A SAS steering sensor zero position calibration method, device, equipment and storage medium

Abstract

The present invention discloses a method, apparatus, device, and storage medium for zero-position calibration of an SAS steering sensor. The method comprises: adjusting axle parallelism to a preset range based on wheel alignment; and adjusting the axle parallelism to approach zero using an adaptive variable step-size method. The present invention uses four-wheel alignment to adjust the vehicle's toe and axle parallelism to preset values. Based on the adjusted toe and axle parallelism, the steering wheel is rotated to bring the axle parallelism to zero, thereby improving the SAS steering sensor calibration accuracy, reducing calibration errors caused by system mechanical backlash, and enhancing the user's driving experience.

Description

Technical Field

[0001] The present invention relates to the technical field of electro-hydraulic steering, and in particular to a SAS steering sensor zero position calibration method, device, equipment and storage medium. Background Art

[0002] With the improvement of people's living standards, more and more people own their own vehicles, and most people pay more attention to the driving experience when driving their vehicles. Vehicles with motor power steering need to calibrate the SAS steering angle sensor to zero position when offline, so that the steering wheel zero position and the SAS steering angle sensor zero position state are as consistent as possible when the vehicle is in a straight line, to avoid the two. The error is too large, causing the AHPS motor power system to generate active return torque and cause the vehicle to deviate. The currently commonly used calibration method is to adjust the wheel alignment parameters and parallelism when the vehicle leaves the factory to align the wheels and complete the SAS angle sensor zero position calibration. Due to the gap between the steering column, steering gear and steering rod system, the calibration error is large, resulting in the AHPS motor power system generating active return torque during straight driving, which makes the driver feel a strong pulling feeling and cannot bring a better experience to the driver. Summary of the Invention

[0003] The main purpose of the present invention is to provide a SAS steering sensor zero-position calibration method, device, equipment, and storage medium. The method adjusts axle parallelism to a preset range based on wheel alignment; the method uses an adaptive variable step-size method to adjust the axle parallelism to approach zero. The method uses a four-wheel alignment to adjust the vehicle's toe and axle parallelism to preset values. Based on the adjusted toe and axle parallelism, the method then rotates the steering wheel to bring the axle parallelism closer to zero. This improves the SAS steering sensor calibration accuracy, reduces calibration errors caused by mechanical backlash in the system, and enhances the user's driving experience.

[0004] In a first aspect, the present application provides a SAS steering sensor zero position calibration method, the method comprising the steps of:

[0005] Adjust the axle parallelism to the preset range according to the wheel alignment;

[0006] Adjustment is performed based on an adaptive variable step length method so that the axle parallelism approaches zero.

[0007] In one possible implementation, starting from an initial value of the axle parallelism, adjustment is performed toward the zero point with a set initial step length;

[0008] When the axle parallelism exceeds the zero point, the step size is reduced and reverse adjustment is performed until the difference between the axle parallelism and the zero point is within the preset range.

[0009] In a possible implementation manner, the initial value of the axle parallelism is 0.5 mm / m, and the initial step length is 0.2 mm / m.

[0010] In one possible implementation, after driving in a straight line at a set speed for a preset distance, the angle of the SAS steering sensor is read and it is determined whether the angle of the SAS steering sensor is within a preset range;

[0011] If it is not within the preset range, adjustment is performed again based on the adaptive variable step length method to make the axle parallelism approach zero.

[0012] In one possible implementation, the vehicle is driven in a straight line for 40 m at a speed of 30-40 km / h;

[0013] During driving, detect whether the vehicle is running off the track, and after parking, read the angle of the SAS steering sensor to confirm whether the angle of the SAS steering sensor exceeds 3°.

[0014] In one possible implementation, the tie rod length is adjusted until the toe-in value is within the range of 0-1.5 mm;

[0015] Based on the toe-in value, the length of the straight tie rod is adjusted until the axle parallelism is within the range of ±0.5 mm / m.

