Zero calibration method and device of corner sensor and computer device

Abstract

This application relates to a method, apparatus, computer device, storage medium, and computer program product for zero-position calibration of a steering angle sensor. The method includes: upon receiving a calibration request from a backend server, controlling an electric power steering controller to perform calibration preparation and obtaining a calibration preparation result; if the calibration preparation result indicates that calibration preparation is complete, unlocking the electric power steering controller and obtaining an unlocking result; if the unlocking result indicates successful unlocking, controlling the electric power steering controller to perform zero-position calibration of the steering angle sensor and obtaining a calibration result; and if the calibration result indicates that the zero-position calibration of the steering angle sensor is successful, sending the calibration result to the backend server. This method improves the efficiency of obtaining the zero-position calibration result of the steering angle sensor.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, apparatus, computer equipment, storage medium and computer program product for zero-position calibration of a steering angle sensor. Background Technology

[0002] As demands for vehicle performance and functionality increase, the number of electronic control units (ECUs) in vehicles is also constantly growing. Electric power steering (EPS) controllers are gradually becoming standard equipment in passenger cars and commercial vehicles. To ensure the accuracy of the EPS controller's directional control, the steering angle sensor needs to be calibrated at zero position before the vehicle leaves the factory and during maintenance or replacement of the EPS controller. Failure to calibrate the steering angle sensor at zero position will result in inaccurate zero position and vehicle deviation, seriously affecting the driver's driving experience and even causing danger.

[0003] Existing methods for zero-point calibration of angle sensors typically involve connecting a calibration diagnostic instrument to the angle sensor and using the instrument to read relevant calibration signals to achieve zero-point calibration. However, this method requires an external calibration diagnostic instrument, resulting in low efficiency in obtaining zero-point calibration results for the angle sensor. Summary of the Invention

[0004] Therefore, it is necessary to address the problem of low efficiency in obtaining zero-position calibration results of traditional angle sensors by providing a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for zero-position calibration of angle sensors, which can improve the efficiency of obtaining zero-position calibration results of angle sensors.

[0005] Firstly, this application provides a method for zero-position calibration of an angle sensor. The method includes:

[0006] Upon receiving a calibration request from the backend server, the system controls the electric power steering controller to prepare for calibration and obtains the calibration preparation results.

[0007] If the calibration preparation result indicates that the calibration preparation is complete, unlock the electric power steering controller to obtain the unlocking result;

[0008] If the unlocking result indicates successful unlocking, control the electric power steering controller to perform zero-position calibration on the steering angle sensor and obtain the calibration result;

[0009] If the calibration result indicates that the zero-position calibration of the angle sensor is successful, the calibration result will be sent to the backend server.

[0010] In one embodiment, controlling the electric power steering controller to perform calibration preparation and obtaining calibration preparation results includes:

[0011] Send a calibration preparation command to the electric power steering controller so that the electric power steering controller can determine whether the vehicle speed and battery voltage meet the calibration conditions. If the calibration conditions are met, determine the calibration preparation result as calibration preparation complete.

[0012] Receive calibration preparation results from the electric power steering controller.

[0013] In one embodiment, the electric power steering controller is unlocked to obtain an unlocking result, including:

[0014] The unlock random number is encrypted based on the first security algorithm to obtain the first encryption result;

[0015] Send an unlocking random number to the electric power steering controller so that the electric power steering controller encrypts the unlocking random number based on the second security algorithm to obtain a second encrypted result;

[0016] Receive the second encrypted result sent by the electric power steering controller;

[0017] Based on the first encryption result and the second encryption result, the unlocking result is obtained.

[0018] In one embodiment, the unlocking result is obtained based on the first encryption result and the second encryption result, including:

[0019] The first encryption result and the second encryption result are compared to obtain the comparison result.

[0020] If the comparison result indicates that the first encryption result and the second encryption result are not equal, the unlocking result is determined to be an unlocking failure;

[0021] If the comparison result indicates that the first encryption result and the second encryption result are equal, an unlock command is sent to the electric power steering controller so that the electric power steering controller unlocks based on the unlock command to obtain an initial unlock result; the initial unlock result sent by the electric power steering controller is received; if the initial unlock result indicates that the unlock is successful, the unlock result is determined to be successful; if the initial unlock result indicates that the unlock is unsuccessful, the unlock result is determined to be unsuccessful.

[0022] In one embodiment, the step of receiving the calibration request sent by the backend server includes:

[0023] After receiving a fault diagnosis request from the backend server, the system controls the vehicle to perform a self-check based on the fault diagnosis request, and obtains a fault code set, which includes at least one fault code.

[0024] If any fault code in the fault code set indicates that the corner sensor is not calibrated, the corresponding fault code will be sent to the backend server so that the backend server can generate a calibration request based on the fault code.

[0025] Receive calibration requests sent by the backend server.

[0026] In one embodiment, the zero-position calibration method for the angle sensor further includes:

[0027] If the calibration result indicates that the zero-position calibration of the angle sensor has failed, return to the step of controlling the electric power steering controller to perform zero-position calibration of the angle sensor until the calibration result indicates that the zero-position calibration of the angle sensor has been successful.

[0028] Secondly, this application also provides a zero-position calibration device for an angle sensor. The device includes:

[0029] The calibration preparation module is used to control the electric power steering controller to perform calibration preparation and obtain calibration preparation results when a calibration request is received from the backend server.

[0030] The unlocking module is used to unlock the electric power steering controller when the calibration preparation result indicates that the calibration preparation is complete, and to obtain the unlocking result;

[0031] The calibration module is used to control the electric power steering controller to perform zero-position calibration of the steering angle sensor when the unlocking result indicates successful unlocking, and to obtain the calibration result.

[0032] The result sending module is used to send the calibration result to the backend server when the calibration result indicates that the zero-position calibration of the angle sensor is successful.

[0033] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0034] Upon receiving a calibration request from the backend server, the system controls the electric power steering controller to prepare for calibration and obtains the calibration preparation results.

