Method and device for returning steering wheel of vehicle, vehicle and storage medium

Abstract

The application provides a method and device for returning a steering wheel to a normal position, a vehicle and a storage medium, and the method comprises the following steps: after detecting that the vehicle enters a parking state, the actual angle of the steering wheel is obtained; whether the steering wheel is in a returning state is identified according to the actual angle, and after identifying that the steering wheel is not in the returning state, the rebound angle of the steering wheel is calculated according to the current load of the vehicle; the returning target angle of the steering wheel is determined based on the rebound angle and the actual angle, and the steering system of the vehicle is controlled to perform a corresponding returning action according to the returning target angle. According to the method for returning the steering wheel to the normal position, the problem that the steering system cannot automatically return to the normal position under the parking condition is solved, unnecessary damage of the vehicle is avoided, and the driving comfort of the driver is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method, device, vehicle, and storage medium for straightening a car steering wheel. Background Technology

[0002] Currently, automobiles have become a common household item. The number of new drivers on the road each year is also increasing. For novice drivers, due to a lack of experience, they often forget to return the steering wheel to the center position after parking, leaving the wheels still turned after the engine is turned off and the driver exits the vehicle.

[0003] However, this parking method has the following disadvantages: (1) For novice drivers, when the vehicle is restarted in a narrow space, the steering wheel may not be straightened, which may cause the vehicle to scrape or similar incidents; (2) If the steering wheel is straightened manually, it will be inconvenient for the driver; (3) When the wheels are not straightened, the steering lever cannot return to the center position, and the gears and racks of the steering mechanism are also under stress. Long-term parking will aggravate the deformation of mechanical parts, wear of gears and racks and aging of tires; these issues need to be addressed. Summary of the Invention

[0004] In view of this, the present invention aims to propose a method for centering a car steering wheel. This method solves the problem that the steering system cannot automatically center under parking conditions, avoids unnecessary damage to the vehicle, and improves the driver's driving comfort. It is in line with the development path of intelligent steering systems. Without increasing the overall vehicle development cost, it can reduce the damage to chassis components, steering gear, and tires caused by wheels not being in the center position, thereby enhancing product competitiveness and meeting the requirements of the era of intelligent vehicle development.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0006] A method for straightening a car steering wheel includes the following steps:

[0007] After detecting that the vehicle has entered the parking state, the actual angle of the car's steering wheel is obtained;

[0008] Based on the actual angle, it is determined whether the car steering wheel is in the return-to-center state. If it is determined that the steering wheel is not in the return-to-center state, the rebound angle of the car steering wheel is calculated based on the current load of the vehicle.

[0009] The target angle for centering the steering wheel is determined based on the rebound angle and the actual angle, and the vehicle's steering system is controlled to perform the corresponding centering action according to the target angle.

[0010] Furthermore, before obtaining the actual angle of the car steering wheel, the process also includes:

[0011] The system collects the vehicle's ignition signal, the vehicle's actual speed, the engine's actual speed, and the vehicle's current gear.

[0012] When the ignition signal is detected as a shutdown signal, the actual vehicle speed is less than or equal to the parking speed threshold, the actual engine speed is less than or equal to the parking speed threshold, and the current gear is the parking gear, it is determined that the vehicle has entered the parking state, and the first duration of the parking state is timed.

[0013] When the first duration is greater than the preset duration, it is determined that the vehicle meets the return-to-center condition.

[0014] Furthermore, before obtaining the actual angle of the car steering wheel, the process also includes:

[0015] Collect the actual torque of the vehicle, the current state of the steering system, the actual output torque of the drive motor, and the current rate of change.

[0016] When the actual torque is detected to be less than or equal to the preset minimum torque, and the current state is the normal assist state, and the absolute value of the actual output torque is less than or equal to the maximum motor output torque, and the absolute value of the current rate of change is less than or equal to the rate of change of the maximum motor output torque, the vehicle is determined to enter the return-to-center state, and the second duration of the return-to-center state is timed.

[0017] When the second duration is greater than the preset duration, it is determined that the vehicle meets the return-to-center condition.

