is detected according to an embodiment of the present invention. DETAILED DESCRIPTION

[0076] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0077] Reference Figure 1 , shows a flowchart of a method for processing a high-precision map provided in an embodiment of the present invention, which specifically includes the following steps:

[0078] Step 101, when it is detected that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state, obtaining an actual angle of the steering wheel and an actual angle of the tire;

[0079] It should be noted that the embodiments of the present application are applicable to vehicles equipped with a wire-controlled steer system. Currently, for vehicles equipped with a wire-controlled steer system, there is no technology for returning the tires to the center position when the power is turned off and for the steering wheel to return to the center position following the tires.

[0080] Furthermore, before step 101, that is, after the step of acquiring the actual angle of the steering wheel and the actual angle of the tire when it is detected that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state, the method includes: identifying whether the tire is in a middle position state according to the actual angle of the tire; when it is detected that the tire is not in the middle position state, calculating a return-to-center target angle of the tire according to the current tire angle of the vehicle; and controlling the tire to return to center according to the return-to-center target angle.

[0081] Therefore, in the embodiment of the present application, first, the vehicle enters a parking state through RWA detection, and the driver gets off the vehicle and turns off the car to obtain the actual angle of the vehicle tires.

[0082] Furthermore, based on the actual angle, it can be identified whether the vehicle tire is in the middle position. When it is identified that the tire is not in the middle position, the target return angle of the vehicle tire required to return to the center is calculated based on the vehicle's current tire angle, and the vehicle's electric power steering is controlled to perform a return action based on the return target angle so that the tire can begin to return to the center.

[0083] It should be noted that in the embodiments of the present application, the intermediate position refers to the ideal position of the automobile tire when the vehicle is stationary, which is usually a state where the tire is completely aligned with the direction of travel of the vehicle. For most vehicles, this position is usually when the tire points straight ahead, that is, the angle of the tire is 0 degrees. In this state, the steering resistance of the tire is minimal, and the vehicle is also the most stable when stationary.

[0084] Returning the tire to the center position refers to the process of adjusting the tire from the current non-center position (for example, deflected to the left or right) to the center position. The purpose of returning the tire to the center position is to ensure that the tire is in the ideal position when the vehicle is parked, avoiding unnecessary wear or potential safety hazards caused by the tire not being returned to the center position.

[0085] Therefore, the return target angle refers to the target angle to which the tire needs to be adjusted, usually 0 degrees (i.e. the middle position). When the system detects that the tire is not in the middle position, it will calculate the angle that needs to be adjusted based on the actual angle of the current tire. This angle is the return target angle.

[0086] In addition, in another embodiment, before obtaining the actual angle of the vehicle tire, the method includes:

[0087] RWA obtains the actual angle of the vehicle tire, including: detecting whether the angle signal of the steering gear or the tire angle sensor is valid; if the angle signal is valid, the actual angle is obtained according to the angle signal; if the angle signal is invalid, the actual angle is obtained according to the current position of the steering gear drive motor.

[0088] It should be noted that in the embodiment of the present application, by judging whether the angle sensor state is valid, a tire angle signal is output. When the angle sensor is valid, the actual angle obtained by the current position of the vehicle tire is the angle collected by the steering gear angle sensor; when the steering gear angle sensor is invalid, the actual angle obtained by the current position of the drive motor is the vehicle tire angle estimated by the motor position sensor.

[0089] While obtaining the actual angle of the tire, since the tire and the steering wheel are decoupled in the linear steering system of the present application, it is necessary to obtain the actual angle of the steering wheel of the current vehicle.

[0090] Specifically, HWA obtains the actual angle of the vehicle steering wheel, and obtains the current actual angle of the tire sent by RWA through CAN communication. Similarly, obtaining the actual angle of the steering wheel also includes: detecting whether the angle signal of the steering wheel angle sensor is valid; if the angle signal is valid, obtaining the actual angle according to the angle signal; if the angle signal is invalid, obtaining the actual angle according to the current position of the steering column drive motor.

[0091] It should be noted that the above-mentioned angles can be obtained by an angle sensor.

[0092] Further, before step 101, that is, before the step of acquiring the actual angle of the steering wheel and the actual angle of the tire when detecting that the vehicle enters the parking state, the driver is not in the driving position, and the door is in the closed and locked state, the method includes:

[0093] Collect the vehicle's ignition signal, actual vehicle speed, and actual status of the power system;

[0094] When it is detected that the ignition signal is an ignition-off signal, the actual vehicle speed is less than or equal to the parking speed threshold, and the actual state of the power system is the off state, determining that the vehicle enters the parking state, and timing a first duration of the parking state;

[0095] When the first duration is greater than a preset time, it is determined that the vehicle meets a return-to-center condition.