[0035] If the calibration preparation result indicates that the calibration preparation is complete, unlock the electric power steering controller to obtain the unlocking result;

[0036] If the unlocking result indicates successful unlocking, control the electric power steering controller to perform zero-position calibration on the steering angle sensor and obtain the calibration result;

[0037] If the calibration result indicates that the zero-position calibration of the angle sensor is successful, the calibration result will be sent to the backend server.

[0038] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0039] Upon receiving a calibration request from the backend server, the system controls the electric power steering controller to prepare for calibration and obtains the calibration preparation results.

[0040] If the calibration preparation result indicates that the calibration preparation is complete, unlock the electric power steering controller to obtain the unlocking result;

[0041] If the unlocking result indicates successful unlocking, control the electric power steering controller to perform zero-position calibration on the steering angle sensor and obtain the calibration result;

[0042] If the calibration result indicates that the zero-position calibration of the angle sensor is successful, the calibration result will be sent to the backend server.

[0043] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0044] Upon receiving a calibration request from the backend server, the system controls the electric power steering controller to prepare for calibration and obtains the calibration preparation results.

[0045] If the calibration preparation result indicates that the calibration preparation is complete, unlock the electric power steering controller to obtain the unlocking result;

[0046] If the unlocking result indicates successful unlocking, control the electric power steering controller to perform zero-position calibration on the steering angle sensor and obtain the calibration result;

[0047] If the calibration result indicates that the zero-position calibration of the angle sensor is successful, the calibration result will be sent to the backend server.

[0048] The aforementioned zero-position calibration method, apparatus, computer equipment, storage medium, and computer program product for the steering angle sensor, by controlling the electric power steering controller to prepare for calibration upon receiving a calibration request from the backend server and obtaining a calibration preparation result, ensures that calibration is performed only after the electric power steering controller enters the calibration preparation state, thus improving the accuracy of the calibration results. When the calibration preparation result indicates that calibration preparation is complete, the electric power steering controller is unlocked, and an unlocking result is obtained. When the unlocking result indicates successful unlocking, the electric power steering controller is controlled to perform zero-position calibration on the steering angle sensor, obtaining a calibration result. This ensures that zero-position calibration can only be performed if the electric power steering controller can be successfully unlocked, thus improving the safety and reliability of the zero-position calibration. When the calibration result indicates successful zero-position calibration of the steering angle sensor, the calibration result is sent to the backend server. This zero-position calibration method can automatically perform zero-position calibration of the steering angle sensor upon receiving a calibration request without the need for external calibration equipment, improving the efficiency of acquiring zero-position calibration results. Attached Figure Description

[0049] Figure 1 This is an application environment diagram of the zero-position calibration method for an angle sensor in one embodiment;

[0050] Figure 2 This is a flowchart illustrating the zero-position calibration method for an angle sensor in one embodiment;

[0051] Figure 3 This is a schematic diagram of a sub-process of S202 in one embodiment;

[0052] Figure 4 This is a schematic diagram of a sub-process of S204 in one embodiment;

[0053] Figure 5 This is a schematic diagram of a sub-process of S406 in one embodiment;

[0054] Figure 6 This is a schematic diagram of a sub-process of S202 in one embodiment;

[0055] Figure 7 This is a schematic diagram of the overall process for zero-position calibration of the angle sensor in one embodiment;

[0056] Figure 8 This is a schematic diagram illustrating the unlocking of the electric power steering controller in one embodiment;

[0057] Figure 9 This is a schematic diagram illustrating the zero-position calibration of the angle sensor in one embodiment;

[0058] Figure 10This is a structural block diagram of the zero-position calibration device for an angle sensor in one embodiment;

[0059] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] The zero-position calibration method for the angle sensor provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, the vehicle terminal 102, electric power steering controller 104, backend server 106, and steering angle sensor 108 interact with each other. The zero-position calibration method for the steering angle sensor provided in this embodiment can be executed independently by the vehicle terminal 102 server. When the vehicle terminal 102 receives a calibration request sent by the backend server 106, it controls the electric power steering controller 104 to perform calibration preparation and obtains the calibration preparation result; if the calibration preparation result indicates that the calibration preparation is complete, it unlocks the electric power steering controller 104 and obtains the unlocking result; if the unlocking result indicates that the unlocking is successful, it controls the electric power steering controller 104 to perform zero-position calibration on the steering angle sensor 108 and obtains the calibration result; if the calibration result indicates that the zero-position calibration of the steering angle sensor 108 is successful, it sends the calibration result to the backend server 106. The vehicle terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can be smart speakers, smart TVs, smart air conditioners, smart vehicle devices, etc. Portable wearable devices can be smartwatches, smart bracelets, head-mounted devices, etc. For example, the vehicle terminal 102 includes a TBOX (Telematics Box) or a vehicle infotainment system. The vehicle terminal 102 communicates with the backend server 106 via a 4G network and with the electric power steering controller 104 via a CAN (Controller Area Network) bus or Ethernet.

[0062] In one embodiment, such as Figure 2 As shown, a zero-position calibration method for an angle sensor is provided, which can be applied to... Figure 1 Taking the vehicle-mounted terminal 102 as an example, the explanation includes the following steps:

[0063] S202, upon receiving a calibration request from the backend server, controls the electric power steering controller to prepare for calibration and obtains the calibration preparation result.

[0064] The vehicle-mounted terminal is the front-end device of the vehicle monitoring and management system. It can be used for mobile communication with the back-end server to display and control vehicle information. The back-end server can be the vehicle manufacturer's back-end server or the vehicle repair shop's back-end server. The electric power steering controller is the controller of the electric power steering system (EPS). The electric power steering system is a power steering system that directly relies on an electric motor to provide auxiliary torque.

[0065] Calibration preparation is the preparatory work for zero-position calibration of the steering sensor, which mainly includes checking the vehicle speed and battery voltage.

[0066] A calibration request is a message sent by a backend server to instruct the vehicle terminal to control the electric power steering controller to perform zero-position calibration. In some embodiments, the calibration request may be sent periodically by the backend server, or it may be generated when periodically sending fault detection requests.