[0018] Furthermore, the control module includes:

[0019] Detect the actual output power of the drive motor of the car steering wheel;

[0020] If the actual output power is greater than a preset threshold, then the steering wheel return to center will stop.

[0021] Furthermore, the acquisition module includes:

[0022] Check if the angle signal from the detection angle sensor is valid;

[0023] If the angle signal is valid, the actual angle is obtained based on the angle signal.

[0024] If the angle signal is invalid, the actual angle is obtained based on the current position of the drive motor.

[0025] Compared with existing technologies, the steering wheel centering method of the present invention has the following advantages:

[0026] The steering wheel return-to-center method of this invention, after detecting that the vehicle has entered a parking state, acquires the actual angle of the steering wheel and identifies whether the steering wheel is in a return-to-center state based on the actual angle. If it is not in a return-to-center state, the rebound angle of the steering wheel is calculated based on the current load of the vehicle. Based on the rebound angle and the actual angle, the target return-to-center angle of the steering wheel is determined. The steering system is controlled to perform the corresponding return-to-center action according to the target return-to-center angle. This solves the problem that the steering system cannot automatically return to center under parking conditions, avoids unnecessary damage to the vehicle, and improves the driver's driving comfort. It is in line with the development path of intelligent steering systems. Without increasing the overall vehicle development cost, it can reduce the damage to chassis components, steering gear, and tires caused by wheels not being in the center position, thereby enhancing product competitiveness and meeting the requirements of the era of intelligent vehicle development.

[0027] Another object of the present invention is to provide a steering wheel return device for automobiles.

[0028] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0029] A steering wheel return mechanism for automobiles, comprising:

[0030] The acquisition module is used to acquire the actual angle of the car steering wheel after detecting that the vehicle has entered the parking state;

[0031] The calculation module is used to identify whether the car steering wheel is in a return-to-center state based on the actual angle, and after identifying that it is not in the return-to-center state, to calculate the rebound angle of the car steering wheel based on the current load of the vehicle; and

[0032] The control module is used to determine the target angle for centering the steering wheel of the car based on the rebound angle and the actual angle, and to control the steering system of the vehicle to perform the corresponding centering action according to the target angle.

[0033] Furthermore, before obtaining the actual angle of the car steering wheel, the acquisition module is also used to:

[0034] The system collects the vehicle's ignition signal, the vehicle's actual speed, the engine's actual speed, and the vehicle's current gear.

[0035] When the ignition signal is detected as a shutdown signal, the actual vehicle speed is less than or equal to the parking speed threshold, the actual engine speed is less than or equal to the parking speed threshold, and the current gear is the parking gear, it is determined that the vehicle has entered the parking state, and the first duration of the parking state is timed.

[0036] When the first duration is greater than the preset duration, it is determined that the vehicle meets the return-to-center condition.

[0037] Furthermore, before obtaining the actual angle of the car steering wheel, the acquisition module is also used to:

[0038] Collect the actual torque of the vehicle, the current state of the steering system, the actual output torque of the drive motor, and the current rate of change.

[0039] When the actual torque is detected to be less than or equal to the preset minimum torque, and the current state is the normal assist state, and the absolute value of the actual output torque is less than or equal to the maximum motor output torque, and the absolute value of the current rate of change is less than or equal to the rate of change of the maximum motor output torque, the vehicle is determined to enter the return-to-center state, and the second duration of the return-to-center state is timed.

[0040] When the second duration is greater than the preset duration, it is determined that the vehicle meets the return-to-center condition.

[0041] Further, controlling the vehicle's steering system to perform a corresponding centering action based on the target centering angle includes:

[0042] Detect the actual output power of the drive motor of the car steering wheel;

[0043] If the actual output power is greater than a preset threshold, then the steering wheel return to center will stop.

[0044] Furthermore, obtaining the actual angle of the car steering wheel includes:

[0045] Check if the angle signal from the detection angle sensor is valid;

[0046] If the angle signal is valid, the actual angle is obtained based on the angle signal.

[0047] If the angle signal is invalid, the actual angle is obtained based on the current position of the drive motor.

