Steering angle processing method for a vehicle and vehicle

Abstract

The application discloses a steering angle processing method of a steering gear and a vehicle. The method comprises the following steps: acquiring wheel speed signals, a yaw rate and a torque signal of the vehicle during driving of the vehicle; determining whether there is a deviation between a mechanical neutral position of a steering gear of the vehicle and a preset position of a steering angle sensor based on the wheel speed signals, the yaw rate and the torque signal; and in response to the deviation between the mechanical neutral position and the preset position, correcting the steering angle of the steering gear after the next ignition of the vehicle. The application solves the technical problem that the deviation of the electric power steering gear causes the deviation of the turning operation of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicles, in particular to a method for processing a steering angle of a steering gear and a vehicle. BACKGROUND

[0002] At present, most of the automobile production inspections on the market are equipped with electric power steering gears. During the installation of the whole vehicle, it is necessary to ensure that the rack of the electric power steering gear is in the middle position, and when the vehicle is positioned, it is necessary to confirm that the steering angle of the electric power steering gear meets the design state, so as to ensure that the turning radii of the left side and the right side of the vehicle are the same when the vehicle is turning.

[0003] Due to the inconsistent installation level of the whole vehicle of various manufacturers on the market, it is difficult to ensure that the steering gear rack of the electric power steering gear is in the middle position, which leads to different turning radii of the left side and the right side of the vehicle when the vehicle is turning, and due to the increase of the mileage of the vehicle, the wear of the chassis parts of the vehicle increases, the torque of the fastening parts decays, and other reasons, the four-wheel positioning parameters of the vehicle also change from the initial values, which leads to the change of the position of the steering gear rack, and the deviation of the vehicle when turning, and further leads to the deviation of the vehicle and the abnormal wear of the tires.

[0004] At present, no effective solution has been proposed for the above problems. SUMMARY

[0005] The embodiments of the present application provide a method for processing a steering angle of a steering gear and a vehicle, to at least solve the technical problem that the deviation of the electric power steering gear leads to the deviation of the vehicle when turning.

[0006] According to an aspect of the embodiments of the present application, a method for processing a steering angle of a steering gear is provided, including: acquiring wheel speed signals, yaw rate and torque signals of a vehicle during driving of the vehicle; determining whether a mechanical middle position of a steering gear of the vehicle and a preset position of a steering angle sensor exist deviation based on the wheel speed signals, the yaw rate and the torque signals; and in response to the existence of the deviation between the mechanical middle position and the preset position, correcting the steering angle of the steering gear after the next ignition of the vehicle.

[0007] Optionally, determining whether the mechanical middle position of the steering gear of the vehicle and the preset position of the steering angle sensor exist deviation based on the wheel speed signals, the yaw rate and the torque signals includes: determining whether the vehicle is in a straight driving state based on the wheel speed signals and the yaw rate; and in response to the vehicle being in the straight driving state, determining whether the mechanical middle position and the preset position exist deviation based on the torque signals.

[0008] Optionally, determining whether the vehicle is in the straight driving state based on the wheel speed signal and the yaw rate includes: in response to the wheel speed signal being less than a first threshold value and the yaw rate being less than a second threshold value, determining that the vehicle is in the straight driving state; and in response to the wheel speed signal being greater than or equal to the first threshold value or the yaw rate being greater than or equal to the second threshold value, determining that the vehicle is not in the straight driving state.

[0009] Optionally, determining whether the mechanical neutral position deviates from the preset position based on the torque signal includes: in response to the torque signal being less than a third threshold value, determining that the mechanical neutral position does not deviate from the preset position; and in response to the torque signal being greater than or equal to the third threshold value, determining that the mechanical neutral position deviates from the preset position.

[0010] Optionally, the method further includes: after the next ignition of the vehicle, performing the steering angle correction on the steering gear, including: obtaining a historical steering angle average value of the steering gear; determining whether to perform the steering angle correction on the steering gear based on the historical steering angle average value; in response to determining to perform the steering angle correction on the steering gear, obtaining a first steering angle signal of the vehicle; and performing the steering angle correction on the steering gear based on the first steering angle signal and the historical steering angle average value.