[0067] When the onboard terminal receives a calibration request from the backend server, it controls the electric power steering controller to prepare for calibration and obtains the calibration preparation result. The calibration preparation result includes calibration preparation completed and calibration preparation not completed.

[0068] S204, if the calibration preparation result indicates that the calibration preparation is complete, unlock the electric power steering controller to obtain the unlocking result.

[0069] Unlocking is the process of pairing the on-board terminal with the electric power steering controller. Only an on-board terminal that can successfully unlock the electric power steering controller can proceed to the next step of zero-position calibration of the steering angle sensor. This prevents any on-board terminal from performing zero-position calibration control on the electric power steering controller.

[0070] In some embodiments, the calibration preparation result is sent from the electric power steering controller to the vehicle terminal, which then evaluates the result. In some embodiments, the calibration preparation result is a command conforming to a standard protocol. The vehicle terminal compares the calibration preparation result with a preset value. If the calibration preparation result equals the preset value, it indicates that calibration preparation is complete. If the calibration preparation result does not equal the preset value, it indicates that calibration preparation is incomplete. If the calibration result indicates that calibration preparation is complete, the electric power steering controller is evaluated to obtain an unlocking result. The unlocking result includes unlocking success or unlocking failure. In some embodiments, the unlocking result is an unlocking flag; a 1 unlocking flag indicates unlocking success, and a 0 unlocking flag indicates unlocking failure.

[0071] When the calibration preparation result indicates that the calibration preparation is complete, the terminal unlocks the electric power steering controller and obtains the unlocking result.

[0072] S206, when the unlocking result indicates successful unlocking, control the electric power steering controller to perform zero-position calibration on the steering angle sensor and obtain the calibration result.

[0073] An angle sensor is a sensor that measures or monitors the rotation angle of an object. For example, an angle sensor can be used in an electric power steering system. Zero-position calibration is the process of calibrating the angle sensor. Zero position refers to the angle of the angle sensor when the steering wheel is turned to the center position. The electric power steering controller performs zero-position calibration on the angle sensor.

[0074] The on-board terminal determines the unlocking result. If the unlocking result indicates successful unlocking, the on-board terminal controls the electric power steering controller to perform zero-position calibration on the steering angle sensor, obtaining a calibration result. The calibration result includes calibration success or calibration failure. In some embodiments, the calibration result can be a calibration flag. When the calibration flag is equal to 1, the calibration result indicates successful zero-position calibration of the steering angle sensor. When the calibration flag is equal to 0, the calibration result indicates failed zero-position calibration of the steering angle sensor. In some embodiments, the calibration result is received by the on-board terminal from the electric power steering controller.

[0075] S208, if the calibration result indicates that the zero-position calibration of the angle sensor is successful, sends the calibration result to the backend server.

[0076] The terminal judges the calibration result. If the calibration result is 1, indicating that the angle sensor zero-position calibration was successful, the terminal sends the calibration result to the backend server. The backend server receives...

[0077] Once the vehicle terminal sends a confirmation message indicating successful zero-point calibration of the steering angle sensor, the zero-point calibration of the steering angle sensor will be completed.

[0078] In the aforementioned zero-position calibration method for the steering angle sensor, by controlling the electric power steering controller to perform calibration preparation upon receiving a calibration request from the backend server and obtaining the calibration preparation result, it is possible to ensure that calibration is performed only after the electric power steering controller has entered the calibration preparation state, which is beneficial for improving the calibration results.

[0079] To ensure the accuracy of the calibration results; when the calibration preparation result indicates that the calibration preparation is complete, the electric power steering controller is unlocked to obtain the unlocking result; when the unlocking result indicates successful unlocking, the electric power steering controller is controlled to perform zero-position calibration on the steering angle sensor to obtain the calibration result. This ensures that zero-position calibration can only be performed when the electric power steering controller can be successfully unlocked, which is beneficial to improving the safety of zero-position calibration and the reliability of the calibration results; when the calibration result indicates that the steering angle sensor is zero-position calibrated...

[0080] If successful, the calibration results are sent to the backend server. This zero-position calibration method can automatically perform zero-position calibration of the angle sensor after receiving a calibration request without the need for external calibration equipment, thus improving the efficiency of obtaining zero-position calibration results.

[0081] In one embodiment, such as Figure 3 As shown, the electric power steering controller is controlled to perform calibration preparation, and the calibration preparation results are obtained, including:

[0082] S302, a calibration preparation command is sent to the electric power steering controller so that the electric power steering controller can determine whether the vehicle speed and battery voltage meet the calibration conditions. If the calibration conditions are met, the calibration preparation result is determined to be complete.

[0083] The calibration preparation command is used to instruct the electric power steering controller to prepare for calibration.

[0084] Optionally, the calibration preparation command is a diagnostic command that conforms to the ISO 14229 international standard.

[0085] The on-board terminal sends a calibration preparation command to the electric power steering controller, enabling the controller to determine whether the vehicle speed and battery voltage meet the calibration conditions. Specifically, the on-board terminal sends the calibration preparation command to the electric power steering controller. Upon receiving the command, the controller checks the vehicle speed and battery voltage to determine if they meet the calibration conditions. For example, the calibration conditions include a vehicle speed of 0 and a battery voltage not exceeding a preset value. If both the vehicle speed and battery voltage meet the conditions, the controller sets the calibration preparation flag to 1 and sends a first calibration preparation response command to the on-board terminal. If either the vehicle speed or battery voltage does not meet the conditions, the controller sets the flag to 0 and sends a second calibration preparation response command to the on-board terminal. Both commands are responses to the initial calibration preparation command. The first response command indicates that calibration preparation is complete. The second response command indicates that calibration preparation is not complete.

[0086] S304 receives calibration preparation results from the electric power steering controller.

[0087] The onboard terminal receives the calibration preparation result from the electric power steering controller. This means receiving either the first calibration preparation response command or the second calibration preparation response command from the electric power steering controller.

[0088] When the vehicle terminal receives the first calibration preparation response command, it determines that the calibration preparation result is complete. When the vehicle terminal receives the second calibration preparation response command, it determines that the calibration preparation result is incomplete. Optionally, if the calibration preparation result is incomplete, the vehicle terminal resends the calibration preparation command to the electric power steering controller after a preset time period until the calibration preparation result is complete.