[0048] The steering wheel return device and the steering wheel return method described above have the same advantages over the prior art, and will not be repeated here.

[0049] Another objective of this invention is to propose a vehicle that solves the problem of the steering system failing to automatically return to center under parking conditions, thereby avoiding unnecessary damage to the vehicle and improving driver comfort. This aligns with the development path of intelligent steering systems, reducing damage to chassis components, steering gear, and tires caused by wheels not being in the center position without increasing the overall vehicle development cost. This enhances product competitiveness while meeting the demands of the era of intelligent vehicle development.

[0050] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0051] A vehicle includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the above-described method for straightening a car steering wheel.

[0052] The vehicle described above has the same advantages over the prior art as the aforementioned method for straightening the steering wheel, and will not be repeated here.

[0053] Another object of the present invention is to provide a computer-readable storage medium.

[0054] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0055] A computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the above-described method for straightening a car steering wheel.

[0056] The computer-readable storage medium described above has the same advantages over the prior art as the aforementioned method for straightening a car steering wheel, and will not be repeated here. Attached Figure Description

[0057] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0058] Figure 1 This is a flowchart of the method for straightening a car steering wheel according to an embodiment of the present invention;

[0059] Figure 2 This is a flowchart illustrating the acquisition of the actual angle of a car steering wheel according to an embodiment of the present invention;

[0060] Figure 3 This is a flowchart illustrating the output of the absolute parking status flag bit according to one embodiment of the present invention;

[0061] Figure 4This is a flowchart illustrating the output system flag bits according to an embodiment of the present invention;

[0062] Figure 5 This is a flowchart illustrating the determination of whether the steering wheel non-center position determination flag is valid, according to one embodiment of the present invention.

[0063] Figure 6 This is a flowchart illustrating the output entry condition flag bit according to an embodiment of the present invention;

[0064] Figure 7 This is a block diagram illustrating a method for straightening a car steering wheel according to an embodiment of the present invention.

[0065] Figure 8 This is a block diagram of the steering wheel return device of an automobile according to an embodiment of the present invention;

[0066] Figure 9 This is a block diagram of the vehicle described in an embodiment of the present invention. Detailed Implementation

[0067] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0068] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0069] Figure 1 This is a flowchart of a method for straightening a car steering wheel according to an embodiment of the present invention.

[0070] like Figure 1 As shown, the method for straightening a car steering wheel according to an embodiment of the present invention includes the following steps:

[0071] Step S101: After detecting that the vehicle has entered the parking state, obtain the actual angle of the car's steering wheel.

[0072] Furthermore, in some embodiments, obtaining the actual angle of the car steering wheel includes: detecting whether the angle signal from the angle sensor is valid; if the angle signal is valid, obtaining the actual angle based on the angle signal; if the angle signal is invalid, obtaining the actual angle based on the current position of the drive motor.

[0073] It should be understood that, according to the embodiments of this application, the steering wheel angle signal can be output by determining whether the angle sensor is valid. When the angle sensor is valid, the actual angle obtained by the current position of the drive motor is the steering wheel angle collected by the steering wheel sensor; when the angle sensor is invalid, the actual angle obtained by the current position of the drive motor is the steering wheel angle estimated by the motor position sensor.

[0074] For example, such as Figure 2As shown, obtaining the actual angle of a car's steering wheel includes the following steps:

[0075] S201, Begin.

[0076] S202, Determine if the angle sensor is in a valid state. If yes, proceed to step S203; otherwise, proceed to step S204.

[0077] S203, the steering wheel angle is equal to the steering wheel angle collected by the steering wheel sensor, and the process jumps to step S205.

[0078] S204, the steering wheel angle collected by the sensor and estimated by the motor position sensor.

[0079] S205, End.

[0080] Furthermore, in some embodiments, before obtaining the actual angle of the car steering wheel, the method further includes: acquiring the vehicle's ignition signal, the vehicle's actual speed, the engine's actual speed, and the vehicle's current gear; when the ignition signal is detected as a shutdown signal, the actual vehicle speed is less than or equal to a parking speed threshold, the actual engine speed is less than or equal to a parking speed threshold, and the current gear is a parking gear, the vehicle is determined to have entered a parking state, and a first duration of the parking state is timed; when the first duration is greater than a preset duration, the vehicle is determined to have met the return-to-center conditions.

