Vehicle wheel straightening control method and device, vehicle and storage medium

Abstract

The application relates to the technical field of vehicles, in particular to a vehicle wheel returning control method and device, a vehicle and a storage medium, wherein the method comprises the following steps: when a lock vehicle signal is received, detecting whether the actual position of the current vehicle steering wheel is a preset zero position; when the actual position is not the preset zero position, generating a wheel correction instruction according to the difference between the actual position and the preset zero position, and correcting the wheel so that the actual position of the current vehicle steering wheel is at the preset zero position. Therefore, when the vehicle is locked, if the wheel is not in the returning state, the wheel cannot automatically return, so that the vehicle suspension system is in a steering posture, the elastic element is continuously stressed and deformed, and the service life of the suspension system is reduced. When the vehicle is locked and the wheel does not return, the steering assist motor is started by the EPS controller to control the wheel to automatically return, and the service life of the suspension system is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle wheel alignment control method and device, a vehicle and a storage medium. BACKGROUND

[0002] With the rapid development of vehicle intelligence, the parking and locking functions of vehicles are also constantly improving. If the vehicle is in a locked state and the wheels are still in a steering state, it is not conducive to the service life of the vehicle suspension system. Therefore, making the wheels automatically align when the vehicle is locked is an important topic in the development of locking technology.

[0003] In related technologies, when the vehicle is in a locked state, if the vehicle wheels are in a steering state, the wheels cannot automatically align.

[0004] However, when the vehicle wheels are in a steering state, i.e., the vehicle torque angle sensor is not at the zero point position, the elastic elements of the vehicle suspension system will be continuously deformed under stress in a steering state, thereby affecting the service life of the vehicle suspension system, reducing the driving experience of the user, and urgently needing to be solved. SUMMARY

[0005] The present application provides a vehicle wheel alignment control method and device, a vehicle and a storage medium to solve the problem that when the vehicle is locked, if the wheels are not in an alignment state, the wheels cannot automatically align, thereby causing the vehicle suspension system to be in a steering posture, the elastic elements are continuously deformed under stress, and the service life of the suspension system is reduced.

[0006] The first aspect of the present application provides a vehicle wheel alignment control method, comprising the following steps:

[0007] determining whether a locking signal is received;

[0008] if the locking signal is received, detecting the actual position of the current vehicle steering wheel and determining whether the actual position is a preset zero point position; and

[0009] if the actual position is not the preset zero point position, generating a wheel correction instruction according to the difference between the actual position and the preset zero point position, and correcting the wheels according to the wheel correction instruction, so that the actual position of the current vehicle steering wheel is at the preset zero point position.

[0010] According to one embodiment of the present application, when the wheels are corrected according to the wheel correction instruction, it comprises:

[0011] obtaining the alignment resistance when the wheels align;

[0012] determining whether the alignment resistance is greater than the maximum alignment torque of the wheels;

[0013] If the return resistance is greater than the maximum return torque of the wheel, the correction of the wheel is stopped, otherwise, the correction of the wheel according to the wheel correction instruction is continued.

[0014] According to one embodiment of the present application, the judging whether the actual position is the preset zero position comprises:

[0015] obtaining a difference between the actual position and the preset zero position;

[0016] judging whether the difference is in a preset return interval;

[0017] If the difference is in the preset return interval, it is determined that the actual position is the preset zero position.

[0018] According to one embodiment of the present application, after the wheel is corrected according to the wheel correction instruction so that the actual position of the current vehicle steering wheel is in the preset zero position, the method further comprises:

[0019] controlling a steering assist motor to be powered off by an EPS (Electric Power Steering) controller, and controlling the vehicle to directly enter a locked state.