[0016] In a second aspect, the present application provides a SAS steering sensor zero position calibration device, the device comprising:

[0017] a first adjustment unit, for adjusting the axle parallelism to a preset range according to the wheel alignment;

[0018] The second adjustment unit is used to perform adjustment based on an adaptive variable step length method so that the parallelism of the axle approaches zero.

[0019] In a possible implementation manner, the second adjustment unit is further configured to adjust the axle parallelism from an initial value toward a zero point with a set initial step length;

[0020] When the axle parallelism exceeds the zero point, the step size is reduced and reverse adjustment is performed until the difference between the axle parallelism and the zero point is within the preset range.

[0021] In a third aspect, the present application further provides an electronic device comprising: a processor; and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method described in any one of the first aspects is implemented.

[0022] In a fourth aspect, the present application further provides a computer-readable program medium storing computer program instructions, which, when executed by a computer, enables the computer to execute any of the methods described in the first aspect.

[0023] This application provides a SAS steering sensor zero-position calibration method, device, equipment, and storage medium. This method adjusts axle parallelism to a preset range based on wheel alignment; it then performs adjustment based on an adaptive variable step-size method, bringing the axle parallelism close to zero. The present invention uses four-wheel alignment to adjust the vehicle's toe and axle parallelism to preset values. Based on the adjusted toe and axle parallelism, the steering wheel is rotated to bring the axle parallelism close to zero, thereby improving the SAS steering sensor calibration accuracy and reducing calibration errors caused by mechanical backlash in the system, thereby enhancing the user's driving experience.

[0024] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0026] Figure 1 This is a flow chart of a SAS steering sensor zero position calibration method provided in this embodiment;

[0027] Figure 2 This is a schematic diagram of a SAS steering sensor zero position calibration device provided in this embodiment:

[0028] Figure 3 This is a flowchart of the SAS steering angle sensor zero position calibration provided in this embodiment;

[0029] Figure 4 A schematic diagram of an electronic device for zero-position calibration of a SAS steering sensor provided in this embodiment;

[0030] Figure 5 This is a schematic diagram of a computer-readable program medium for SAS steering sensor zero position calibration provided in this embodiment. DETAILED DESCRIPTION

[0031] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0032] Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the blocks shown in the drawings are functional entities that do not necessarily correspond to physically or logically separate entities.

[0033] Reference Figure 1 , Figure 1 The figure shows a flow chart of a SAS steering sensor zero position calibration method provided by the present invention, as shown in FIG. Figure 1 As shown in FIG, the SAS steering sensor zero position calibration method includes:

[0034] Step S101: adjusting the axle parallelism to a preset range according to the wheel alignment.

[0035] In this embodiment, the toe value of the vehicle is adjusted and checked to determine whether the toe value is within the range of 0-1.5mm. If the toe value of the vehicle is not within the range of 0-1.5mm, the length of the vehicle's tie rod is adjusted to bring the toe value of the vehicle within the range of 0-1.5mm. The tie rod is used to connect the left and right steering wheels to provide stability, reduce roll, and increase tire grip when the vehicle turns. To ensure that the vehicle has good handling stability, the front wheels are generally set with certain alignment parameters during automobile design. Based on wheel alignment, the front wheels, steering knuckle, axle, and frame of the vehicle are installed in a certain relative position. The wheel alignment parameters include kingpin castor, kingpin inclination, front wheel camber, and front wheel toe. Before the vehicle leaves the factory, it needs to be inspected on a four-wheel alignment test line to ensure that the vehicle's factory alignment parameters meet the design requirements. The toe value is adjusted through the inspected wheel alignment.

