Debugging method, device, vehicle and storage medium of electric power steering system

Abstract

The present application relates to a debugging method, device, vehicle and storage medium of an electric power steering system, including: identifying the current vehicle model to be tested, and determining the debugging target parameters according to the vehicle model to be tested; receiving the target steering angle value, and debugging the vehicle's electric power steering system based on the target steering angle value and the debugging target parameters to obtain the step response value of the electric power steering system; determining the control deviation value of the electric power steering system according to the step response value, and forming a control amount according to the control deviation value through a preset linear combination, and controlling the electric power steering system according to the control amount, so that the steering angle of the electric power steering system reaches the target steering angle value. Thus, the current problems of slow response time and large steady-state error provided by the vehicle EPS to APA are solved, the steady-state error is greatly reduced, the system adjustment accuracy is improved, the response time is accelerated, and the debugging and calibration personnel can achieve performance goals more quickly.

Description

Technical Field

[0001] The present application relates to the field of vehicle steering technology, and in particular to a debugging method, device, vehicle and storage medium for an electric power steering system. Background Art

[0002] As cars develop towards intelligence, vehicles have more and more assisted driving functions, and the requirements for steering EPS are getting higher and higher. The steering EPS (Electric Power Steering) needs to provide APA (AutoParkingAssist) automatic parking with fast response time and small steady-state error steering wheel lateral angle control.

[0003] In the related art, the existing patent document discloses a method and device for determining the power-assisting current of an electric power steering system with application number: ZL201110149042.8. The method includes obtaining the maximum power-assisting current, the minimum power-assisting current and the threshold vehicle speed; obtaining the vehicle speed value of the vehicle; comparing the vehicle speed and the threshold vehicle speed: when the vehicle speed value is greater than the threshold vehicle speed, determining the minimum power-assisting current as the power-assisting current of the electric power steering system; when the vehicle speed value is less than or equal to the threshold vehicle speed, determining the power-assisting current of the electric resistance steering system according to the corresponding relationship between the power-assisting current and the vehicle speed. The method and device improve the stability and portability of the electric power steering system. However, the system is a single system and cannot be universal or used for the EPS systems of existing different vehicle power systems and configured vehicles. Some of the new advanced functions of EPS have more requirements for the vehicle signal. When EPS is expanded with advanced functions, the EPS software signal needs to be greatly modified or subversively modified, and even the vehicle software signal cannot meet the requirements of EPS advanced functions, and the vehicle signal needs to be greatly modified. Summary of the invention

[0004] The present application provides a debugging method, device, vehicle and storage medium for an electric power steering system, which solves the problems of slow response time and large steady-state error provided by the current vehicle EPS to APA, greatly reduces the steady-state error, improves the system adjustment accuracy, speeds up the response time, and enables debugging and calibration personnel to achieve performance goals more quickly.

[0005] A first aspect of the present application provides a debugging method for an electric power steering system, comprising the following steps: identifying a current vehicle model to be tested, and determining debugging target parameters based on the vehicle model to be tested; receiving a target steering angle value, and debugging the vehicle's electric power steering system based on the target steering angle value and the debugging target parameters to obtain a step response value of the electric power steering system; determining a control deviation value of the electric power steering system based on the step response value, and forming a control quantity from the control deviation value through a preset linear combination, and controlling the electric power steering system based on the control quantity so that the steering angle of the electric power steering system reaches the target steering angle value.

[0006] Based on the above technical means, the current problems of slow response time and large steady-state error provided by vehicle EPS to APA are solved, the steady-state error is greatly reduced, the system adjustment accuracy is improved, the response time is accelerated, and the debugging and calibration personnel can achieve performance goals more quickly.

[0007] Furthermore, the control deviation value is formed into a control quantity according to a preset linear combination, including: determining a proportional adjustment coefficient, an integral adjustment coefficient and / or a differential adjustment coefficient according to the control deviation value; based on the preset linear combination, linearly combining the proportional adjustment coefficient, the integral adjustment coefficient and / or the differential adjustment coefficient to form the control quantity.

[0008] According to the above technical means, the steady-state error is reduced by adjusting the proportional-integral-differential coefficient.

[0009] Furthermore, before receiving the target steering angle value, it also includes: receiving a lateral control angle request issued by an automatic parking system; based on the lateral control angle request, determining whether the electric power steering system meets a preset activation condition; if the electric power steering system meets the preset activation condition, controlling the electric power steering system and the automatic parking system to perform a handshake action.