[0020] The return control method for the vehicle wheel according to the embodiment of the present application, when the locked signal is received, detects whether the actual position of the current vehicle steering wheel is the preset zero position, and when the actual position is not the preset zero position, generates a wheel correction instruction according to a difference between the actual position and the preset zero position, and corrects the wheel so that the actual position of the current vehicle steering wheel is in the preset zero position. Thus, when the vehicle is locked and the wheel is not in the return state, the wheel cannot be automatically returned, so that the suspension system of the vehicle is in a steering posture, the elastic element is continuously stressed and deformed, and the service life of the suspension system is reduced. When the vehicle is locked and the wheel is not returned, the EPS controller is started to control the steering assist motor to automatically return the wheel, and the service life of the suspension system is improved.

[0021] The second aspect embodiment of the present application provides a return control device for a vehicle wheel, comprising:

[0022] A judging module is configured to judge whether a locked signal is received.

[0023] A detecting module is configured to, if the locked signal is received, detect an actual position of a current vehicle steering wheel, and judge whether the actual position is a preset zero position; and

[0024] a correction module configured to generate a wheel correction instruction according to a difference between the actual position and the preset zero position, and correct the wheel according to the wheel correction instruction, so that the actual position of the current vehicle steering wheel is at the preset zero position, if the actual position is not the preset zero position.

[0025] According to an embodiment of the present application, the correction module is specifically configured to:

[0026] obtain a return resistance of the wheel return;

[0027] determine whether the return resistance is greater than a maximum return torque of the wheel;

[0028] if the return resistance is greater than the maximum return torque of the wheel, stop correcting the wheel, otherwise, continue to correct the wheel according to the wheel correction instruction.

[0029] According to an embodiment of the present application, the detection module is specifically configured to:

[0030] obtain a difference between the actual position and the preset zero position;

[0031] determine whether the difference is in a preset return interval;

[0032] if the difference is in the preset return interval, determine that the actual position is the preset zero position.

[0033] According to an embodiment of the present application, after the wheel is corrected according to the wheel correction instruction, so that the actual position of the current vehicle steering wheel is at the preset zero position, the correction module is further configured to:

[0034] control the steering assist motor to be powered off through the EPS controller, and control the vehicle to directly enter a locked state.

[0035] The return control device of the vehicle wheel according to the embodiment of the present application receives a locked signal, detects whether the actual position of the current vehicle steering wheel is a preset zero position, and if the actual position is not the preset zero position, generates a wheel correction instruction according to a difference between the actual position and the preset zero position, and corrects the wheel, so that the actual position of the current vehicle steering wheel is at the preset zero position. Thus, if the wheel is not in the return state when the vehicle is locked, the wheel cannot be automatically returned, so that the suspension system of the vehicle is in a steering posture, the elastic element is continuously stressed and deformed, and the service life of the suspension system is reduced. When the vehicle is locked and the wheel is not returned, the steering assist motor is started by the EPS controller to control the wheel to automatically return, and the service life of the suspension system is improved.

[0036] The 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 wheel straightening control method of the vehicle as described in the above embodiments.

[0037] The 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 wheel straightening control method of the vehicle as described in the above embodiments.

[0038] Additional aspects and advantages of the present application will be made apparent from the following description of embodiments, which will be given with reference to the attached drawings, wherein: BRIEF DESCRIPTION OF DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and be more readily understood from the following description, by way of example, with reference to the drawings, in which:

[0040] Figure 1 A flow chart of a wheel straightening control method of a vehicle according to an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a wheel straightening system according to an embodiment of the present application;

[0042] Figure 3 An example diagram of a wheel straightening control device of a vehicle according to an embodiment of the present application;

[0043] Figure 4 A schematic diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] Embodiments of the present application are described in detail below with reference to the attached drawings, wherein the same or similar components are denoted by the same or similar reference numerals throughout. The embodiments described below are exemplary and are intended to explain the present application, and should not be understood as limiting the present application.