[0089] In some embodiments, when the calibration preparation flag is 0, the electric power steering controller does not send a response command. The vehicle terminal will continue to wait until it receives the calibration preparation result fed back by the electric power steering controller as the first calibration preparation response command, and then determines that the calibration preparation is complete.

[0090] In this embodiment, a calibration preparation command is sent to the electric power steering controller, enabling the controller to determine whether the vehicle speed and battery voltage meet the calibration conditions. If the conditions are met, the calibration preparation is considered complete, and the system receives the calibration preparation result from the electric power steering controller. The onboard terminal and the electric power steering controller communicate by sending and receiving message commands to achieve calibration preparation, eliminating the need for external calibration equipment and improving the efficiency of obtaining calibration preparation results.

[0091] In one embodiment, such as Figure 4 As shown, the electric power steering controller is unlocked, and the unlocking result is obtained, including:

[0092] S402, the unlock random number is encrypted based on the first security algorithm to obtain the first encryption result.

[0093] The unlock random number is a random number generated using a random number algorithm. The first security algorithm refers to the algorithm used in the vehicle terminal to encrypt the unlock random number. Optionally, the first security algorithm can be the AES128 (Advanced Encryption Standard) encryption algorithm. AES128 has a key length of 128 bits and is a symmetric encryption algorithm. The first encryption result obtained by the vehicle terminal using the AES128 encryption algorithm to encrypt the unlock random number has high security.

[0094] S404, send an unlock random number to the electric power steering controller so that the electric power steering controller encrypts the unlock random number based on the second security algorithm to obtain a second encrypted result.

[0095] Specifically, the vehicle terminal sends an unlocking random number to the electric power steering controller, which then encrypts the unlocking random number using a second security algorithm to obtain a second encrypted result.

[0096] Specifically, the second security algorithm is an algorithm in the electric power steering controller that encrypts the unlock random number. Optionally, the second security algorithm can be the AES128 encryption algorithm.

[0097] The onboard terminal sends a command carrying an unlock random number. Upon receiving the unlock random number, the electric power steering controller encrypts it using a second security encryption algorithm, obtaining a second encrypted result. The electric power steering controller then sends a command carrying this second encrypted result back to the onboard terminal.

[0098] S406, Receive the second encryption result sent by the electric power steering controller; Based on the first encryption result and the second encryption result, obtain the unlocking result.

[0099] The vehicle-mounted terminal receives a second encrypted result from the electric power steering controller. Based on the first and second encrypted results, the vehicle-mounted terminal obtains the unlocking result. Since the first encrypted result is obtained using a first security algorithm, and the second encrypted result is obtained using a second security encryption algorithm, the first and second encrypted results indicate whether the first and second security encryption algorithms are consistent. Only when the first security encryption algorithm in the vehicle-mounted terminal is consistent with the second security encryption algorithm in the electric power steering controller can the vehicle-mounted terminal perform an unlocking operation on the electric power steering controller.

[0100] In this embodiment, the unlocking random number is encrypted using a first security algorithm to obtain a first encryption result. This first encryption result is then sent to the electric power steering controller, which in turn encrypts the unlocking random number using a second security algorithm to obtain a second encryption result. Based on both the first and second encryption results, the unlocking result is obtained. The use of secure encryption algorithms to encrypt the unlocking random number in both the vehicle terminal and the electric power steering controller ensures high security for both the encryption and unlocking results, thus improving the accuracy of the calibration results.

[0101] In one embodiment, such as Figure 5 As shown, based on the first encryption result and the second encryption result, the unlocking result is obtained, including:

[0102] S502, compare the first encryption result and the second encryption result to obtain the comparison result.

[0103] The vehicle-mounted terminal compares the first encryption result and the second encryption result to obtain a comparison result. The comparison result may be equal or unequal.

[0104] S504, if the comparison result indicates that the first encryption result and the second encryption result are not equal, the unlocking result is determined to be unlocking failure.

[0105] The inconsistency between the first and second encryption results indicates a mismatch between the first and second security algorithms. When the comparison result indicates a discrepancy between the first and second encryption results, the vehicle terminal determines the unlocking result as an unlocking failure.

[0106] S506, if the comparison result indicates that the first encryption result and the second encryption result are equal, send an unlock command to the electric power steering controller so that the electric power steering controller unlocks based on the unlock command and obtains an initial unlock result; receive the initial unlock result sent by the electric power steering controller; if the initial unlock result indicates that the unlock is successful, determine that the unlock result is successful; if the initial unlock result indicates that the unlock is unsuccessful, determine that the unlock result is unsuccessful.

[0107] The equality of the first encryption result and the second encryption result indicates that the first security algorithm and the second security algorithm are consistent. When the comparison result indicates that the first encryption result and the second encryption result are equal, the vehicle terminal can unlock the electric power steering controller.

[0108] If the comparison result indicates that the first encryption result and the second encryption result are equal, the on-board terminal sends an unlock command to the electric power steering controller, causing the electric power steering controller to unlock based on the unlock command and obtain an initial unlock result. Optionally, the unlock command is a diagnostic command conforming to the ISO 14229 international standard. After receiving the unlock command, the electric power steering controller automatically unlocks and obtains an initial unlock result. For example, the initial unlock result is an initial unlock flag. When the initial unlock flag is 1, the initial result indicates successful unlocking. When the initial unlock flag is 0, the initial result indicates unlocking failure.

[0109] The onboard terminal receives the initial unlocking result from the electric power steering controller. Specifically, the onboard terminal receives a command from the electric power steering controller carrying the initial unlocking result. If the initial unlocking result indicates successful unlocking, the onboard terminal determines the unlocking result as successful. If the initial unlocking result indicates unlocking failure, the onboard terminal determines the unlocking result as failed.