[0011] Optionally, determining whether to perform the steering angle correction on the steering gear based on the historical steering angle average value includes: in response to the historical steering angle average value being greater than a fourth threshold value, determining to perform the steering angle correction on the steering gear; and in response to the historical steering angle average value being less than or equal to the fourth threshold value, determining not to perform the steering angle correction on the steering gear.

[0012] Optionally, performing the steering angle correction on the steering gear based on the first steering angle signal and the historical steering angle average value includes: performing an overlay operation on the first steering angle signal and the historical steering angle signal to obtain an angle correction value; and performing the steering angle correction on the steering gear based on the angle correction value.

[0013] Optionally, the method further includes: in response to determining to perform the steering angle correction on the steering gear, outputting first prompt information, wherein the first prompt information is used to prompt the steering wheel of the vehicle to be rotated to a preset position; and in response to the steering angle correction on the steering gear being completed, outputting second prompt information, wherein the second prompt information is used to prompt that the steering angle correction on the steering gear is completed.

[0014] Optionally, in response to the mechanical neutral position deviating from the preset position, the method further includes: determining a first duration for the vehicle to be in the straight driving state; in response to the first duration being greater than a first preset time, obtaining a plurality of steering angles of the steering gear within the first duration; and obtaining an average value of the plurality of steering angles to obtain a historical steering angle average value.

[0015] Optionally, after obtaining the average value of the plurality of steering angles to obtain the historical steering angle average value, the method further includes: performing an operation on the received steering angle signal and the steering angle average value to obtain a target steering angle; and controlling the steering gear based on the target steering angle.

[0016] Optionally, in the process of the first time of the steering angle calibration of the steering gear, the method further comprises: in response to receiving the steering angle calibration request sent by the steering angle calibration device, controlling the steering gear to steer, determining whether the steering gear reaches the mechanical neutral position; in response to determining that the steering gear reaches the mechanical neutral position, acquiring the steering angle position collected by the steering angle sensor; and determining that the steering angle position is the preset position.

[0017] Optionally, the controlling the steering gear to steer and determining whether the steering gear reaches the mechanical neutral position comprises: controlling the steering gear to steer in a first direction, and determining a first steering time of the steering gear, wherein the first steering time is used to represent a time from the steering gear starting to steer to a first torque value of the steering gear reaching a first preset torque value; controlling the steering gear to steer in a second direction, and determining a second steering time of the steering gear, wherein the second steering time is used to represent a time from the steering gear starting to steer to a second torque value of the steering gear reaching a second preset torque value; determining a third steering time based on the first steering time and the second steering time; and in response to the third steering time of the steering gear in the first direction reaching a target steering time, determining that the steering gear reaches the mechanical neutral position.

[0018] According to another aspect of the embodiments of the present application, a steering angle processing device of a steering gear is further provided, comprising: an acquisition module, configured to acquire wheel speed signals, yaw rate and torque signals of a vehicle during driving of the vehicle; a deviation determination module, configured to determine whether there is a deviation between a mechanical neutral position of a steering gear of the vehicle and a preset position of a steering angle sensor based on the wheel speed signals, the yaw rate and the torque signals; and a correction module, configured to perform steering angle correction on the steering gear after next ignition of the vehicle in response to the deviation between the mechanical neutral position and the preset position.

[0019] Optionally, the deviation determination module comprises: a straight running state confirmation unit, configured to determine whether the vehicle is in a straight running state based on the wheel speed signals and the yaw rate; and a deviation confirmation unit, configured to determine whether there is a deviation between the mechanical neutral position and the preset position based on the torque signals in response to the vehicle being in the straight running state.

[0020] Optionally, the straight running state confirmation unit is further configured to determine that the vehicle is in the straight running state in response to the wheel speed signals being less than a first threshold value and the yaw rate being less than a second threshold value; and determine that the vehicle is not in the straight running state in response to the wheel speed signals being greater than or equal to the first threshold value or the yaw rate being greater than or equal to the second threshold value.

[0021] Optionally, the deviation confirmation unit is further configured to determine that there is no deviation between the mechanical neutral position and the preset position in response to the torque signals being less than a third threshold value; and determine that there is a deviation between the mechanical neutral position and the preset position in response to the torque signals being greater than or equal to the third threshold value.