[0045] A vehicle wheel return control method, device, vehicle and storage medium are described below with reference to the accompanying drawings. In the background art, if the vehicle wheels are not in the return state when the vehicle is locked, the vehicle wheels cannot automatically return, which causes the suspension system of the vehicle to be in a steering posture, the elastic element is continuously deformed under stress, and the service life of the suspension system is reduced. To solve the above problems, the vehicle wheel return control method is provided. In the method, when a lock signal is received, the actual position of the current vehicle steering wheel is detected to determine whether it is the preset zero position. If the actual position is not the preset zero position, a wheel correction instruction is generated according to the difference between the actual position and the preset zero position, and the wheel is corrected so that the actual position of the current vehicle steering wheel is at the preset zero position. Thus, when the vehicle is locked and the wheels are not returned, the steering assist motor is started by the EPS controller to control the wheels to automatically return, thereby improving the service life of the suspension system.

[0046] Specifically, Figure 1 A flowchart of a vehicle wheel return control method provided by an embodiment of the application is shown.

[0047] As Figure 1 shown, the vehicle wheel return control method includes the following steps:

[0048] In step S101, it is determined whether a lock signal is received.

[0049] Specifically, when the vehicle is driving, the TAS sensor (Torque Angle Sensor) continuously sends torque signals and angle signals to the EPS controller. When the EPS controller receives the torque signals and angle signals from the TAS sensor, the signals are sent to the vehicle controller through the CAN (Controller Area Network) communication network. The vehicle controller collects the relevant signal information transmitted by the CAN communication network and automatically determines the driving state of the vehicle and whether a lock signal is received.

[0050] In step S102, if the lock signal is received, the actual position of the current vehicle steering wheel is detected, and it is determined whether the actual position is the preset zero position.

[0051] Further, in some embodiments, determining whether the actual position is the preset zero position comprises: obtaining a difference between the actual position and the preset zero position; determining whether the difference is in a preset return-to-zero interval; and determining that the actual position is the preset zero position if the difference is in the preset return-to-zero interval.

[0052] The preset zero position and the preset return-to-zero interval can be a zero position and a return-to-zero interval set by a person skilled in the art according to a vehicle return-to-zero test, or can be a zero position and a return-to-zero interval obtained through computer simulation, which are not limited here.

[0053] Specifically, in the embodiments of the present application, if a lock signal of the current vehicle is received, the vehicle controller automatically detects a state of a TAS sensor of the current vehicle, and obtains an actual position of a steering wheel of the current vehicle. If the TAS sensor is in a zero position, a difference between the actual position of the steering wheel and the preset zero position is in a preset return-to-zero interval, i.e., the steering wheel is centered, and it is determined that the actual position of the steering wheel is the preset zero position, i.e., the wheels of the current vehicle are in a return-to-zero state. Therefore, the vehicle controller controls the vehicle to be directly locked when the lock signal is received.

[0054] In step S103, if the actual position is not the preset zero position, a wheel correction instruction is generated according to a difference between the actual position and the preset zero position, and the wheels are corrected according to the wheel correction instruction, so that the actual position of the steering wheel of the current vehicle is in the preset zero position.

[0055] Specifically, in the embodiments of the present application, if it is detected that the TAS sensor of the current vehicle has an angle difference, there is also a difference between the actual position of the steering wheel of the current vehicle and the preset zero position, and the difference is not in the preset return-to-zero interval, i.e., the steering wheel is not centered. At this time, it is determined that the TAS sensor is not in the zero position, i.e., the steering wheel of the vehicle is also not in the zero position, and it is further determined that the wheels of the current vehicle are in a non-return-to-zero state.

[0056] Further, when the wheels of the current vehicle are in the non-return-to-zero state in the embodiments of the present application, a wheel correction instruction is generated according to a difference between the actual position of the steering wheel of the current vehicle and the preset zero position, and the wheels are corrected according to the wheel correction instruction, so that the actual position of the steering wheel of the current vehicle returns to the preset zero position, thereby returning the wheels of the vehicle to the zero position.

[0057] Specifically, as shown in FIG. 1, the vehicle controller 100 is connected to a TAS sensor 110 and a steering wheel 120 of the vehicle. Figure 2As shown, in the embodiment of the present application, if the wheels of the current vehicle are in the uncorrected state, the vehicle controller wakes up the EPS controller when receiving the lock signal, and the steering assist motor is started by the EPS controller, the steering wheel of the vehicle is automatically steered by the steering assist motor, the TAS sensor is steered to zero, so that the wheels of the current vehicle are corrected.