[0110] In this embodiment, if the comparison result of the first encryption result and the second encryption result indicates that the first encryption result and the second encryption result are not equal, the unlocking result is determined to be unlocking failure. If the comparison result indicates that the first encryption result and the second encryption result are equal, it is determined that the electric power steering controller can be unlocked. An initial unlocking result sent by the electric power steering controller is received, thus the unlocking result is either unlocking success or unlocking failure. This method of determining whether further unlocking is possible based on the encryption result ensures that unlocking only occurs when the first encryption result and the second encryption result are equal, further improving the security of the unlocking result and contributing to the security of the calibration result.

[0111] In one embodiment, such as Figure 6 As shown, the steps for receiving the calibration request sent by the backend server include:

[0112] S602, after receiving a fault diagnosis request sent by the backend server, controls the vehicle to perform a self-check according to the fault diagnosis request and obtains a fault code set, which includes at least one fault code.

[0113] The fault diagnosis request is a message request periodically sent by the backend server to the vehicle terminal to check for vehicle faults. Upon receiving the fault diagnosis request from the backend server, the vehicle terminal controls the vehicle to perform a self-check based on the request, obtaining a fault code set. The fault code set includes at least one fault code. Each fault code indicates a fault type.

[0114] S604: If any fault code in the fault code set indicates that the angle sensor is not calibrated, the corresponding fault code will be sent to the backend server so that the backend server can generate a calibration request based on the fault code.

[0115] In cases where any fault code in the fault code set indicates that the steering angle sensor is not calibrated, the on-board terminal needs to begin zero-point calibration of the steering angle sensor. The on-board terminal sends the fault code indicating that the steering angle sensor is not calibrated to the backend server. The backend server generates a calibration request based on the fault code and sends the calibration request to the on-board terminal.

[0116] S606 receives calibration requests sent by the backend server.

[0117] The vehicle-mounted terminal receives a calibration request from the backend server and begins zero-position calibration of the corner sensor.

[0118] In this embodiment, after receiving a fault diagnosis request from the backend server, the vehicle is controlled to perform a self-check based on the fault diagnosis request to obtain a fault code set. The fault code indicating that the steering angle sensor is not calibrated is sent to the backend server, thereby generating a calibration request. The calibration request is then received from the backend server. Without the need for external calibration equipment, zero-position calibration of the steering angle sensor can be automatically initiated upon receiving a fault diagnosis request indicating that calibration is required, thus improving the efficiency of obtaining zero-position calibration results.

[0119] In one embodiment, the zero-position calibration method for the angle sensor further includes: if the calibration result indicates that the zero-position calibration of the angle sensor has failed, returning to the step of controlling the electric power steering controller to perform zero-position calibration of the angle sensor, until the calibration result indicates that the zero-position calibration of the angle sensor has been successful.

[0120] Specifically, if the calibration result obtained from the onboard terminal indicates that the zero-position calibration of the steering angle sensor has failed, the system returns to the step of controlling the electric power steering controller to perform zero-position calibration of the steering angle sensor. That is, if the unlocking is successful, the zero-position calibration of the steering angle sensor continues until the calibration result indicates that the zero-position calibration of the steering angle sensor has been successful. This ensures that calibration can be automatically restarted in the event of a calibration failure, which helps to improve the efficiency of obtaining calibration results.

[0121] In this embodiment, if the calibration result indicates that the zero-position calibration of the steering angle sensor has failed, the process returns to the step of controlling the electric power steering controller to perform zero-position calibration of the steering angle sensor until the calibration result indicates that the zero-position calibration of the steering angle sensor has been successful. This ensures that calibration automatically restarts in the event of a calibration failure, which helps improve the efficiency of obtaining calibration results.

[0122] To illustrate in detail the zero-point calibration method and effect of the angle sensor in this solution, a detailed embodiment is described below:

[0123] This scenario involves zero-point calibration of steering sensors by vehicle repair shops. The backend server is the vehicle repair shop's backend server. The vehicle-mounted terminal can be a TBOX. For example... Figure 7 The diagram shows the overall process flow of the zero-position calibration method for the angle sensor.

[0124] Upon receiving a fault diagnosis request from the backend server, the system controls the vehicle to perform a self-check based on the request, obtaining a fault code set, which includes at least one fault code. If any fault code in the fault code set indicates that the steering angle sensor is not calibrated, the corresponding fault code is sent to the backend server, enabling the backend server to generate a calibration request based on the fault code.

[0125] Upon receiving a calibration request from the backend server, a calibration preparation command is sent to the electric power steering controller so that the electric power steering controller can determine whether the vehicle speed and battery voltage meet the calibration conditions. If the calibration conditions are met, the calibration preparation result is determined to be complete; the calibration preparation result is received from the electric power steering controller.

[0126] If the calibration preparation result indicates that calibration preparation is complete, the unlocking random number is encrypted based on the first security algorithm to obtain a first encrypted result. The unlocking random number is sent to the electric power steering controller, causing the controller to encrypt it using a second security algorithm to obtain a second encrypted result. The second encrypted result sent by the electric power steering controller is received, and the unlocking result is obtained based on the first and second encrypted results. Specifically, the first and second encrypted results are compared to obtain a comparison result. If the comparison result indicates that the first and second encrypted results are not equal, the unlocking result is determined to be unlocking failure. If the comparison result indicates that the first and second encrypted results are equal, an unlocking command is sent to the electric power steering controller, causing it to unlock based on the unlocking command to obtain an initial unlocking result. The initial unlocking result sent by the electric power steering controller is received; if the initial unlocking result indicates successful unlocking, the unlocking result is determined to be unlocking success; if the initial unlocking result indicates unlocking failure, the unlocking result is determined to be unlocking failure. Figure 8 The diagram shown illustrates the unlocking of the electric power steering controller.

[0127] If the unlocking result indicates successful unlocking, the electric power steering controller is controlled to perform zero-position calibration of the steering angle sensor to obtain the calibration result. For example... Figure 9 The diagram shown illustrates the zero-position calibration of the angle sensor.

[0128] If the calibration result indicates that the zero-position calibration of the angle sensor is successful, the calibration result will be sent to the backend server.