[0022] Optionally, the correction module comprises: an average value acquisition unit configured to acquire a historical steering angle average value of the steering gear; a determination unit configured to determine whether to correct the steering angle of the steering gear based on the historical steering angle average value; a response unit configured to acquire a first steering angle signal of the vehicle in response to a determination that the steering angle of the steering gear is to be corrected; and a steering angle correction unit configured to correct the steering angle of the steering gear based on the first steering angle signal and the historical steering angle average value.

[0023] Optionally, the determination unit is further configured to determine that the steering angle of the steering gear is to be corrected in response to the historical steering angle average value being greater than a fourth threshold value, and determine that the steering angle of the steering gear is not to be corrected in response to the historical steering angle average value being less than or equal to the fourth threshold value.

[0024] Optionally, the steering angle correction unit is further configured to perform superposition operation on the first steering angle signal and the historical steering angle signal to obtain an angle correction value, and correct the steering angle of the steering gear based on the angle correction value.

[0025] Optionally, the apparatus further comprises: a first output module configured to output first prompt information in response to a determination that the steering angle of the steering gear is to be corrected, wherein the first prompt information is used to prompt a steering wheel of the vehicle to be turned to a preset position; and a second output module configured to output second prompt information in response to completion of correction of the steering angle of the steering gear, wherein the second prompt information is used to prompt that the correction of the steering angle of the steering gear is completed.

[0026] Optionally, the apparatus further comprises: a time determination module configured to determine a first duration that the vehicle is in a straight driving state in response to a deviation between the mechanical neutral position and the preset position; a steering angle acquisition module configured to acquire a plurality of steering angles of the steering gear within the first duration in response to the first duration being greater than a first preset time; and an average value determination module configured to acquire an average value of the plurality of steering angles to obtain a historical steering angle average value.

[0027] Optionally, the apparatus further comprises: an operation module configured to perform operation on the received steering angle signal and the steering angle average value to obtain a target steering angle after the average value of the plurality of steering angles is acquired to obtain the historical steering angle average value; and a control module configured to control the steering gear based on the target steering angle.

[0028] Optionally, the apparatus further comprises: a steering gear state determination module configured to control the steering gear to steer in response to receiving a steering angle calibration request sent by a steering angle calibration device, and determine whether the steering gear reaches the mechanical neutral position; a steering angle position acquisition module configured to acquire a steering angle position collected by a steering angle sensor in response to a determination that the steering gear reaches the mechanical neutral position; and a preset position determination module configured to determine that the steering angle position is the preset position.

[0029] Optionally, the steering gear state determining module comprises: a first steering time determining unit, configured to control the steering gear to steer in a first direction, and determine a first steering time of the steering gear, wherein the first steering time is used to represent a time from when the steering gear starts to steer to when a first torque value of the steering gear reaches a first preset torque value; a second steering time determining unit, configured to control the steering gear to steer in a second direction, and determine a second steering time of the steering gear, wherein the second steering time is used to represent a time from when the steering gear starts to steer to when a second torque value of the steering gear reaches a second preset torque value; a third steering time determining unit, configured to determine a third steering time based on the first steering time and the second steering time; and a mechanical neutral position determining unit, configured to determine that the steering gear reaches a mechanical neutral position in response to the third steering time of the steering gear in the first direction reaching a target steering time.

[0030] According to another aspect of the embodiments of the present application, a non-volatile storage medium is also provided, which comprises a storage degree, wherein a processor of a device controls to execute any one of the steering gear corner processing methods in the embodiments of the present application when a program is running.

[0031] According to another aspect of the embodiments of the present application, a vehicle is also provided, which comprises one or more processors, and a storage device configured to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute any one of the steering gear corner processing methods in the embodiments of the present application.