[0036] In one embodiment, when viewing the wheels from above, the rotational planes of the vehicle's two front wheels are not completely parallel but slightly angled, meaning the front ends of the two wheels are slightly toed inward. This phenomenon is called front wheel toe-in. In a horizontal plane passing through the centers of the vehicle's two front wheels, the distance between the front edges of the two front wheels is less than the distance between the rear edges of the two front wheels, forming an "in-toe" shape. The difference between the distance between the rear edges of the two front wheels and the distance between the front edges of the two front wheels is the front wheel toe-in value. The purpose of front wheel toe-in is to eliminate the front wheel rolling cone effect caused by wheel camber. When a wheel has camber, it rolls like a cone, causing the wheels on both sides to roll outward. Because the constraints of the steering tie rod and axle prevent the wheels from rolling outward, they will roll and slide inward on the ground, increasing tire wear. Front wheel toe-in can be adjusted by changing the length of the tie rod, which connects the left and right steering wheels. This not only synchronizes the two wheels but also allows for full speed adjustment.

[0037] In one embodiment, after the front wheel toe-in is adjusted, the axle parallelism is determined to be within ±0.5 mm / m. If the axle parallelism is not within ±0.5 mm / m, the vehicle's tie rod length is adjusted to bring the axle parallelism within ±0.5 mm / m. The tie rod connects the steering gear to the wheels and ensures stability when the vehicle is traveling in a straight line. Optionally, axle parallelism is determined based on the drive axle: the difference between the left and right front axle spindle ends and the drive axle spindle end is divided by the wheelbase.

[0038] Step S102: adjusting based on the adaptive variable step length method so that the axle parallelism approaches zero.

[0039] In one embodiment, the toe value and axle parallelism that have been adjusted are adjusted starting from the set initial value of the axle parallelism towards the 0 point. The adjustment method is to set a certain initial step size, and then turn the steering wheel to adjust the axle parallelism in the order of 0.5mm / m, 0.3mm / m, 0.1mm / m, -0.1mm / m, and 0mm / m. When the axle parallelism exceeds the 0 point, the step size is reduced to within the preset range, and the steering wheel is adjusted in the opposite direction by the preset step size until the axle parallelism approaches the 0 point infinitely, and then the SAS steering angle sensor is zero-calibrated.

[0040] In one embodiment, the axle parallelism is adjusted toward the zero point with a set initial step length starting from the initial value. When the axle parallelism exceeds the zero point, the step length is reduced and reverse adjustment is performed until the difference between the axle parallelism and the zero point is within a preset range.

[0041] Optionally, the initial value of the axle parallelism is set to 0.5mm / m, the initial step size is set to 0.2mm / m, and then the vehicle steering wheel is turned to the initial value of the axle parallelism, that is, the steering wheel is turned to 0.5mm / m, and then the vehicle steering wheel is slowly returned to the direction of 0mm / m. When returning to the center, the step size of each return is 0.2mm / m. The vehicle steering wheel starts from the initial value of the axle parallelism of 0.5mm / m and then returns to 0.3mm / m for the first time according to the step size of 0.2mm / m. At this time, the parallelism of the vehicle steering wheel is 0.3mm / m, and then according to the set step size of 0.2mm / m, continue to slowly turn the steering wheel towards the direction of 0mm / m, and turn it to 0.1mm / m for the second time. At this time, the vehicle steering wheel parallelism is 0.1mm / m. According to the set step size of 0.2mm / m, continue to turn the vehicle steering wheel. At this time, the parallelism of the vehicle steering wheel reaches -0.1mm / m. After the steering wheel passes 0 mm / m, the preset step size is adjusted to 0.1 mm / m. After passing 0 mm / m, the steering wheel is rotated toward 0 mm / m in steps of 0.1 mm / m. At this point, the steering wheel parallelism is 0 mm / m. However, due to the gap between the steering column, steering gear, and steering rod system, the steering wheel angle parallelism may not be zero. At this time, the steering wheel parallelism is 0 mm / m, which is the ASA steering angle zero position. That is, the SAS steering sensor zero position static calibration is completed.