[0096] It should be noted that in the embodiment of the present application, before obtaining the actual angles of the steering wheel and the tires, the system will collect the vehicle's ignition signal, actual vehicle speed, and actual state of the power system. When it is detected that the ignition signal is an off signal, the actual vehicle speed is less than or equal to the parking speed threshold, and the power system is in the off state, the system determines that the vehicle enters the parking state and starts timing the first duration. When the first duration exceeds the preset time, the system determines that the vehicle meets the return-to-center condition, and then obtains the actual angles of the steering wheel and the tires for subsequent return-to-center operations.

[0097] Further, before step 101, that is, before the step of acquiring the actual angle of the steering wheel and the actual angle of the tire when detecting that the vehicle enters the parking state, the driver is not in the driving position, and the door is in the closed and locked state, the method includes:

[0098] Collect information about whether the driver of the vehicle is in the driving position of the vehicle and whether the doors are in a closed and locked state;

[0099] When it is detected that the driver of the vehicle is not in the driving position and the vehicle door is in a closed and locked state, determining that the vehicle enters a return-to-center state, and timing a second duration of the return-to-center state;

[0100] When the second duration is greater than a preset time, it is determined that the vehicle meets a return-to-center condition.

[0101] It should be noted that, in the embodiment of the present application, before obtaining the actual angles of the steering wheel and the tires, the system will collect information on whether the driver of the vehicle is in the driving position and whether the door is in a closed and locked state. When it is detected that the driver is not in the driving position and the door is in a closed and locked state, the system determines that the vehicle enters the return state and starts timing the second duration. When the second duration exceeds the preset time, the system determines that the vehicle meets the return condition, and then obtains the actual angles of the steering wheel and the tires for subsequent return operations.

[0102] Step 102, calculating an angle difference according to an actual angle of the steering wheel and an actual angle of the tire;

[0103] Further, the calculating the angle difference according to the actual angle of the steering wheel and the actual angle of the tire comprises:

[0104] Detecting whether a tire angle signal and a steering wheel angle signal corresponding to the vehicle are in a valid state;

[0105] If the angle signal is in the valid state, calculating the angle difference according to the tire angle signal and the steering wheel angle signal;

[0106] If the angle signal is not in the valid state, the steering wheel follows the tire return function.

[0107] It should be noted that, in the embodiment of the present application, after obtaining the actual angle of the steering wheel and the actual angle of the tire, the actual angle difference can be obtained based on the two.

[0108] In addition, before calculating the angle difference, check whether the tire angle signal and steering wheel angle signal corresponding to the vehicle are in a valid state, wherein the valid state means that the tire angle signal and the steering wheel angle signal are not lost, interrupted, interfered or erroneous during the transmission process, and the values ​​are within the normal range, and can accurately reflect the actual angles of the tire and the steering wheel. Specifically in the embodiment of the present application, the valid state means that the tire angle signal and the steering wheel angle signal meet the following conditions: Signal integrity: The signal is not lost or interrupted, and can be transmitted to the control system intact. Signal accuracy: The value of the signal is accurate and is not affected by interference or errors. Signal stability: The signal remains stable for a certain period of time, without drastic fluctuations or abnormal changes. Signal range: The value of the signal is within the normal working range and does not exceed the design limit of the sensor.

[0109] Step 103: Control the steering wheel to follow the tire to return to the normal position according to the angle difference.

[0110] Therefore, after the angle difference is obtained in step 102, the steering wheel can be controlled to follow the tire to return to the center according to the angle difference.

[0111] Specifically, after detecting that the vehicle has entered the parking state, the electric power steering obtains the actual angle of the tire and determines whether the tire is in the middle position (zero position). If the tire is not in the middle position, 0 degrees is used as the return target angle to control the electric power steering to perform the tire return action. Subsequently, the electric power steering column uses the received tire angle as the target angle for controlling the steering wheel according to the measured steering wheel angle, and performs closed-loop control to ensure that the steering wheel follows and accurately aligns with the tire return action in real time.

[0112] Further, controlling the steering wheel to follow the tire to return to the correct position according to the angle difference includes: calculating a steering wheel speed and a driving torque of the steering wheel following the tire according to the angle difference to control the steering wheel to follow the tire to return to the correct position.