[0129] If the calibration result indicates that the zero-position calibration of the angle sensor has failed, return to the step of controlling the electric power steering controller to perform zero-position calibration of the angle sensor until the calibration result indicates that the zero-position calibration of the angle sensor has been successful.

[0130] The aforementioned zero-position calibration method for the steering angle sensor, upon receiving a calibration request from the backend server, controls the electric power steering controller to prepare for calibration and obtains the calibration preparation result. This ensures that calibration is performed only after the electric power steering controller enters the calibration preparation state, which improves the accuracy of the calibration results. When the calibration preparation result indicates that preparation is complete, the electric power steering controller is unlocked, and the unlocking result is obtained. If the unlocking result indicates successful unlocking, the electric power steering controller is controlled to perform zero-position calibration on the steering angle sensor, obtaining the calibration result. This ensures that zero-position calibration can only be performed if the electric power steering controller can be successfully unlocked, improving the safety and reliability of the zero-position calibration. If the calibration result indicates successful zero-position calibration of the steering angle sensor, the calibration result is sent to the backend server. This zero-position calibration method can automatically perform zero-position calibration of the steering angle sensor upon receiving a calibration request without the need for external calibration equipment, improving the efficiency of acquiring zero-position calibration results.

[0131] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0132] Based on the same inventive concept, this application also provides a zero-position calibration device for an angle sensor to implement the zero-position calibration method of the angle sensor described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more zero-position calibration device embodiments of angle sensors provided below can be found in the limitations of the zero-position calibration method of the angle sensor above, and will not be repeated here.

[0133] In one embodiment, such as Figure 10 As shown, a zero-position calibration device 100 for an angle sensor is provided, comprising: a calibration preparation module 120, an unlocking module 140, a calibration module 160, and a result transmission module 180, wherein:

[0134] The calibration preparation module 120 is used to control the electric power steering controller to perform calibration preparation and obtain calibration preparation results when a calibration request is received from the background server.

[0135] The unlocking module 140 is used to unlock the electric power steering controller when the calibration preparation result indicates that the calibration preparation is complete, and to obtain the unlocking result.

[0136] The calibration module 160 is used to control the electric power steering controller to perform zero-position calibration on the steering angle sensor and obtain the calibration result when the unlocking result indicates that the unlocking is successful.

[0137] The result sending module 180 is used to send the calibration result to the backend server when the calibration result indicates that the zero-position calibration of the angle sensor is successful.

[0138] The aforementioned zero-position calibration device for the steering angle sensor, upon receiving a calibration request from the backend server, controls the electric power steering controller to prepare for calibration and obtains the calibration preparation result. This ensures that calibration is performed only after the electric power steering controller enters the calibration preparation state, which improves the accuracy of the calibration results. When the calibration preparation result indicates that preparation is complete, the electric power steering controller is unlocked, and the unlocking result is obtained. If the unlocking result indicates successful unlocking, the electric power steering controller is controlled to perform zero-position calibration on the steering angle sensor, obtaining the calibration result. This ensures that zero-position calibration can only be performed if the electric power steering controller can be successfully unlocked, improving the safety and reliability of the zero-position calibration. If the calibration result indicates successful zero-position calibration of the steering angle sensor, the calibration result is sent to the backend server. This zero-position calibration device can automatically perform zero-position calibration of the steering angle sensor upon receiving a calibration request without the need for external calibration equipment, improving the efficiency of acquiring zero-position calibration results.

[0139] In one embodiment, in controlling the electric power steering controller to perform calibration preparation and obtain calibration preparation results, the calibration preparation module 120 is further configured to: send a calibration preparation command to the electric power steering controller so that the electric power steering controller determines whether the vehicle speed and battery voltage meet the calibration conditions, and if the calibration conditions are met, determine that the calibration preparation is complete; and receive the calibration preparation results fed back by the electric power steering controller.

[0140] In one embodiment, in unlocking the electric power steering controller and obtaining an unlocking result, the unlocking module 140 is further configured to: encrypt the unlocking random number based on a first security algorithm to obtain a first encryption result; send the unlocking random number to the electric power steering controller so that the electric power steering controller encrypts the unlocking random number based on a second security algorithm to obtain a second encryption result; receive the second encryption result sent by the electric power steering controller; and obtain the unlocking result based on the first encryption result and the second encryption result.

[0141] In one embodiment, regarding obtaining an unlocking result based on a first encryption result and a second encryption result, the unlocking module 140 is further configured to: compare the first encryption result and the second encryption result to obtain a comparison result; determine that the unlocking result is an unlocking failure if the comparison result indicates that the first encryption result and the second encryption result are not equal; send an unlocking command to the electric power steering controller if the comparison result indicates that the first encryption result and the second encryption result are equal, so that the electric power steering controller unlocks based on the unlocking command to obtain an initial unlocking result; receive the initial unlocking result sent by the electric power steering controller; determine that the unlocking result is an unlocking success if the initial unlocking result indicates unlocking success; and determine that the unlocking result is an unlocking failure if the initial unlocking result indicates unlocking failure.

[0142] In one embodiment, regarding the receipt of a calibration request sent by the backend server, the calibration preparation module 120 is further configured to: upon receiving a fault diagnosis request sent by the backend server, control the vehicle to perform a self-test according to the fault diagnosis request to obtain a fault code set, the fault code set including at least one fault code; if any fault code in the fault code set indicates that the steering angle sensor is not calibrated, send the corresponding fault code to the backend server so that the backend server generates a calibration request according to the fault code; and receive the calibration request sent by the backend server.

[0143] In one embodiment, the zero-position calibration device 100 of the steering angle sensor is further configured to: return to the step of controlling the electric power steering controller to perform zero-position calibration of the steering angle sensor if the calibration result indicates that the zero-position calibration of the steering angle sensor has failed, until the calibration result indicates that the zero-position calibration of the steering angle sensor has been successful.