[0042] In one embodiment, after driving a preset distance in a straight line at a set speed, the angle of the SAS steering sensor is read and a determination is made as to whether the angle of the SAS steering sensor is within a preset range. If not, adjustment is performed again based on the adaptive variable step size method to bring the axle parallelism close to zero.

[0043] Specifically, after the axle parallelism approaches 0mm / m, that is, after the parallelism of the steering wheel is calibrated to 0mm / m as the SAS steering sensor zero position static calibration is completed, due to the gap between the steering column, steering gear, and steering rod system, the steering wheel angle is not necessarily zero at this time, and the SAS steering sensor needs to be further dynamically calibrated through dynamic linear inspection.

[0044] The dynamic calibration of the SAS steering sensor is as follows: lightly hold the steering wheel, select the white arrow on the runway as the starting point, correct the direction so that the vehicle drives a straight line at a speed of 30-40km / h for 40m, then lightly step on the brake to control the vehicle to stop. During driving, check whether the vehicle deviates. During parking, lightly hold the steering wheel to avoid changes in the steering wheel angle. After parking, read the angle of the ESC steering angle sensor to confirm whether the angle of the SAS steering angle sensor exceeds 3°. After the static calibration of axle parallelism is completed, the axle parallelism changes continuously with the steering wheel angle. Due to the gap between the steering column, steering gear, and steering rod system, there is still a certain error in the calibration. Therefore, a dynamic linear check is required to determine whether the steering wheel idle travel angle of the SAS steering angle sensor exceeds 3°. If the steering wheel idle travel angle of the SAS steering angle sensor exceeds 3°, the static calibration step is returned to the initial value of the axle parallelism of 0.5mm / m and the initial step size is set to 0.2mm / m. The vehicle steering wheel is then turned to the initial value of the axle parallelism, that is, the steering wheel is turned to 0.5mm / m and then slowly returned to the direction of 0mm / m. When returning, the step size of each return is 0.2mm / m. The vehicle steering wheel starts from the initial value of the axle parallelism of 0.5mm / m and then adjusts according to the step size of 0. The first return to 2mm / m reaches 0.3mm / m, indicating that the vehicle's steering wheel parallelism is 0.3mm / m. Then, using the set step size of 0.2mm / m, the steering wheel is slowly rotated toward 0mm / m. The second rotation reaches 0.1mm / m, indicating that the vehicle's steering wheel parallelism is 0.1mm / m. Using the set step size of 0.2mm / m, the steering wheel is further rotated. After the vehicle's steering wheel parallelism reaches -0.1mm / m, that is, after passing 0mm / m, the preset step size is adjusted to 0.1mm / m. After passing 0mm / m, the steering wheel is rotated toward 0mm / m using the adjusted step size of 0.1mm / m. The steering wheel parallelism is now 0mm / m. This state of 0mm / m steering wheel parallelism is calibrated as the ASA steering angle zero position, which is the SAS steering sensor zero position static calibration process. The SAS steering sensor dynamic calibration is completed when the SAS steering sensor angle during the dynamic linear check is less than or equal to 3°. At this point, the zero position calibration of the SAS steering sensor is completed.

[0045] Reference Figure 2 , Figure 2 FIG. 1 is a schematic diagram of a SAS steering sensor zero position calibration device provided by the present invention, as shown in FIG. Figure 2 As shown, the SAS steering sensor zero position calibration device includes:

[0046] The first adjustment unit 201 is used to adjust the axle parallelism to a preset range according to the wheel alignment;

[0047] The second adjusting unit 202 is configured to perform adjustment based on an adaptive variable step size method so that the axle parallelism approaches zero.

[0048] Furthermore, in one embodiment, the second adjusting unit 202 is further configured to adjust the axle parallelism from an initial value toward a zero point with a set initial step length;

[0049] When the axle parallelism exceeds the zero point, the step size is reduced and reverse adjustment is performed until the difference between the axle parallelism and the zero point is within the preset range.