[0081] In other words, this application embodiment can determine that the vehicle meets the return-to-center condition by outputting the absolute parking status flag when all the above conditions are met and the first duration Time_Cnt is greater than or equal to the condition.

[0082] Specifically, such as Figure 3 As shown, the absolute parking status flag is output to determine whether the vehicle meets the return-to-center condition, including the following steps:

[0083] S301, Begin.

[0084] S302, determine whether the vehicle's ignition signal IG is in the OFF position, whether the actual vehicle speed Vs is less than or equal to the parking speed threshold Vs_max, whether the actual engine speed Es is less than or equal to the parking speed threshold Es_max, and whether the current gear is the parking gear. If so, proceed to step S303; otherwise, proceed to step S304.

[0085] The OFF position is typically defined as engine off, and the ON position is defined as ignition. The parking speed threshold Vs_max can be any settable value; in this application, Vs_max = 0 km / h. The parking speed threshold Es_max can also be any settable value; in this application, Es_max = 100 rpm.

[0086] S303, the absolute parking status flag is valid, which means that the vehicle meets the conditions for returning to center and the process jumps to step S305.

[0087] S304, Absolute parking status flag is invalid, which means that the vehicle does not meet the conditions for returning to center.

[0088] S305, End.

[0089] Furthermore, in some embodiments, before obtaining the actual angle of the car steering wheel, the method further includes: collecting the actual torque of the vehicle, the current state of the steering system, the actual output torque of the drive motor, and the current rate of change; when the actual torque is detected to be less than or equal to a preset minimum torque, and the current state is a normal power assist state, and the absolute value of the actual output torque is less than or equal to the maximum motor output torque, and the absolute value of the current rate of change is less than or equal to the rate of change of the maximum motor output torque, the vehicle is determined to have entered a return-to-center state, and the second duration of the return-to-center state is timed; when the second duration is greater than a preset duration, the vehicle is determined to have met the return-to-center conditions.

[0090] In other words, this embodiment of the application determines that the vehicle meets the return-to-center condition by judging that all the above conditions are met and the second duration Time_Cnt1 is greater than or equal to 1.

[0091] Specifically, such as Figure 4 As shown, the EPS (Electric Power Steering) system flag is output to determine whether the vehicle meets the conditions for returning to center. This includes the following steps:

[0092] S401, Begin.

[0093] S402, determine whether the actual torque Td of the vehicle is less than or equal to the preset minimum torque Td_min, whether the current state is normal power assist state, whether the absolute value of the actual output torque Mt is less than or equal to the maximum motor output torque Mt_max, and whether the absolute value of the current motor actual output torque change rate Mt_rate is less than or equal to the maximum motor output torque change rate Mt_rate_lim. If yes, proceed to step S403; otherwise, proceed to step S404.

[0094] Among them, the preset minimum torque Td_min can be calibrated according to the user's actual needs; Mt_max can be calibrated according to the actual output capacity of the motor, and in this application, Mt_max can be taken as 5Nm; Mt_rate_lim can be calibrated according to customer needs.

[0095] S403, the output system flag is valid, confirming that the vehicle meets the return-to-center conditions, and jumps to step S405.

[0096] S404, Output system flag is invalid, indicating that the vehicle does not meet the return-to-center conditions.

[0097] S405, End.

[0098] Step S102: Identify whether the car steering wheel is in the straightened state based on the actual angle. If it is not in the straightened state, calculate the rebound angle of the car steering wheel based on the current load of the vehicle.

[0099] Specifically, in this embodiment of the application, when identifying whether the car steering wheel is in the center position based on the actual angle, the position of the steering wheel can be used to determine and output a non-center position judgment flag.