[0010] According to the above technical means, by executing a handshake action, it is determined whether the automatic parking system and the electric power steering system are successfully connected.

[0011] Furthermore, the step response value includes at least one of a steady-state value, a rise time and a peak time.

[0012] According to the above technical means, it is more accurate to calculate the control deviation value through the step response value.

[0013] Furthermore, the debugging target parameter includes at least one of a maximum steering angular velocity, an angular acceleration, a delay time, an overshoot, and an adjustment time.

[0014] According to the above technical means, by debugging the target parameters, the obtained deviation value can be made more accurate, which can reduce the steady-state error.

[0015] A second aspect of the present application provides a debugging device for an electric power steering system, comprising: a determination module, used to identify a current vehicle model to be tested, and determine debugging target parameters according to the vehicle model to be tested; a debugging module, used to receive a target steering angle value, and based on the target steering angle value and the debugging target parameters, debug the electric power steering system of the vehicle to obtain a step response value of the electric power steering system; a control module, used to determine a control deviation value of the electric power steering system according to the step response value, and construct a control amount according to the control deviation value through a preset linear combination, and control the electric power steering system according to the control amount, so that the steering angle of the electric power steering system reaches the target steering angle value.

[0016] Furthermore, the control module is also used to: determine a proportional adjustment coefficient, an integral adjustment coefficient and / or a differential adjustment coefficient according to the control deviation value; and based on the preset linear combination, linearly combine the proportional adjustment coefficient, the integral adjustment coefficient and / or the differential adjustment coefficient to form the control quantity.

[0017] Furthermore, before receiving the target steering angle value, the debugging module is also used to: receive a lateral control angle request issued by the automatic parking system; based on the lateral control angle request, determine whether the electric power steering system meets the preset activation conditions; if the electric power steering system meets the preset activation conditions, control the electric power steering system and the automatic parking system to perform a handshake action.

[0018] Furthermore, the step response value includes at least one of a steady-state value, a rise time and a peak time.

[0019] Furthermore, the debugging target parameter includes at least one of a maximum steering angular velocity, an angular acceleration, a delay time, an overshoot, and an adjustment time.

[0020] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the debugging method of the electric power steering system as described in the above embodiment.

[0021] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the debugging method of the electric power steering system as described in the above embodiment.

[0022] Therefore, the present application identifies the current vehicle model to be tested, determines the debugging target parameters according to the vehicle model to be tested, receives the target steering angle value, and debugs the vehicle's electric power steering system based on the target steering angle value and the debugging target parameters, obtains the step response value of the electric power steering system, determines the control deviation value of the electric power steering system according to the step response value, and constructs the control deviation value into a control quantity according to a preset linear combination, and controls the electric power steering system according to the control quantity, so that the steering angle of the electric power steering system reaches the target steering angle value. Thus, the current problems of slow response time and large steady-state error provided by the vehicle EPS to APA are solved, the steady-state error is greatly reduced, the system adjustment accuracy is improved, the response time is accelerated, and the debugging and calibration personnel can achieve performance goals more quickly.

[0023] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0025] Figure 1 A flowchart of a debugging method for an electric power steering system provided according to an embodiment of the present application;

[0026] Figure 2 A schematic diagram of an EPS lateral angle adjustment target according to an embodiment of the present application;

[0027] Figure 3 A schematic diagram of a handshake process between an EPS and an APA controller according to an embodiment of the present application;

[0028] Figure 4 A schematic diagram of EPS lateral angle debugging process parameters according to an embodiment of the present application;

[0029] Figure 5 Schematic diagram of a block diagram of a debugging device for an electric power steering system according to an embodiment of the present application;

[0030] Figure 6 It is a schematic diagram of the structure of a vehicle according to an embodiment of the present application.