[0050] Reference Figure 3 , Figure 3 This is a flowchart of the SAS steering angle sensor zero position calibration provided in this embodiment, as shown in FIG. Figure 3 As shown in the figure, the SAS steering angle sensor zero position calibration process is as follows:

[0051] First, when the vehicle rolls off the assembly line, the SAS steering angle sensor needs to be zero-calibrated to ensure that the steering wheel zero position and the SAS steering angle sensor zero position are as consistent as possible when the vehicle is in a straight line. This prevents a large error between the two, which could cause the AHPS motor power assist system to generate active self-aligning torque and cause the vehicle to veer off course. The purpose of the four-wheel alignment test is to ensure that the vehicle has good handling stability. The specific method is to align the vehicle's steering wheel and maintain a certain relative position between the front wheels, steering knuckle, axle, and frame. The steering wheel alignment parameters include: kingpin caster, kingpin inclination, front wheel camber, and front wheel toe. The vehicle must be inspected on the four-wheel alignment test line before leaving the factory to ensure that the vehicle's factory alignment parameters meet the design requirements.

[0052] After the four-wheel alignment test, the vehicle's toe is adjusted to within a range of 0-1.5mm. If the toe is not within the range, the toe is adjusted to within the range of 0-1.5mm by adjusting the length of the vehicle's tie rod. Due to the constraints of the steering tie rod and the axle, the wheels cannot roll outward, and the wheels will roll and slide inward on the ground, increasing tire wear. The vehicle's toe is adjusted by changing the length of the tie rod. Based on the adjusted toe, the axle parallelism is then adjusted to ±0.5mm / m. If the axle parallelism is not ±0.5mm / m, the length of the vehicle's straight tie rod is adjusted until the axle parallelism is ±0.5mm / m. The straight tie rod connects the steering gear to the wheels and can ensure stability when the vehicle is driving in a straight line.

[0053] The vehicle's toe-in and axle parallelism are adjusted to within a preset range through the tie rods and straight tie rods. The preset range of toe-in is 0mm / m to 1.5mm, and the preset range of axle parallelism is ±0.5mm / m.

[0054] The initial value of the axle parallelism is 0.5mm / m, and the initial step size is set to 0.2mm / m. Then, the vehicle steering wheel is turned to the initial value of the axle parallelism, that is, the steering wheel is turned to 0.5mm / m, and then the vehicle steering wheel is slowly returned to the direction of 0mm / m. When returning to the center, the step size of each return is 0.2mm / m. The vehicle steering wheel starts from the initial value of the axle parallelism of 0.5mm / m and then returns to 0.3mm / m for the first time according to the step size of 0.2mm / m. At this time, the parallelism of the vehicle steering wheel is 0.3mm / m, and then according to the set step size of 0.2mm / m, continue to slowly turn the steering wheel towards the direction of 0mm / m, and the second turn reaches 0.1mm / m. At this time, the vehicle steering wheel parallelism is 0.1mm / m. According to the set step size of 0.2mm / m, the vehicle steering wheel is continued to be turned. At this time, the parallelism of the vehicle steering wheel reaches -0.1mm / m. After that, that is, after passing 0mm / m, adjust the preset step size to 0.1mm / m. After passing 0mm / m, turn the steering wheel toward 0mm / m according to the step size adjusted to 0.1mm / m. At this time, the parallelism of the steering wheel is 0mm / m. The state of the parallelism of the steering wheel at 0mm / m is calibrated as the SAS steering sensor zero position static calibration, that is, the SAS steering sensor zero position static calibration is completed.

[0055] After the axle parallelism approaches 0mm / m, that is, the parallelism of the steering wheel is calibrated to 0mm / m, which is the state of SAS steering sensor zero position static calibration. However, due to the gap between the steering column, steering gear and steering rod system, the steering wheel angle is not necessarily zero at this time. Therefore, dynamic linear inspection is required to further calibrate the SAS steering sensor dynamically.