[0113] Specifically, after calculating the angle difference, the vehicle's wire-controlled steering can calculate the tire's self-aligning speed and self-aligning torque based on the target angle and the current tire angle difference to drive the steering motor to return the tire to the middle position.

[0114] Further, after the step of controlling the tire to return to the correct position according to the return target angle, the method includes:

[0115] Detecting a power signal of a high-voltage battery corresponding to the vehicle;

[0116] If the electric quantity corresponding to the electric quantity signal is greater than the preset threshold, the tire return function continues to be executed;

[0117] If the electric quantity corresponding to the electric quantity signal is less than the preset threshold value, the tire straightening function is exited.

[0118] It should be noted that in the embodiment of the present application, after the step of controlling the tire to return to the correct position according to the return target angle, the system will detect the power signal of the vehicle's high-voltage battery. If the power signal shows that the battery power is greater than the preset threshold, the system will continue to perform the tire return function; if the power signal shows that the battery power is less than the preset threshold, the system will exit the tire return function to avoid the return operation failure due to insufficient power or affect other key system functions.

[0119] Further, after the step of controlling the tire to return to the correct position according to the return target angle, the method includes:

[0120] Detecting a request signal of an autonomous driving ADAS corresponding to the vehicle;

[0121] If the request corresponding to the request signal of the autonomous driving ADAS is enabled, then the vehicle tire return function is exited;

[0122] If the request corresponding to the request signal of the autonomous driving ADAS is not enabled, the vehicle tire return function continues to be executed.

[0123] It should be noted that in the embodiment of the present application, after the step of controlling the tire to return to the correct position according to the return target angle, the system will detect the request signal of the vehicle's corresponding automatic driving ADAS (Advanced Driver Assistance System). If the ADAS request signal shows that the request is enabled (that is, the ADAS system is executing or about to execute an operation), the system will exit the vehicle tire return function to avoid conflict with the ADAS operation; if the ADAS request signal shows that the request is not enabled, the system will continue to execute the vehicle tire return function.

[0124] In addition, in the embodiments of the present application, Figure 4 It is a control logic diagram of the RWA control method for returning a tire to the correct position according to the present invention.

[0125] Step 1: The tire return function after power-off lock judges the acquired conditions. If the conditions are met, the tire return function of the car is enabled and a five-minute timer is set (the time can be adjusted). If the conditions are not met, the tire return function is kept in an inactive state.

[0126] Step 2: If the tire straightening function is activated when the power is off and the lock is released, and a request from ADAS is received, the tire straightening function is exited; if no request is received, the tire straightening function is continued according to the obtained tire angle.

[0127] Step 3: If the tire is detected to be stuck and it lasts for a certain period of time when the power-off lock and tire return function is executed, exit the power-off lock and tire return function. If no sticking condition is detected, continue to execute the return function:

[0128] Step 4: If the tire return function is completed within the specified time, such as five minutes, which can be determined according to the vehicle strategy, the tire return completion flag is sent to the system state machine. If the tire return action is not completed within the specified time, the tire return function is exited and the return completion flag is sent to the system state machine.

[0129] Further, in the step 1, it is determined whether the condition is satisfied. Figure 5 As shown, the following steps are included:

[0130] S301, start.

[0131] S302, determine whether the vehicle's ignition signal is off, the power signal is stop, the remote locking signal is locked, the driver's seat sensor signal is unoccupied, the parking validity signal is in parking state, the vehicle speed signal is valid and 0, and the high-voltage power signal > threshold. If so, execute step S303, otherwise, execute step S304.

[0132] Among them, OFF gear is usually defined as flameout, and ON gear is defined as ignition;

[0133] S305, end.

[0134] Further, in the step 2, the step of detecting the ADAS request signal is as follows: Figure 6 As shown, the following steps are included:

[0135] S401, start.

[0136] S402, determine whether the vehicle's ADAS signal has a request, if there is a request and the handshake with the wire-controlled steering system is successful, execute step S403, otherwise, execute step S404.

[0137] Furthermore, in the step 2, the actual angle of the vehicle tire is obtained, as shown in the steps Figure 7 As shown, the following steps are included: S501, start.

[0138] S502, determine whether the angle sensor is in a valid state, if yes, execute step S503, otherwise, execute step S504. S503, the tire angle is equal to the angle collected by the angle sensor, and jump to execute step S505.