[0031] Explanation of the reference numerals: 10 - debugging device for electric power steering system, 100 - determination module, 200 - debugging module, 300 - control module, 603 - communication interface, 601 - memory, 602 - processor. DETAILED DESCRIPTION

[0032] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0033] The following describes the debugging method, device, vehicle and storage medium of the electric power steering system of the embodiment of the present application with reference to the accompanying drawings. In view of the problems mentioned in the above background technology that the response time provided by the EPS of the current vehicle to the APA is slow and the steady-state error is large, the present application provides a debugging method for the electric power steering system, in which the current vehicle model to be tested is identified, and the debugging target parameters are determined according to the vehicle model to be tested; the target steering angle value is received, and based on the target steering angle value and the debugging target parameters, the electric power steering system of the vehicle is debugged to obtain the step response value of the electric power steering system; the control deviation value of the electric power steering system is determined according to the step response value, and the control deviation value is used to form a control amount according to a preset linear combination, and the electric power steering system is controlled according to the control amount, so that the steering angle of the electric power steering system reaches the target steering angle value. In this way, the problems such as the slow response time and large steady-state error provided by the EPS of the current vehicle to the APA are solved, the steady-state error is greatly reduced, the system adjustment accuracy is improved, the response time is accelerated, and the debugging and calibration personnel can achieve the performance target more quickly.

[0034] Specifically, Figure 1 A flowchart of a debugging method for an electric power steering system provided in an embodiment of the present application.

[0035] like Figure 1 As shown, the debugging method of the electric power steering system includes the following steps:

[0036] In step S101, the current vehicle model to be tested is identified, and the debugging target parameters are determined according to the vehicle model to be tested.

[0037] Among them, the models to be tested are identified, including SUV (Sport Utility Vehicle), MPV (multi-Purpose Vehicles), CDV (Car Derived Van), etc.

[0038] In some embodiments, the debugging target parameter includes at least one of a maximum steering angular velocity, an angular acceleration, a delay time, an overshoot, and an adjustment time.

[0039] Specifically, Figure 2As shown, the debugging target parameters include A maximum steering angular velocity, B angular acceleration, C delay time, D overshoot and E adjustment time. Among them, the maximum steering angular velocity and angular acceleration depend on the system power assist capability. The target settings are different for different vehicle models. Generally speaking, the maximum steering angular velocity>450° / S, angular acceleration>1000° / S2, delay time<180ms, and the smaller the overshoot and adjustment time, the better. After setting the debugging target parameters, start calibration.

[0040] In step S102, a target steering angle value is received, and based on the target steering angle value and the debugging target parameter, the electric power steering system of the vehicle is debugged to obtain a step response value of the electric power steering system. In some embodiments, the step response value includes at least one of a steady-state value, a rise time, and a peak time.

[0041] Optionally, in some embodiments, before receiving the target steering angle value, it also includes: receiving a lateral control angle request issued by the automatic parking system; based on the lateral control angle request, determining whether the electric power steering system meets the preset activation conditions; if the electric power steering system meets the preset activation conditions, controlling the electric power steering system and the automatic parking system to perform a handshake action.

[0042] It should be understood that if Figure 3 As shown, Figure 3 This is a schematic diagram of the handshake between the EPS and APA controllers of an embodiment of the present application, the vehicle's automatic parking system sends a lateral control angle request to the vehicle's electric power steering system, the vehicle's electric power steering system detects whether the lateral control angle request meets the preset activation conditions, if so, the electric power steering system accepts the control and feeds back to the vehicle's automatic parking system, controlling the electric power steering system and the automatic parking system to perform a handshake action, after a successful handshake, the vehicle's automatic parking system continues to send target steering angle values ​​and debugging target parameters to the electric power steering system for debugging, the electric power steering system continues to set the target steering angle value, the vehicle can move forward or backward, no interruption conditions occur, and the step response value of the electric power steering system is obtained, the APA controller interrupts control, and the handshake ends.

[0043] Furthermore, if Figure 4 As shown, the step response refers to the output step response of the dynamic system when the input quantity undergoes a step change. The step response value mainly includes: steady-state value, rise time and peak time.

[0044] Among them, when the time of the step response approaches infinity, the output value of the step response is the steady-state value ys of the step response value, the corresponding moment when the output step response reaches 90% of the steady-state value is the rise time tr, and the difference between the peak value ym of the output step response and the steady-state value is the peak time tm.

[0045] In step S103, the control deviation value of the electric power steering system is determined according to the step response value, and the control deviation value is used to form a control amount according to a preset linear combination, and the electric power steering system is controlled according to the control amount so that the steering angle of the electric power steering system reaches the target steering angle value.

[0046] Optionally, in some embodiments, the control deviation value is formed into a control quantity according to a preset linear combination, including: determining a proportional adjustment coefficient, an integral adjustment coefficient and / or a differential adjustment coefficient according to the control deviation value; based on the preset linear combination, linearly combining the proportional adjustment coefficient, the integral adjustment coefficient and / or the differential adjustment coefficient to form a control quantity.