[0144] Each module in the zero-position calibration device of the aforementioned angle sensor can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0145] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 11 As shown. The computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a zero-position calibration method for an angle sensor. Those skilled in the art will understand that... Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0146] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0147] Upon receiving a calibration request from the backend server, the system controls the electric power steering controller to prepare for calibration and obtains the calibration preparation result. If the calibration preparation result indicates that the calibration preparation is complete, the system unlocks the electric power steering controller and obtains the unlocking result. If the unlocking result indicates that the unlocking was successful, the system controls the electric power steering controller to perform zero-position calibration on the steering angle sensor and obtains the calibration result. If the calibration result indicates that the zero-position calibration of the steering angle sensor was successful, the system sends the calibration result to the backend server.

[0148] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0149] Send a calibration preparation command to the electric power steering controller so that the electric power steering controller can determine whether the vehicle speed and battery voltage meet the calibration conditions. If the calibration conditions are met, determine the calibration preparation result as calibration preparation complete; receive the calibration preparation result fed back by the electric power steering controller.

[0150] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0151] The unlocking random number is encrypted using a first security algorithm to obtain a first encryption result; the unlocking random number is sent to the electric power steering controller so that the electric power steering controller encrypts the unlocking random number using a second security algorithm to obtain a second encryption result; the second encryption result sent by the electric power steering controller is received; and the unlocking result is obtained based on the first encryption result and the second encryption result.

[0152] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0153] The first encryption result and the second encryption result are compared to obtain a comparison result. If the comparison result indicates that the first encryption result and the second encryption result are not equal, the unlocking result is determined to be unlocking failure. If the comparison result indicates that the first encryption result and the second encryption result are equal, an unlocking command is sent to the electric power steering controller so that the electric power steering controller unlocks based on the unlocking command to obtain an initial unlocking result. The initial unlocking result sent by the electric power steering controller is received. If the initial unlocking result indicates that unlocking is successful, the unlocking result is determined to be unlocking success. If the initial unlocking result indicates that unlocking is unsuccessful, the unlocking result is determined to be unlocking failure.

[0154] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0155] Upon receiving a fault diagnosis request from the backend server, the system controls the vehicle to perform a self-check based on the request, obtaining a fault code set, which includes at least one fault code. If any fault code in the fault code set indicates that the steering angle sensor is not calibrated, the corresponding fault code is sent to...

[0156] The background server is used to generate a calibration request based on the fault code; the background server receives the calibration request sent by the background server.

[0157] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0158] If the calibration result indicates that the zero-position calibration of the angle sensor has failed, return to the step of controlling the electric power steering controller to perform zero-position calibration of the angle sensor until the calibration result indicates that the zero-position calibration of the angle sensor has been successful.

[0159] 0 In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0160] Upon receiving a calibration request from the backend server, the system controls the electric power steering controller to prepare for calibration and obtains the calibration preparation result; if the calibration preparation result indicates that calibration preparation is complete, the system...

[0161] The electric power steering controller is unlocked, and the unlocking result is obtained. If the unlocking result indicates that the unlocking was successful, the electric power steering controller is controlled to perform zero-position calibration on the steering angle sensor and obtain the calibration result.

[0162] If the calibration result indicates that the zero-position calibration of the angle sensor is successful, the calibration result will be sent to the backend server.

[0163] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0164] Send a calibration preparation command to the electric power steering controller so that the electric power steering controller can determine whether the vehicle speed and battery voltage meet the calibration conditions. If the calibration conditions are met, determine the calibration preparation result as calibration preparation complete; receive the calibration preparation result fed back by the electric power steering controller.

[0165] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0166] The unlocking random number is encrypted using the first security algorithm to obtain a first encryption result; the unlocking random number is sent to the electric power steering controller so that the electric power steering controller encrypts the unlocking random number using the second security algorithm 5 to obtain a second encryption result; the second encryption result sent by the electric power steering controller is received; and the unlocking result is obtained based on the first encryption result and the second encryption result.

[0167] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0168] The first encryption result and the second encryption result are compared to obtain a comparison result. If the comparison result indicates that the first encryption result and the second encryption result are not equal, the unlocking result is determined to be unlocking failure. If the comparison result indicates that the first encryption result and the second encryption result are equal, an unlocking command is sent to the electric power steering controller so that the electric power steering controller unlocks based on the unlocking command to obtain an initial unlocking result. The initial unlocking result sent by the electric power steering controller is received. If the initial unlocking result indicates that unlocking is successful, the unlocking result is determined to be unlocking success. If the initial unlocking result indicates that unlocking is unsuccessful, the unlocking result is determined to be unlocking failure.

[0169] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0170] After receiving a fault diagnosis request from the backend server, the system controls the vehicle to perform a self-check based on the fault diagnosis request to obtain a fault code set, which includes at least one fault code. If any fault code in the fault code set indicates that the steering angle sensor is not calibrated, the corresponding fault code is sent to the backend server so that the backend server can generate a calibration request based on the fault code. The system then receives the calibration request sent by the backend server.

[0171] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0172] If the calibration result indicates that the zero-position calibration of the angle sensor has failed, return to the step of controlling the electric power steering controller to perform zero-position calibration of the angle sensor until the calibration result indicates that the zero-position calibration of the angle sensor has been successful.

[0173] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0174] Upon receiving a calibration request from the backend server, the system controls the electric power steering controller to prepare for calibration and obtains the calibration preparation result. If the calibration preparation result indicates that the calibration preparation is complete, the system unlocks the electric power steering controller and obtains the unlocking result. If the unlocking result indicates that the unlocking was successful, the system controls the electric power steering controller to perform zero-position calibration on the steering angle sensor and obtains the calibration result. If the calibration result indicates that the zero-position calibration of the steering angle sensor was successful, the system sends the calibration result to the backend server.

[0175] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0176] Send a calibration preparation command to the electric power steering controller so that the electric power steering controller can determine whether the vehicle speed and battery voltage meet the calibration conditions. If the calibration conditions are met, determine the calibration preparation result as calibration preparation complete; receive the calibration preparation result fed back by the electric power steering controller.

[0177] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0178] The unlocking random number is encrypted using a first security algorithm to obtain a first encryption result; the unlocking random number is sent to the electric power steering controller so that the electric power steering controller encrypts the unlocking random number using a second security algorithm to obtain a second encryption result; the second encryption result sent by the electric power steering controller is received; and the unlocking result is obtained based on the first encryption result and the second encryption result.