[0058] Further, in some embodiments, when the wheel is corrected according to the wheel correction instruction, the following steps are included: obtaining the correction resistance when the wheel is corrected; determining whether the correction resistance is greater than the maximum correction torque of the wheel; if the correction resistance is greater than the maximum correction torque of the wheel, stopping correcting the wheel, otherwise, continuing to correct the wheel according to the wheel correction instruction.

[0059] Specifically, in the embodiment of the present application, when the wheel is corrected according to the wheel correction instruction, if it is obtained that the wheel has a correction resistance when the wheel is corrected, the correction resistance when the wheel is corrected is obtained and it is determined whether the correction resistance is greater than the maximum correction torque of the wheel. If the correction resistance is greater than the maximum correction torque of the wheel, it is said that there is an obstacle that is not easy to move, such as a wall or a stone pillar, at the current wheel position. At this time, due to the obstruction of the obstacle, the correction torque of the wheel is too large, which exceeds the maximum torque of the steering assist motor, so that the TAS sensor cannot return to the zero position. Therefore, when the correction torque of the wheel is too large, the correction of the wheel is stopped, the EPS controller controls the steering assist motor to automatically power off, the EPS controller automatically enters the sleep state, and the vehicle enters the lock state.

[0060] Further, in the embodiment of the present application, if the correction resistance is less than or equal to the maximum correction torque of the wheel, it is said that there is an obstacle that is easy to move, such as a plastic bottle or a packaging bag, at the current wheel position. At this time, since the correction torque of the wheel does not exceed the maximum torque of the steering assist motor, the wheel can be corrected according to the wheel correction instruction, so that the TAS sensor returns to the zero position, the wheels of the current vehicle are corrected, and after the wheels are corrected, the steering assist motor is automatically powered off by the EPS controller, so that the EPS controller automatically enters the sleep state and the vehicle enters the lock state.

[0061] Further, in some embodiments, after the actual position of the steering wheel of the current vehicle is at the preset zero position according to the wheel correction instruction, the following steps are included: the steering assist motor is powered off by the EPS controller, and the vehicle directly enters the lock state.

[0062] Specifically, after the wheel is corrected according to the wheel correction instruction and the wheel is returned to the normal position, a signal of returning the steering wheel to the zero point needs to be transmitted to the EPS controller through the TAS sensor, and then the steering assist motor is automatically powered off by the EPS controller, so that the EPS controller automatically enters the sleep state and controls the vehicle to enter the locked state.

[0063] According to the wheel returning control method of the vehicle, when the locked signal is received, it is detected whether the actual position of the current steering wheel is the preset zero point position. If the actual position is not the preset zero point position, a wheel correction instruction is generated according to the difference between the actual position and the preset zero point position, and the wheel is corrected so that the actual position of the current steering wheel is at the preset zero point position. Thus, when the vehicle is locked, if the wheel is not in the returning state, the wheel cannot be automatically returned, so that the suspension system of the vehicle is in a steering posture, the elastic element is continuously stressed and deformed, and the service life of the suspension system is reduced. When the vehicle is locked and the wheel is not returned, the steering assist motor is started by the EPS controller to control the wheel to be automatically returned, and the service life of the suspension system is improved.

[0064] Next, the wheel returning control device of the vehicle according to the embodiment of the present application is described with reference to the accompanying drawings.

[0065] Figure 3 is a block diagram of the wheel returning control device of the vehicle according to the embodiment of the present application.

[0066] As shown in Figure 3 , the wheel returning control device 10 of the vehicle includes a judgment module 100, a detection module 200, and a correction module 300.

[0067] The judgment module 100 is configured to judge whether a locked signal is received.

[0068] The detection module 200 is configured to, if the locked signal is received, detect an actual position of a current steering wheel and judge whether the actual position is a preset zero point position.