[0100] The return-to-center control start flag is issued by the parking return-to-center control module, and its initial value is 0. When the return-to-center control start flag is 1, it indicates that the return-to-center control is in progress. When the return-to-center control start flag is 0, the return-to-center control has not started.

[0101] When the centering control start flag is greater than 0, the module outputs a steering wheel non-center position judgment flag of 1.

[0102] When the alignment control start flag is 0, the module outputs the following judgment result:

[0103] When the absolute value of the steering wheel angle is greater than the dead zone angle θ_min, output the steering wheel non-center position judgment flag bit = 1;

[0104] When the absolute value of the steering wheel angle is less than or equal to the dead zone angle θ_min, the steering wheel non-center position judgment flag is output as 0.

[0105] For example, such as Figure 5 As shown, determining whether the steering wheel is in a non-center position checkpoint is valid includes the following steps:

[0106] S501, Begin.

[0107] S502, determine whether the return-to-center control start flag is valid. If yes, proceed to step S503; otherwise, proceed to step S504.

[0108] S503, the steering wheel non-center position judgment flag is valid, and the process jumps to step S507.

[0109] S504. Determine if the steering wheel angle is greater than the dead zone angle. If yes, proceed to step S505; otherwise, proceed to step S506.

[0110] S505, the steering wheel non-center position judgment flag is valid, and proceed to step S507.

[0111] S506, the steering wheel non-center position detection marker is invalid.

[0112] S507, End.

[0113] Furthermore, when the absolute parking status flag is valid, the output system flag is valid, and the output steering wheel non-center position judgment flag is 1, the output entry condition flag is 1; otherwise, the output entry condition flag is 0.

[0114] For example, such as Figure 6 As shown, the output entry condition flag includes the following steps:

[0115] S601, Begin.

[0116] S602, determine whether the absolute parking status flag is valid, the output system flag is valid, and the steering wheel non-center position judgment flag is valid. If yes, proceed to step S603; otherwise, proceed to step S604.

[0117] S603, Enter condition flag = 1.

[0118] S604, Enter condition flag = 0.

[0119] S605, End.

[0120] Furthermore, the following detailed explanation describes how, after identifying that the steering wheel is not in the centered position, the rebound angle of the car's steering wheel is calculated based on the vehicle's current load.

[0121] When the entry condition flag is 1, the system outputs the return-to-normal flag as 1.

[0122] θ ref The actual steering wheel angle is sign(θ). ref The function is used to obtain the sign of the initial steering wheel angle. (Note: This function is executed only once.)

[0123]

[0124] As can be seen from the above formula (1), the average output torque Mt of the current motor is obtained by taking the arithmetic average of the previous n motor output torque signals. -RealAvg (The value of n can be specified.)

[0125]

[0126] From the above formula (2), it can be seen that the current average output torque Mt of the motor is... -RealAvg Divide by the system rated torque Mt -Avg The vehicle load gain Gain was estimated. load .

[0127] θ offset =θ error *Gain load (3)

[0128] From the above formula (3), it can be seen that the steering wheel rebound angle θ offset Equal to the ideal rebound angle θ calibrated by the system error Multiply by the estimated vehicle load gain Gain load .

[0129] θ Target =0-(θ) offset *sign(θ ref (4)

[0130] From the above formula (4), it can be seen that the target angle θ is corrected. Target Equals the center position (0°) minus the steering wheel rebound angle θ offset *sign(θ ref ).

[0131] The system implements θ-based control during steering wheel return to center. Target Closed-loop return-to-center control is performed for the target angle. The calculated motor torque command is output. Based on the steering wheel angle as a reference, when the steering wheel angle is at θ... Target The range is [x, y] around the angle (the range can be calibrated).

[0132] Additionally, when the entry condition flag is 0, control ends and the output returns to the start flag, which is 0.

[0133] Therefore, when the steering wheel angle sensor fails, the steering wheel angle is estimated using the vehicle signal, thus replacing the angle sensor signal and reducing the dependence on external input angle signals. The rebound angle of the steering wheel is calculated by estimating the vehicle load state, and then the angle overshoot control is performed based on the calculated rebound angle to offset the rebound angle of the steering wheel, ensuring that the steering wheel can accurately return to the vicinity of the neutral position.