[0139] S504, the tire angle is equal to the angle detected and converted by the motor position sensor.

[0140] S505, end.

[0141] Further, in the step 3, after the stall protection signal is detected, the steps are performed as follows: Figure 8 As shown, including:

[0142] S601, start.

[0143] S602, detecting that the actual output torque of the driving motor of the vehicle steering gear is greater than 95% (the threshold value is adjustable) of the maximum driving torque of the motor and lasts for a certain period of time, indicating that the stall protection is triggered;

[0144] S603, then stop the return function of the automobile tire; otherwise, execute step S604, execute the tire return function S605, and end.

[0145] Additionally, in another embodiment, Fig. 9The flowchart of the method for controlling the HWA to control the steering wheel of a car to follow and align the tire in real time according to the present invention includes the following steps:

[0146] Step S701, function starts;

[0147] Step S702, including detecting whether the tire angle signal is valid, detecting whether the steering wheel angle signal is valid, and detecting whether the power-off lock tire return function is activated;

[0148] Step S703: if the tire angle signal is valid, the steering wheel angle signal is valid, and the power-off lock tire return function is activated, then execute S704; otherwise, execute step S705 to calculate the angle difference;

[0149] Furthermore, in some embodiments, obtaining the actual angle of the vehicle steering wheel includes: detecting whether the angle signal of the steering gear or the steering wheel angle sensor is valid; if the angle signal is valid, obtaining the actual angle according to the angle signal; if the angle signal is invalid, obtaining the actual angle according to the current position of the steering gear drive motor. It should be understood that the embodiment of the present application can output the steering wheel angle signal by judging whether the state of the angle sensor is valid. When the angle sensor is valid, the actual angle obtained at the current position of the vehicle steering wheel is the angle collected by the HWA angle sensor; when the HWA angle sensor is invalid, the actual angle obtained at the current position of the drive motor is the vehicle steering wheel angle estimated by the motor position sensor.

[0150] Step S706, calculating the motor torque in the driving direction according to the angle difference, so that the steering wheel follows and aligns with the tire.

[0151] Step S707, when the steering wheel follows the tire to return to the correct position, a completion flag is sent.

[0152] The present invention provides a method for returning the steering wheel and tire of a vehicle, by obtaining the actual angle of the steering wheel and the actual angle of the tire when detecting that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state; calculating the angle difference according to the actual angle of the steering wheel and the actual angle of the tire; and controlling the steering wheel to follow the tire to return to the center according to the angle difference. The embodiment of the present invention solves the problem that the tire of the wire control steering system cannot automatically return to the center under parking conditions by calculating the angle difference between the steering wheel and the tire, and then controlling the steering wheel to follow the tire to return to the center according to the angle difference, thereby avoiding unnecessary damage to the vehicle, and avoiding damage to chassis components, steering gears, and tires, etc. At the same time, it solves the problem that the steering wheel and tire are not aligned, ensuring that the steering wheel and tire of the driver are in the middle straight position when the vehicle is restarted, and the vehicle can be quickly started and driven, thereby improving the driving comfort of the driver, conforming to the development route of the intelligentization of the wire control steering system, improving the product competitiveness, and meeting the requirements of the times for the development of vehicle intelligence.

[0153] Reference Figure 2 , shows a vehicle steering wheel and tire return device provided by an embodiment of the present invention, the device comprising:

[0154] An acquisition module 201 is used to acquire an actual angle of the steering wheel and an actual angle of the tire when it is detected that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state;

[0155] A calculation module 202, configured to calculate an angle difference according to an actual angle of the steering wheel and an actual angle of the tire;

[0156] The following module 203 is used to control the steering wheel to follow the tire to return to the normal position according to the angle difference.

[0157] Optionally, the device further comprises:

[0158] A first module is used to identify whether the tire is in a middle position state according to the actual angle of the tire;

[0159] A second module is used to calculate a return target angle of the tire according to a current tire angle of the vehicle when it is detected that the tire is not in the middle position state;

[0160] The third module is used to control the tire to return to the correct position according to the return target angle.

[0161] Optionally, the device further comprises:

[0162] A fourth module is used to detect a power signal of a high-voltage battery corresponding to the vehicle;

[0163] A fifth module, configured to continue to execute the tire straightening function if the electric quantity corresponding to the electric quantity signal is greater than a preset threshold;

[0164] The sixth module is used to exit the tire return function if the power corresponding to the power signal is less than the preset threshold

[0165] Optionally, the device further comprises:

[0166] A seventh module is used to detect a request signal of an automatic driving ADAS corresponding to the vehicle;

[0167] An eighth module is used for exiting the vehicle tire return function if the request corresponding to the request signal of the autonomous driving ADAS is enabled;

[0168] The ninth module is used to continue to execute the vehicle tire return function if the request corresponding to the request signal of the autonomous driving ADAS is not enabled.