[0069] The correction module 300 is configured to, if the actual position is not the preset zero point position, generate a wheel correction instruction according to a difference between the actual position and the preset zero point position, and correct the wheel according to the wheel correction instruction, so that the actual position of the current steering wheel is at the preset zero point position.

[0070] Further, in some embodiments, the correction module 300 is specifically configured to:

[0071] obtain a returning resistance when the wheel is returned;

[0072] judge whether the returning resistance is greater than a maximum returning torque of the wheel.

[0073] If the return resistance is greater than the maximum return torque of the wheel, the correction to the wheel is stopped, otherwise, the correction to the wheel according to the wheel correction instruction is continued.

[0074] Further, in some embodiments, the detection module 200 is specifically used for:

[0075] obtaining a difference between the actual position and the preset zero position;

[0076] determining whether the difference is in a preset return interval;

[0077] If the difference is in the preset return interval, it is determined that the actual position is the preset zero position.

[0078] Further, in some embodiments, after the actual position of the current vehicle steering wheel is in the preset zero position by correcting the wheel according to the wheel correction instruction, the correction module 300 is further used for:

[0079] controlling the steering assist motor to be powered off by the EPS controller, and controlling the vehicle to directly enter a locked state.

[0080] The return control device for the vehicle wheel according to the embodiments of the present application, when receiving the lock signal, detects whether the actual position of the current vehicle steering wheel is the preset zero position, and when the actual position is not the preset zero position, generates a wheel correction instruction according to the difference between the actual position and the preset zero position, and corrects the wheel so that the actual position of the current vehicle steering wheel is in the preset zero position. Therefore, when the vehicle is locked and the wheel is not in the return state, the wheel cannot automatically return, thereby causing the suspension system of the vehicle to be in a steering posture, the elastic element to be continuously stressed and deformed, and the service life of the suspension system to be reduced. When the vehicle is locked and the wheel is not returned, the steering assist motor is started by the EPS controller to control the wheel to automatically return, thereby improving the service life of the suspension system.

[0081] Figure 4 The vehicle structure schematic diagram provided by the embodiments of the present application. The vehicle can include:

[0082] The memory 401, the processor 402, and the computer program stored in the memory 401 and executable on the processor 402.

[0083] The processor 402 executes the program to implement the return control method for the vehicle wheel provided in the above embodiments.

[0084] Further, the vehicle further includes:

[0085] The communication interface 403 is used for communication between the memory 401 and the processor 402.

[0086] The memory 401 is configured to store a computer program capable of being executed on the processor 402.

[0087] The memory 401 can include a high-speed RAM memory, and can further include a non-volatile memory, for example, at least one disk memory.

[0088] If the memory 401, the processor 402 and the communication interface 403 are independently implemented, the communication interface 403, the memory 401 and the processor 402 can be connected with each other through a bus and complete communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 4 In the figure, only one thick line is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0089] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can complete communication between each other through an internal interface.

[0090] The processor 402 can be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0091] The embodiments of the present application further provide a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the above-mentioned vehicle wheel straightening control method.

[0092] In the description of the application, reference to "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment or example. Furthermore, the described specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. In addition, the usage of "N" means at least two, for example two, three or the like, unless explicitly stated otherwise.

[0093] Furthermore, the terms "first", "second", or the like, are used merely as a designation of certain elements or features of the application, and do not imply or connote relative importance or a specific order of precedence. Thus, features defined with "first", "second", etc. can include at least one of the features, either explicitly or implicitly.

[0094] Any process or method descriptions or blocks in flow charts or otherwise described herein represent embodiments of modules, segments, or portions of code which include one or more executable instructions for implementing specific logic functions or steps, and alternate implementations are possible. In some embodiments, the processes or methods described in flow charts or otherwise described herein are not necessarily performed in the order shown or discussed, including, for example, as performed by a computer processor. Alternate implementations can perform functions or steps described in different orders, including substantially concurrently, or in reverse order.