[0134] Step S103: Determine the target angle for steering wheel centering based on the rebound angle and the actual angle, and control the vehicle's steering system to perform the corresponding centering action according to the target angle.

[0135] Furthermore, in some embodiments, controlling the vehicle's steering system to perform a corresponding return-to-center action based on the target return-to-center angle includes: detecting the actual output power of the drive motor of the vehicle's steering wheel; if the actual output power is greater than a preset threshold, then stopping the return-to-center of the vehicle's steering wheel.

[0136] In other words, during the parking and straightening process, the embodiments of this application can monitor the actual output power of the drive motor in real time, thereby acting as a motor output firewall to avoid motor damage caused by excessive output power of the steering motor.

[0137] To enable those skilled in the art to further understand the steering wheel centering method of the embodiments of this application, the following is combined with... Figure 7 Please provide a detailed explanation.

[0138] like Figure 7 As shown, in this embodiment of the application, the vehicle speed signal Vs, the steering torque signal Td, and the steering angle signal θ estimated based on the motor position signal can be used. esti Steering wheel sensor angle θ SAS The system uses the following input parameters: transmission gear position signal Tg, engine speed signal Es, vehicle ignition signal IG, EPS system status flag Ss, and real-time motor output torque Mt. These parameters are used to obtain the absolute parking status flag, system status flag, and steering wheel center position judgment flag. The system then uses these flags to determine the entry flag for the return-to-center control. By combining the actual motor output torque, steering wheel angle, and counter value, the system performs parking return-to-center control and obtains the motor output command to control the motor accordingly.

[0139] According to the present invention, the method for returning a car steering wheel to center, after detecting that the vehicle has entered a parking state, acquires the actual angle of the car steering wheel, identifies whether the car steering wheel is in a centered state based on the actual angle, and if it is not in a centered state, calculates the rebound angle of the car steering wheel based on the current load of the vehicle, and determines the target angle for returning the car steering wheel to center based on the rebound angle and the actual angle. Based on the target angle, the vehicle's steering system is controlled to perform the corresponding centering action. This solves the problem that the steering system cannot automatically return to center under parking conditions, avoids unnecessary damage to the vehicle, and improves the driver's driving comfort. It aligns with the development path of intelligent steering systems, and without increasing the overall vehicle development cost, it can reduce the damage to chassis components, steering gear, and tires caused by wheels not being in the center position, thereby enhancing product competitiveness and meeting the requirements of the era of intelligent vehicle development.

[0140] Furthermore, such as Figure 8 As shown, an embodiment of the present invention also discloses a steering wheel return device 10, which includes: an acquisition module 100, a calculation module 200 and a control module 300.

[0141] The acquisition module 100 is used to acquire the actual angle of the car steering wheel after detecting that the vehicle has entered the parking state;

[0142] The calculation module 200 is used to identify whether the car steering wheel is in the return-to-center state based on the actual angle, and after identifying that it is not in the return-to-center state, it calculates the rebound angle of the car steering wheel based on the current load of the vehicle; and

[0143] The control module 300 is used to determine the target angle for the steering wheel to return to center based on the rebound angle and the actual angle, and to control the vehicle's steering system to perform the corresponding return-to-center action according to the target angle.

[0144] Furthermore, before acquiring the actual angle of the car steering wheel, the acquisition module 100 is also used for:

[0145] Collect the vehicle's ignition signal, actual vehicle speed, actual engine speed, and current gear of the vehicle's transmission;

[0146] When the ignition signal is detected as a shutdown signal, the actual vehicle speed is less than or equal to the parking speed threshold, the actual engine speed is less than or equal to the parking speed threshold, and the current gear is the parking gear, the vehicle is determined to enter the parking state, and the first duration of the parking state is timed.

[0147] When the second duration is greater than the preset duration, it is determined that the vehicle meets the return-to-center condition.

[0148] Furthermore, before acquiring the actual angle of the car steering wheel, the acquisition module 100 is also used for:

[0149] Collect the vehicle's actual torque, the current state of the steering system, the actual output torque of the drive motor, and its current rate of change.