[0169] Optionally, the device further comprises:

[0170] The tenth module is used to collect the vehicle's ignition signal, actual vehicle speed and actual status of the power system;

[0171] An eleventh module is configured to determine that the vehicle enters the parking state and time a first duration of the parking state when it is detected that the ignition signal is an ignition off signal, the actual vehicle speed is less than or equal to the parking speed threshold, and the actual state of the power system is a shutdown state;

[0172] A twelfth module is used to determine that the vehicle meets the return condition when the first duration is greater than a preset time.

[0173] Optionally, the device further comprises:

[0174] The thirteenth module is used to collect whether the driver of the vehicle is in the driving position of the vehicle and whether the door is in a closed and locked state;

[0175] A fourteenth module is used to determine that the vehicle enters a return-to-center state and time a second duration of the return-to-center state when it is detected that the driver of the vehicle is not in the driving position and the vehicle door is in a closed and locked state;

[0176] A fifteenth module is configured to determine that the vehicle meets a return-to-center condition when the second duration is greater than a preset time.

[0177] Optionally, the calculation module includes:

[0178] A first calculation submodule is used to detect whether the tire angle signal and the steering wheel angle signal corresponding to the vehicle are in a valid state;

[0179] a first calculation submodule, configured to calculate an angle difference according to the tire angle signal and the steering wheel angle signal if the angle signal is in the valid state;

[0180] The first calculation submodule is used to exit the steering wheel following tire return function if the angle signal is not in the valid state.

[0181] The present invention provides a vehicle steering wheel and tire return device, which obtains the actual angle of the steering wheel and the actual angle of the tire when detecting that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state; calculates the angle difference according to the actual angle of the steering wheel and the actual angle of the tire; and controls the steering wheel to follow the tire to return to the center according to the angle difference. The embodiment of the present invention solves the problem that the tire of the wire control steering system cannot automatically return to the center under parking conditions by calculating the angle difference between the steering wheel and the tire, and then controls the steering wheel to follow the tire to return to the center according to the angle difference, thereby avoiding unnecessary damage to the vehicle, avoiding damage to chassis components, steering gears and tires, etc., and at the same time solves the problem that the steering wheel and tire are not aligned, ensuring that the steering wheel and tire of the driver are in the middle straight position when starting the vehicle again, and the vehicle can be quickly started and driven, thereby improving the driving comfort of the driver, conforming to the development route of the intelligentization of the wire control steering system, improving the product competitiveness and meeting the requirements of the era of intelligent development of vehicles.

[0182] The embodiment of the present invention further provides an electronic device, such as Figure 3 As shown, it includes a processor 301, a device interface 302, a memory 303 and a bus 304;

[0183] Memory 303, used for storing computer programs;

[0184] The processor 301 is used to execute the program stored in the memory 303 to implement the following steps:

[0185] When it is detected that the vehicle enters the parking state, the driver is not in the driving position, and the door is in the closed and locked state, the actual angle of the steering wheel and the actual angle of the tire are obtained;

[0186] Calculating an angle difference according to an actual angle of the steering wheel and an actual angle of the tire;

[0187] The steering wheel is controlled to follow the tire to return to the correct position according to the angle difference.

[0188] The bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0189] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0190] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0191] The present invention also provides a storage medium. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute the vehicle steering wheel and tire straightening method of the aforementioned embodiment.

[0192] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0193] The algorithm and display provided herein are not inherently related to any particular computer, virtual device or other equipment. According to the above description, it is obvious that the structure required for constructing this type of device is. In addition, the present invention is not directed to any specific programming language. It should be understood that various programming languages ​​can be utilized to realize the content of the present invention described herein, and the description of the above specific language is to disclose the best mode of the present invention.

[0194] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0195] Similarly, it should be understood that in order to streamline the present invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the following intention: that the claimed invention requires more features than those expressly recited in each claim. Rather, as reflected in the claims below, inventive aspects lie in less than all of the features of the individual embodiments disclosed above. Therefore, the claims that follow the detailed description are hereby expressly incorporated into the detailed description, with each claim itself serving as a separate embodiment of the present invention.