[0179] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0180] The first encryption result and the second encryption result are compared to obtain a comparison result. If the comparison result indicates that the first encryption result and the second encryption result are not equal, the unlocking result is determined to be unlocking failure. If the comparison result indicates that the first encryption result and the second encryption result are equal, an unlocking command is sent to the electric power steering controller so that the electric power steering controller unlocks based on the unlocking command to obtain an initial unlocking result. The initial unlocking result sent by the electric power steering controller is received. If the initial unlocking result indicates that unlocking is successful, the unlocking result is determined to be unlocking success. If the initial unlocking result indicates that unlocking is unsuccessful, the unlocking result is determined to be unlocking failure.

[0181] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0182] After receiving a fault diagnosis request from the backend server, the system controls the vehicle to perform a self-check based on the fault diagnosis request to obtain a fault code set, which includes at least one fault code. If any fault code in the fault code set indicates that the steering angle sensor is not calibrated, the corresponding fault code is sent to the backend server so that the backend server can generate a calibration request based on the fault code. The system then receives the calibration request sent by the backend server.

[0183] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0184] If the calibration result indicates that the zero-position calibration of the angle sensor has failed, return to the step of controlling the electric power steering controller to perform zero-position calibration of the angle sensor until the calibration result indicates that the zero-position calibration of the angle sensor has been successful.

[0185] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0186] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0187] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0188] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for zero-position calibration of an angle sensor, characterized in that, Applied to vehicle-mounted terminals, the method includes: Upon receiving a calibration request from the backend server, the system controls the electric power steering controller to prepare for calibration and obtains the calibration preparation result; the electric power steering controller is the controller of the electric power steering system; the electric power steering system is a power steering system that directly relies on the motor to provide auxiliary torque; If the calibration preparation result indicates that the calibration preparation is complete, the electric power steering controller is unlocked to obtain the unlocking result; If the unlocking result indicates successful unlocking, control the electric power steering controller to perform zero-position calibration on the steering angle sensor and obtain the calibration result; If the calibration result indicates that the zero-position calibration of the angle sensor is successful, the calibration result is sent to the backend server; The process of unlocking the electric power steering controller and obtaining the unlocking result includes: The unlocking random number is encrypted based on the first security algorithm to obtain the first encryption result; the first security algorithm refers to the algorithm used in the vehicle terminal to encrypt the unlocking random number. The unlocking random number is sent to the electric power steering controller, so that the electric power steering controller encrypts the unlocking random number based on a second security algorithm to obtain a second encryption result; the second security algorithm is the algorithm in the electric power steering controller that encrypts the unlocking random number. Receive the second encryption result sent by the electric power steering controller; Based on the first encryption result and the second encryption result, the unlocking result is obtained.

2. The method according to claim 1, characterized in that, The process of calibrating the electric power steering controller and obtaining calibration preparation results includes: A calibration preparation command is sent to the electric power steering controller so that the electric power steering controller can determine whether the vehicle speed and battery voltage meet the calibration conditions. If the calibration conditions are met, the calibration preparation result is determined to be calibration preparation complete. Receive the calibration preparation results fed back by the electric power steering controller.

3. The method according to claim 1, characterized in that, The process of obtaining the unlocking result based on the first encryption result and the second encryption result includes: The first encryption result and the second encryption result are compared to obtain the comparison result; If the comparison result indicates that the first encryption result and the second encryption result are not equal, the unlocking result is determined to be an unlocking failure; If the comparison result indicates that the first encryption result and the second encryption result are equal, an unlock command is sent to the electric power steering controller to enable the electric power steering controller to unlock based on the unlock command and obtain an initial unlock result; the initial unlock result sent by the electric power steering controller is received; if the initial unlock result indicates that the unlock is successful, the unlock result is determined to be successful; if the initial unlock result indicates that the unlock is unsuccessful, the unlock result is determined to be unsuccessful.

4. The method according to claim 1, characterized in that, The steps for receiving the calibration request sent by the backend server include: After receiving a fault diagnosis request from the backend server, the system controls the vehicle to perform a self-check based on the fault diagnosis request to obtain a fault code set, which includes at least one fault code. If any fault code in the fault code set indicates that the corner sensor is not calibrated, the corresponding fault code will be sent to the backend server so that the backend server can generate a calibration request based on the fault code. Receive the calibration request sent by the backend server.

5. The method according to claim 1, characterized in that, The method further includes: If the calibration result indicates that the zero-position calibration of the steering angle sensor has failed, return to the step of controlling the electric power steering controller to perform zero-position calibration of the steering angle sensor until the calibration result indicates that the zero-position calibration of the steering angle sensor has been successful.

6. A zero-position calibration device for an angle sensor, characterized in that, The device, applied to an in-vehicle terminal, includes: The calibration preparation module is used to control the electric power steering controller to perform calibration preparation and obtain calibration preparation results when a calibration request is received from the backend server; the electric power steering controller is the controller of the electric power steering system; the electric power steering system is a power steering system that directly relies on the motor to provide auxiliary torque; The unlocking module is used to unlock the electric power steering controller when the calibration preparation result indicates that the calibration preparation is complete, and to obtain the unlocking result; The calibration module is used to control the electric power steering controller to perform zero-position calibration on the steering angle sensor and obtain the calibration result when the unlocking result indicates that the unlocking is successful. The result sending module is used to send the calibration result to the background server when the calibration result indicates that the zero-position calibration of the angle sensor is successful; The unlocking module is further configured to encrypt the unlocking random number based on a first security algorithm to obtain a first encryption result; the first security algorithm refers to the algorithm used in the vehicle terminal to encrypt the unlocking random number; send the unlocking random number to the electric power steering controller so that the electric power steering controller encrypts the unlocking random number based on a second security algorithm to obtain a second encryption result; the second security algorithm is the algorithm used in the electric power steering controller to encrypt the unlocking random number; receive the second encryption result sent by the electric power steering controller; and obtain the unlocking result based on the first encryption result and the second encryption result.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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