[0056] The dynamic calibration of the SAS steering sensor is as follows: lightly hold the steering wheel, select the white arrow on the runway as the starting point, correct the direction so that the vehicle drives a straight line at a speed of 30-40km / h for 40m, then lightly step on the brake to control the vehicle to stop. During driving, check whether the vehicle deviates. During parking, lightly hold the steering wheel to avoid changes in the steering wheel angle. After parking, read the angle of the ESC steering angle sensor to confirm whether the angle of the SAS steering angle sensor exceeds 3°.

[0057] After the static calibration of axle parallelism is completed, the axle parallelism changes with the steering wheel angle. Due to the gap between the steering column, steering gear and steering rod system, there is still a certain error in the calibration. Therefore, it is necessary to determine whether the steering wheel idle travel angle of the SAS steering angle sensor exceeds 3° through dynamic linear inspection. If the steering wheel idle travel angle of the SAS steering angle sensor exceeds 3°, return to the static calibration process, that is, set the initial value of the axle parallelism to 0.5mm / m, the initial step size to 0.2mm / m, and then turn the vehicle steering wheel to the initial value of the axle parallelism, that is, turn the steering wheel to 0.5mm / m, and then turn the vehicle steering wheel towards 0mm / m direction slowly returns to the center, when returning to the center, each return step is 0.2mm / m, the vehicle steering wheel starts from the initial value of the axle parallelism of 0.5mm / m and then returns to 0.3mm / m for the first time according to the step length of 0.2mm / m. At this time, the parallelism of the vehicle steering wheel is 0.3mm / m, and then according to the set step length of 0.2mm / m, continue to slowly turn the steering wheel towards the 0mm / m direction, and turn it to 0.1mm / m for the second time. At this time, the parallelism of the vehicle steering wheel is 0.1mm / m. According to the set step length of 0.2mm / m, continue to turn the vehicle steering wheel, and the parallelism of the vehicle steering wheel reaches -0.1mm / m After passing 0 mm / m, adjust the preset step size to 0.1 mm / m. After passing 0 mm / m, turn the steering wheel toward 0 mm / m in steps of 0.1 mm / m. At this point, the steering wheel parallelism is 0 mm / m. This state of 0 mm / m parallelism is calibrated as the ASA steering angle zero position, which is the SAS steering sensor zero position static calibration process. The SAS steering sensor dynamic calibration is completed when the SAS steering sensor angle during the dynamic straight line check is less than or equal to 3°.

[0058] Refer to the following Figure 4 An electronic device 400 according to this embodiment of the present invention will be described. Figure 4 The electronic device 400 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0059] like Figure 4 As shown, electronic device 400 is implemented as a general-purpose computing device. Components of electronic device 400 may include, but are not limited to, the aforementioned at least one processing unit 410, the aforementioned at least one storage unit 420, and a bus 430 connecting various system components (including storage unit 420 and processing unit 410).

[0060] The storage unit stores program codes, which can be executed by the processing unit 410, so that the processing unit 410 performs the steps according to various exemplary embodiments of the present invention described in the above “Example Method” section of this specification.

[0061] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0062] The storage unit 420 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0063] Bus 430 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0064] The electronic device 400 may also communicate with one or more external devices 400 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 400, and / or any device that enables the electronic device 400 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 450. Furthermore, the electronic device 400 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 460. Figure 4 As shown, the network adapter 460 communicates with other modules of the electronic device 400 via the bus 430. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 400, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0065] Through the description of the above embodiments, it will be readily understood by those skilled in the art that the example embodiments described herein can be implemented via software or via a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, or mobile hard drive) or on a network and includes several instructions for enabling a computing device (such as a personal computer, server, terminal device, or network device) to execute the methods according to the embodiments of the present disclosure.

[0066] According to the solution of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above-mentioned method of this specification is stored. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product, which includes program code. When the program product is executed on a terminal device, the program code is used to cause the terminal device to perform the steps according to various exemplary embodiments of the present invention described in the "Exemplary Methods" section of this specification.