[0150] When the actual torque is less than or equal to the preset minimum torque, and the current state is normal assist state, and the absolute value of the actual output torque is less than or equal to the maximum motor output torque, and the absolute value of the current rate of change is less than or equal to the rate of change of the maximum motor output torque, the vehicle is determined to enter the return-to-center state, and the duration of the return-to-center state is timed.

[0151] When the second duration is greater than the preset duration, it is determined that the vehicle meets the return-to-center condition.

[0152] Furthermore, the control module 300 includes:

[0153] Detect the actual output power of the drive motor of the car steering wheel;

[0154] If the actual output power is greater than the preset threshold, the steering wheel will stop being returned to center.

[0155] Furthermore, the acquisition module 100 includes:

[0156] Check if the angle signal from the detection angle sensor is valid;

[0157] If the angle signal is valid, the actual angle is obtained based on the angle signal.

[0158] If the angle signal is invalid, the actual angle is obtained based on the current position of the drive motor.

[0159] It should be noted that the specific implementation of the steering wheel return device in this embodiment of the invention is similar to the specific implementation of the steering wheel return method. To reduce redundancy, it will not be described in detail here.

[0160] According to an embodiment of the present invention, the steering wheel return device acquires the actual angle of the steering wheel after detecting that the vehicle has entered a parking state, identifies whether the steering wheel is in a return-to-center state based on the actual angle, and calculates the rebound angle of the steering wheel based on the current load of the vehicle after identifying that it is not in a return-to-center state. Based on the rebound angle and the actual angle, the target return-to-center angle of the steering wheel is determined, and the vehicle's steering system is controlled to perform the corresponding return-to-center action according to the target return-to-center angle. This solves the problem that the steering system cannot automatically return to center under parking conditions, avoids unnecessary damage to the vehicle, and improves the driver's driving comfort. It is in line with the development path of intelligent steering systems. Without increasing the overall vehicle development cost, it can reduce the damage to chassis components, steering gear, and tires caused by wheels not being in the center position, thereby enhancing product competitiveness and meeting the requirements of the era of intelligent vehicle development.

[0161] Furthermore, such as Figure 9 As shown, an embodiment of the present invention discloses a vehicle, which may include:

[0162] The memory 901, the processor 902, and the computer program stored on the memory 901 and capable of running on the processor 902.

[0163] When the processor 902 executes the program, it implements the steering wheel straightening method provided in the above embodiments.

[0164] Furthermore, the vehicle also includes:

[0165] Communication interface 903 is used for communication between memory 901 and processor 902.

[0166] The memory 901 is used to store computer programs that can run on the processor 902.

[0167] The memory 901 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0168] If the memory 901, processor 902, and communication interface 903 are implemented independently, then the communication interface 903, memory 901, and processor 902 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 9 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0169] Optionally, in a specific implementation, if the memory 901, processor 902, and communication interface 903 are integrated on a single chip, then the memory 901, processor 902, and communication interface 903 can communicate with each other through an internal interface.

[0170] The processor 902 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0171] Furthermore, this embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for straightening a car steering wheel.

[0172] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for straightening a car steering wheel, characterized in that, Includes the following steps: After detecting that the vehicle has entered parking mode, the actual angle of the car's steering wheel is obtained; The system identifies whether the car steering wheel is in the centering state based on the actual angle, and if it is not in the centering state, the system calculates the rebound angle of the car steering wheel based on the current load of the vehicle. as well as The target angle for centering the steering wheel is determined based on the rebound angle and the actual angle, and the steering system of the vehicle is controlled to perform the corresponding centering action according to the target angle. Specifically, the arithmetic average of the previous n motor output torque signals is used to obtain the current average motor output torque. The current average motor output torque is then divided by the system calibration torque to estimate the vehicle load gain. Finally, the vehicle load gain is multiplied by the system calibration ideal rebound angle to obtain the steering wheel rebound angle.