[0047] Those skilled in the art should understand that the embodiments of the present application use proportional regulation coefficient, integral regulation, and differential regulation coefficient control, and form a control deviation based on the difference between the given value and the actual output value of the step response value. The control deviation value is linearly combined according to the proportional regulation coefficient, the integral regulation coefficient, and the differential regulation coefficient to form a control quantity to control the controlled object.

[0048] Among them, the proportional adjustment coefficient plays a role in accelerating the response speed of the system, improving the system adjustment accuracy, and quickly adjusting the error in the proportional integral differential adjustment controller. In the performance calibration of the electric power steering system, increasing P-gain (proportional gain) can reduce the rise time tr, the adjustment time ts has a small optimization, reduce the steady-state error ys±σ, ​​and improve the response.

[0049] The integral adjustment coefficient plays a role in eliminating residuals and adjusting steady-state time in the proportional-integral-differential adjustment controller. In the performance calibration of the electric power steering system, increasing I-gain (integral gain) can optimize the rise time, optimize the overshoot, increase the adjustment time, reduce the response time, reduce the steady-state error ys±σ, ​​and reduce I-term, which can reduce the overshoot δ and the large-angle steady-state error.

[0050] The differential adjustment coefficient plays a role in improving the dynamic performance of the system, predicting the error trend, and correcting the error in advance in the proportional-integral-differential regulator. In the performance calibration of the electric power steering system, adding Damping can optimize the oscillation and achieve the steady-state error range.

[0051] According to the debugging method of the electric power steering system proposed in the embodiment of the present application, by identifying the current vehicle model to be tested, determining the debugging target parameters according to the vehicle model to be tested, receiving the target steering angle value, and debugging the vehicle's electric power steering system based on the target steering angle value and the debugging target parameters, the step response value of the electric power steering system is obtained, the control deviation value of the electric power steering system is determined according to the step response value, and the control deviation value is used to form a control amount according to a preset linear combination, and the electric power steering system is controlled according to the control amount, so that the steering angle of the electric power steering system reaches the target steering angle value. In this way, the problems of the slow response time and large steady-state error provided by the current vehicle EPS to the APA are solved, the steady-state error is greatly reduced, the system adjustment accuracy is improved, the response time is accelerated, and the debugging and calibration personnel can achieve the performance target more quickly.

[0052] Next, a debugging device for an electric power steering system according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0053] Figure 5 It is a block diagram of a debugging device for an electric power steering system according to an embodiment of the present application.

[0054] like Figure 5 As shown, the debugging device 10 of the electric power steering system includes: a determination module 100 , a debugging module 200 and a control module 300 .

[0055] Among them, the determination module 100 is used to identify the current vehicle model to be tested and determine the debugging target parameters according to the vehicle model to be tested; the debugging module 200 is used to receive the target steering angle value, and based on the target steering angle value and the debugging target parameters, debug the electric power steering system of the vehicle to obtain the step response value of the electric power steering system; the control module 300 is used to determine the control deviation value of the electric power steering system according to the step response value, and form a control amount according to the control deviation value through a preset linear combination, and control the electric power steering system according to the control amount, so that the steering angle of the electric power steering system reaches the target steering angle value.

[0056] Optionally, in some embodiments, the control module 300 is also used to: determine a proportional adjustment coefficient, an integral adjustment coefficient and / or a differential adjustment coefficient according to a control deviation value; and based on a preset linear combination, linearly combine the proportional adjustment coefficient, the integral adjustment coefficient and / or the differential adjustment coefficient to form a control quantity.

[0057] Optionally, in some embodiments, before receiving the target steering angle value, the debugging module 200 is also used to: receive a lateral control angle request issued by the automatic parking system; based on the lateral control angle request, determine whether the electric power steering system meets the preset activation conditions; if the electric power steering system meets the preset activation conditions, control the electric power steering system and the automatic parking system to perform a handshake action.

[0058] Optionally, in some embodiments, the step response value includes at least one of a steady-state value, a rise time, and a peak time.

[0059] Optionally, in some embodiments, the debugging target parameter includes at least one of a maximum steering angular velocity, an angular acceleration, a delay time, an overshoot, and an adjustment time.

[0060] It should be noted that the above explanation of the embodiment of the debugging method of the electric power steering system is also applicable to the debugging device of the electric power steering system of this embodiment, which will not be repeated here.