[0067] refer to Figure 5 As shown, a program product 500 for implementing the above method according to an embodiment of the present invention is described. The program product 500 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0068] The program product may utilize any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0069] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0070] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0071] Program code for performing the operations of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0072] Furthermore, the above-described figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention and are not intended to be limiting. It is readily understood that the processes illustrated in the above-described figures do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0073] In summary, the present application provides a SAS steering sensor zero-position calibration method, apparatus, device, and storage medium. This method adjusts axle parallelism to a preset range based on wheel alignment; it then performs adjustment based on an adaptive variable step-size method, bringing the axle parallelism close to zero. The present invention uses four-wheel alignment to adjust the vehicle's toe and axle parallelism to preset values. Based on the adjusted toe and axle parallelism, the steering wheel is rotated to bring the axle parallelism close to zero, thereby improving the SAS steering sensor calibration accuracy, reducing calibration errors caused by mechanical clearance in the system, and enhancing the user's driving experience.

[0074] The above is only an embodiment of the present application. Common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. Ordinary technicians in the field are aware of all common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the field can improve and implement this scheme in combination with their own abilities under the inspiration given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A SAS steering sensor zero position calibration method, characterized in that: include: Adjust the axle parallelism to the preset range according to the wheel alignment; Adjusting based on an adaptive variable step length method so that the axle parallelism approaches zero; In this case, the parallelism of the axle is adjusted from the initial value to the zero point with the set initial step length; When the axle parallelism exceeds the zero point, the step size is reduced and reverse adjustment is performed until the difference between the axle parallelism and the zero point is within the preset range.

2. The SAS steering sensor zero position calibration method according to claim 1, characterized in that: The initial value of the axle parallelism is 0.5 mm / m, and the initial step length is 0.2 mm / m.

3. The SAS steering sensor zero position calibration method according to claim 1, characterized in that: After the adjustment is performed based on the adaptive variable step length method so that the axle parallelism approaches zero, the method further includes: After driving in a straight line at a set speed for a preset distance, reading the angle of the SAS steering sensor and determining whether the angle of the SAS steering sensor is within a preset range; If it is not within the preset range, adjustment is performed again based on the adaptive variable step length method to make the axle parallelism approach zero.

4. A SAS steering sensor zero position calibration method according to claim 3, characterized in that: After the vehicle travels in a straight line at a set speed to a preset distance, reading the angle of the SAS steering sensor and determining whether the angle of the SAS steering sensor is within a preset range includes: Drive the vehicle in a straight line for 40m at a speed of 30-40km / h; During driving, detect whether the vehicle is running off the track, and after parking, read the angle of the SAS steering sensor to confirm whether the angle of the SAS steering sensor exceeds 3°.

5. The SAS steering sensor zero position calibration method according to claim 1, characterized in that: The adjusting the axle parallelism to a preset range according to the wheel alignment includes: Adjust the tie rod length until the toe value is within the range of 0-1.5mm; Based on the toe-in value, the length of the straight tie rod is adjusted until the axle parallelism is within the range of ±0.5 mm / m.

6. A SAS steering sensor zero position calibration device, characterized in that: include: a first adjustment unit, for adjusting the axle parallelism to a preset range according to the wheel alignment; a second adjusting unit, configured to adjust based on an adaptive variable step length method so that the axle parallelism approaches zero; Starting from the initial value of the axle parallelism, adjust towards the zero point with the set initial step length; When the axle parallelism exceeds the zero point, the step size is reduced and reverse adjustment is performed until the difference between the axle parallelism and the zero point is within the preset range.

7. An electronic device, characterized in that: The electronic device comprises: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable program medium, characterized in that The computer program instructions are stored therein, and when the computer program instructions are executed by a computer, the computer is caused to execute the method according to any one of claims 1 to 5.

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