2. The method according to claim 1, characterized in that, Before obtaining the actual angle of the car steering wheel, the process also includes: The system collects the vehicle's ignition signal, the vehicle's actual speed, the engine's actual speed, and the vehicle's current gear. When the ignition signal is detected as a shutdown signal, the actual vehicle speed is less than or equal to the parking speed threshold, the actual engine speed is less than or equal to the parking speed threshold, and the current gear is the parking gear, it is determined that the vehicle has entered the parking state, and the first duration of the parking state is timed. When the first duration is greater than the preset duration, it is determined that the vehicle meets the return-to-center condition.

3. The method according to claim 2, characterized in that, Before obtaining the actual angle of the car steering wheel, the process also includes: Collect the actual torque of the vehicle, the current state of the steering system, the actual output torque of the drive motor, and the current rate of change. When the actual torque is detected to be less than or equal to the preset minimum torque, and the current state is the normal assist state, and the absolute value of the actual output torque is less than or equal to the maximum motor output torque, and the absolute value of the current rate of change is less than or equal to the rate of change of the maximum motor output torque, the vehicle is determined to enter the return-to-center state, and the second duration of the return-to-center state is timed. When the second duration is greater than the preset duration, it is determined that the vehicle meets the return-to-center condition.

4. The method according to claim 1, characterized in that, The step of controlling the vehicle's steering system to perform a corresponding centering action based on the target centering angle includes: Detect the actual output power of the drive motor of the car steering wheel; If the actual output power is greater than a preset threshold, then the steering wheel return to center will stop.

5. The method according to claim 1, characterized in that, The process of obtaining the actual angle of the car steering wheel includes: Check if the angle signal from the detection angle sensor is valid; If the angle signal is valid, the actual angle is obtained based on the angle signal. If the angle signal is invalid, the actual angle is obtained based on the current position of the drive motor.

6. A steering wheel return device for automobiles, characterized in that, include: The acquisition module is used to acquire the actual angle of the car's steering wheel after detecting that the vehicle has entered the parking state; The calculation module is used to identify whether the car steering wheel is in the return-to-center state based on the actual angle, and after identifying that it is not in the return-to-center state, to calculate the rebound angle of the car steering wheel based on the current load of the vehicle. as well as The control module is used to determine the target angle for centering the steering wheel of the car based on the rebound angle and the actual angle, and to control the steering system of the vehicle to perform the corresponding centering action according to the target angle. Specifically, the arithmetic average of the previous n motor output torque signals is used to obtain the current average motor output torque. The current average motor output torque is then divided by the system calibration torque to estimate the vehicle load gain. Finally, the vehicle load gain is multiplied by the system calibration ideal rebound angle to obtain the steering wheel rebound angle.

7. The apparatus according to claim 6, characterized in that, Before obtaining the actual angle of the car steering wheel, the acquisition module is further configured to: The system collects the vehicle's ignition signal, the vehicle's actual speed, the engine's actual speed, and the vehicle's current gear. When the ignition signal is detected as a shutdown signal, the actual vehicle speed is less than or equal to the parking speed threshold, the actual engine speed is less than or equal to the parking speed threshold, and the current gear is the parking gear, it is determined that the vehicle has entered the parking state, and the first duration of the parking state is timed. When the first duration is greater than the preset duration, it is determined that the vehicle meets the return-to-center condition.

8. The apparatus according to claim 7, characterized in that, Before obtaining the actual angle of the car steering wheel, the acquisition module is further configured to: Collect the actual torque of the vehicle, the current state of the steering system, the actual output torque of the drive motor, and the current rate of change. When the actual torque is detected to be less than or equal to the preset minimum torque, and the current state is the normal assist state, and the absolute value of the actual output torque is less than or equal to the maximum motor output torque, and the absolute value of the current rate of change is less than or equal to the rate of change of the maximum motor output torque, the vehicle is determined to enter the return-to-center state, and the second duration of the return-to-center state is timed. When the second duration is greater than the preset duration, it is determined that the vehicle meets the return-to-center condition.

9. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the method for straightening a car steering wheel as described in any one of claims 1-5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the method for straightening a car steering wheel as described in any one of claims 1-5.

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