[0196] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition they may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0197] The various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the sorting device according to the present invention. The present invention may also be implemented as a device or apparatus program for executing part or all of the methods described herein. Such a program for implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0198] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

[0199] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, apparatuses and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0200] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0201] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0202] It should be noted that the various data-related processes in the embodiments of the present application are all carried out in compliance with the corresponding data protection laws and policies of the country where the device is located, and with the authorization given by the owner of the corresponding device.

Claims

1. A method for returning a vehicle steering wheel and tire to the correct position, characterized in that: The method comprises: When it is detected that the vehicle enters the parking state, the driver is not in the driving position, and the door is in the closed and locked state, the actual angle of the steering wheel and the actual angle of the tire are obtained; Calculating an angle difference according to an actual angle of the steering wheel and an actual angle of the tire; The steering wheel is controlled to follow the tire to return to the correct position according to the angle difference.

2. The method according to claim 1, characterized in that After the step of acquiring the actual angle of the steering wheel and the actual angle of the tire when it is detected that the vehicle enters the parking state, the driver is not in the driving position, and the door is in the closed and locked state, the method includes: Identify whether the tire is in a neutral position according to the actual angle of the tire; When it is detected that the tire is not in the middle position, calculating a return-to-center target angle of the tire according to a current tire angle of the vehicle; The tire is controlled to return to the correct position according to the return target angle.

3. The method according to claim 2, characterized in that After the step of controlling the tire to return to the correct position according to the return target angle, the method includes: Detecting a power signal of a high-voltage battery corresponding to the vehicle; If the electric quantity corresponding to the electric quantity signal is greater than the preset threshold, the tire return function continues to be executed; If the electric quantity corresponding to the electric quantity signal is less than the preset threshold value, the tire straightening function is exited.

4. The method according to claim 2, characterized in that: After the step of controlling the tire to return to the correct position according to the return target angle, the method includes: Detecting a request signal of an autonomous driving ADAS corresponding to the vehicle; If the request corresponding to the request signal of the autonomous driving ADAS is enabled, then the vehicle tire return function is exited; If the request corresponding to the request signal of the autonomous driving ADAS is not enabled, the vehicle tire return function continues to be executed.

5. The method according to claim 1, characterized in that Before the step of acquiring the actual angle of the steering wheel and the actual angle of the tire when detecting that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state, the method includes: Collect the vehicle's ignition signal, actual vehicle speed, and actual status of the power system; When it is detected that the ignition signal is an ignition-off signal, the actual vehicle speed is less than or equal to the parking speed threshold, and the actual state of the power system is the off state, determining that the vehicle enters the parking state, and timing a first duration of the parking state; When the first duration is greater than a preset time, it is determined that the vehicle meets a return-to-center condition.

6. The method according to claim 1, characterized in that Before the step of acquiring the actual angle of the steering wheel and the actual angle of the tire when detecting that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state, the method includes: Collect information about whether the driver of the vehicle is in the driving position of the vehicle and whether the doors are in a closed and locked state; When it is detected that the driver of the vehicle is not in the driving position and the vehicle door is in a closed and locked state, determining that the vehicle enters a return-to-center state, and timing a second duration of the return-to-center state; When the second duration is greater than a preset time, it is determined that the vehicle meets a return-to-center condition.

7. The method according to claim 1, characterized in that The calculating the angle difference according to the actual angle of the steering wheel and the actual angle of the tire comprises: Detecting whether a tire angle signal and a steering wheel angle signal corresponding to the vehicle are in a valid state; If the angle signal is in the valid state, calculating the angle difference according to the tire angle signal and the steering wheel angle signal; If the angle signal is not in the valid state, the steering wheel follows the tire return function to normal operation.

8. A vehicle steering wheel and tire return device, characterized in that: A motor controller used in a motor control system, the device comprising: An acquisition module is used to acquire the actual angle of the steering wheel and the actual angle of the tire when it is detected that the vehicle enters a parking state, the driver is not in the driving position, and the door is in a closed and locked state; A calculation module, used for calculating an angle difference according to an actual angle of the steering wheel and an actual angle of the tire; The following module is used to control the steering wheel to follow the tire to return to the normal position according to the angle difference.

9. An electronic device, characterized in that: include: at least one processor; a memory communicatively coupled to the at least one processor; The memory has a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the vehicle steering wheel and tire straightening method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle steering wheel and tire straightening method according to any one of claims 1 to 7 is implemented.

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