[0061] According to the debugging device of the electric power steering system proposed in the embodiment of the present application, by identifying the current vehicle model to be tested, determining the debugging target parameters according to the vehicle model to be tested, receiving the target steering angle value, and debugging the vehicle's electric power steering system based on the target steering angle value and the debugging target parameters, the step response value of the electric power steering system is obtained, the control deviation value of the electric power steering system is determined according to the step response value, and the control deviation value is used to form a control amount according to a preset linear combination, and the electric power steering system is controlled according to the control amount, so that the steering angle of the electric power steering system reaches the target steering angle value. In this way, the problems of slow response time and large steady-state error provided by the current vehicle EPS to APA are solved, the steady-state error is greatly reduced, the system adjustment accuracy is improved, the response time is accelerated, and the debugging and calibration personnel can achieve performance goals more quickly.

[0062] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0063] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0064] When the processor 602 executes the program, the debugging method of the electric power steering system provided in the above embodiment is implemented.

[0065] Furthermore, the vehicle also includes:

[0066] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0067] The memory 601 is used to store computer programs that can be executed on the processor 602 .

[0068] The memory 601 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0069] If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0070] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0071] The processor 602 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0072] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned debugging method of the electric power steering system is implemented.

[0073] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0074] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0075] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0076] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0077] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0078] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A debugging method for an electric power steering system, characterized in that: The following steps are involved: Identify the current vehicle model to be tested, and determine the debugging target parameters according to the vehicle model to be tested; Receiving a target steering angle value, and debugging an electric power steering system of a vehicle based on the target steering angle value and the debugging target parameter to obtain a step response value of the electric power steering system; as well as Determining a control deviation value of the electric power steering system according to the step response value, and forming a control amount from the control deviation value through a preset linear combination, and controlling the electric power steering system according to the control amount so that the steering angle of the electric power steering system reaches the target steering angle value; The debugging target parameter includes at least one of a maximum steering angular velocity, an angular acceleration, a delay time, an overshoot, and an adjustment time.

2. The method according to claim 1, characterized in that The step of forming a control amount from the control deviation value according to a preset linear combination includes: Determining a proportional adjustment coefficient, an integral adjustment coefficient and / or a differential adjustment coefficient according to the control deviation value; Based on the preset linear combination, the proportional adjustment coefficient, the integral adjustment coefficient and / or the differential adjustment coefficient are linearly combined to form the control variable.

3. The method according to claim 2, characterized in that Before receiving the target steering angle value, the method further includes: receiving a lateral control angle request from an automatic parking system; Based on the lateral control angle request, determining whether the electric power steering system meets a preset activation condition; If the electric power steering system meets the preset activation condition, the electric power steering system and the automatic parking system are controlled to perform a handshake action.

4. The method according to claim 1, characterized in that The step response value includes at least one of a steady-state value, a rise time, and a peak time.

5. A debugging device for an electric power steering system, characterized in that: include: A determination module is used to identify the current vehicle model to be tested and determine the debugging target parameters according to the vehicle model to be tested; The debugging target parameter includes at least one of the maximum steering angular velocity, angular acceleration, delay time, overshoot and adjustment time; A debugging module, configured to receive a target steering angle value, and debug an electric power steering system of a vehicle based on the target steering angle value and the debugging target parameter, to obtain a step response value of the electric power steering system; as well as A control module is used to determine a control deviation value of the electric power steering system according to the step response value, and to form a control amount according to a preset linear combination of the control deviation value, and to control the electric power steering system according to the control amount so that the steering angle of the electric power steering system reaches the target steering angle value.

6. The device according to claim 5, characterized in that The control module is also used for: Determining a proportional adjustment coefficient, an integral adjustment coefficient and / or a differential adjustment coefficient according to the control deviation value; Based on the preset linear combination, the proportional adjustment coefficient, the integral adjustment coefficient and / or the differential adjustment coefficient are linearly combined to form the control variable.

7. The device according to claim 6, characterized in that Before receiving the target steering angle value, the debugging module is further used to: receiving a lateral control angle request from an automatic parking system; Based on the lateral control angle request, determining whether the electric power steering system meets a preset activation condition; If the electric power steering system meets the preset activation condition, the electric power steering system and the automatic parking system are controlled to perform a handshake action.

8. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the debugging method of the electric power steering system as described in any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the debugging method of the electric power steering system as described in any one of claims 1 to 4.

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