[0095] The logic and / or steps represented in the flowcharts and / or described herein, for example, can be considered as a sequence of instructions to implement logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device, such as a computer-based system, processor- based system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a computer- readable storage medium or a computer-readable signal medium. The computer- readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection having one or more wires (electrical connections), a portable computer diskette (a magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and stored in a computer memory.

[0096] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware, and in another embodiment, any of the following technologies, known in the art, or their combinations can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0097] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer-readable storage medium. When the programs are executed, one or a combination of the steps of the method embodiments is included.

[0098] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing module, or each of the units can be physically present separately, or two or more units can be integrated in one module. The integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0099] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A method for controlling the return of vehicle wheels to center, characterized in that, Includes the following steps: Determine if a vehicle lock signal has been received; If the vehicle lock signal is received, the actual position of the steering wheel of the current vehicle is detected, and it is determined whether the actual position is the preset zero point position. as well as If the actual position is not the preset zero point position, a wheel correction command is generated based on the difference between the actual position and the preset zero point position, and the wheel is corrected according to the wheel correction command so that the actual position of the current vehicle steering wheel is at the preset zero point position. Specifically, when the vehicle's steering wheel is not at the preset zero point position, it is determined that the current vehicle's wheels are not in a straightened state. At the same time that the vehicle controller receives the vehicle lock signal, the EPS controller is awakened. The EPS controller starts the power steering motor, which controls the vehicle's steering wheel to automatically turn, so that the TAS sensor turns to zero point, completing the current vehicle's wheel straightening action. When correcting the wheel according to the wheel correction command, the process includes: obtaining the wheel's return resistance when it returns to center; determining whether the return resistance is greater than the wheel's maximum return torque; if the return resistance is greater than the wheel's maximum return torque, then stopping the wheel correction; otherwise, continuing to correct the wheel according to the wheel correction command. The step of determining whether the actual position is a preset zero point position includes: obtaining the difference between the actual position and the preset zero point position; determining whether the difference is within a preset positive return interval; if the difference is within the preset positive return interval, then determining that the actual position is the preset zero point position.

2. The method according to claim 1, characterized in that, After correcting the wheels according to the wheel correction command so that the actual position of the current vehicle steering wheel is at the preset zero point position, the method further includes: The power steering motor is de-energized by the EPS controller, and the vehicle is then directly locked.

3. A vehicle wheel return-to-center control device, characterized in that, include: The judgment module is used to determine whether a vehicle lock signal has been received; The detection module is used to detect the actual position of the steering wheel of the vehicle if the vehicle lock signal is received, and to determine whether the actual position is a preset zero point position. as well as The correction module is used to generate a wheel correction command based on the difference between the actual position and the preset zero position if the actual position is not the preset zero position, and to correct the wheel according to the wheel correction command so that the actual position of the current vehicle steering wheel is at the preset zero position. Specifically, when the vehicle's steering wheel is not at the preset zero point position, it is determined that the current vehicle's wheels are not in a straightened state. At the same time that the vehicle controller receives the vehicle lock signal, the EPS controller is awakened. The EPS controller starts the power steering motor, which controls the vehicle's steering wheel to automatically turn, so that the TAS sensor turns to zero point, completing the current vehicle's wheel straightening action. The correction module is specifically used for: obtaining the return resistance when the wheel returns to center; determining whether the return resistance is greater than the maximum return torque of the wheel; if the return resistance is greater than the maximum return torque of the wheel, stopping the correction of the wheel; otherwise, continuing to correct the wheel according to the wheel correction command. The detection module is specifically used to: obtain the difference between the actual position and the preset zero point position; determine whether the difference is within a preset positive return range; if the difference is within the preset positive return range, determine that the actual position is the preset zero point position.

4. The apparatus according to claim 3, characterized in that, After correcting the wheels according to the wheel correction command so that the actual position of the current vehicle steering wheel is at the preset zero point position, the correction module is further configured to: The power steering motor is de-energized by the EPS controller, and the vehicle is then directly locked.

5. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the vehicle wheel return control method as described in any one of claims 1-2.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the vehicle wheel return control method as described in any one of claims 1-2.

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