[0032] In the embodiments of the present application, during the driving of the vehicle, after the wheel speed signal, the yaw rate and the torque signal of the vehicle are acquired, it can be further determined whether there is a deviation between the mechanical neutral position of the steering gear of the vehicle and the preset position of the corner sensor based on the wheel speed signal, the yaw rate and the torque signal, and in the case that there is a deviation between the mechanical neutral position and the preset position, the corner of the steering gear is corrected after the next ignition of the vehicle, so that the position of the steering gear can be kept unchanged, and the deviation of the vehicle during the turning operation can be avoided, thereby achieving the technical effect of improving the matching degree between the steering of the steering wheel and the turning of the vehicle tires during the steering of the vehicle, and further solving the technical problem that the deviation of the electric power steering gear causes the deviation of the turning operation of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and serve to explain the principles of the application. In the drawings:

[0034] Figure 1 is a flowchart of the steering gear corner processing method according to the embodiments of the present application;

[0035] Figure 2 is a flowchart of a corner processing method of a steering gear according to an embodiment of the present application;

[0036] Figure 3 is a structural block diagram of a corner processing device of a steering gear according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0038] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0039] According to an embodiment of the present application, a corner processing method of a steering gear is provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0040] Figure 1 is a flowchart of a corner processing method of a steering gear according to an embodiment of the present application, as Figure 1 shown, the method comprises the following steps:

[0041] Step S102, during vehicle driving, acquiring wheel speed signal, yaw rate and torque signal of the vehicle.

[0042] Specifically, the vehicle can be a vehicle provided with an electric power steering gear. The wheel speed signal can be a signal acquired by a wheel speed sensor, which can be an optical wheel speed sensor, an eddy current wheel speed sensor, or a Hall wheel speed sensor. The torque signal can be a torque signal generated by a driver operating a steering wheel of the vehicle during driving. The yaw rate can also be referred to as a yaw speed, and can be determined by a yaw rate signal.

[0043] In step S104, whether there is a deviation between the mechanical neutral position of the steering gear and the preset position of the angle sensor of the vehicle is determined based on the wheel speed signal, the yaw rate, and the torque signal.

[0044] Specifically, the preset position of the angle sensor can be a 0 position of the angle sensor.

[0045] As an optional embodiment, whether the vehicle is in a straight driving state can be determined based on the wheel speed signal and the yaw rate. In the case where it is determined that the vehicle is in the driving state, whether there is a deviation between the mechanical neutral position and the preset position of the steering gear can be further determined based on the torque signal.

[0046] As an optional embodiment, the vehicle can be determined to be in the straight driving state in the case where the wheel speed signal is less than a first threshold value and the yaw rate is less than a second threshold value, and the vehicle can be determined not to be in the driving state in the case where the wheel speed signal is greater than or equal to the first threshold value or the yaw rate is greater than or equal to the second threshold value.

[0047] In step S106, in response to the deviation between the mechanical neutral position and the preset position, an angle correction of the steering gear is performed after the next ignition of the vehicle.

[0048] As an optional embodiment, the mechanical neutral position and the preset position of the steering gear can be determined not to be deviated in the case where the torque signal is less than a third threshold value, and the mechanical neutral position and the preset position of the steering gear can be determined to be deviated in the case where the torque signal is greater than or equal to the third threshold value.

[0049] As an optional embodiment, in the case where it is determined that the mechanical neutral position and the preset position of the steering gear are deviated, a historical average value of the angle of the steering gear is acquired, and in the case where the historical average value of the angle is greater than a fourth threshold value, it is indicated that a matching degree between a driving direction of the vehicle during driving and a direction of the steering wheel is low, and there is a problem of deviation, and the angle correction of the steering gear is needed. In the case where it is determined that the angle correction of the steering gear is needed, a first angle signal of the vehicle is acquired, and an angle correction value can be obtained by superimposing the first angle signal and the historical average value of the angle, and the angle correction of the steering gear is performed according to the angle correction value.

[0050] By the above steps, during the driving of the vehicle, after the wheel speed signal, the yaw rate and the torque signal of the vehicle are acquired, whether the mechanical neutral position of the steering gear and the preset position of the angle sensor of the vehicle exist deviation can be determined based on the wheel speed signal, the yaw rate and the torque signal, and in the case that the mechanical neutral position and the preset position exist deviation, the angle of the steering gear is corrected after the next ignition of the vehicle, so that the position of the steering gear can be kept unchanged, the deviation of the vehicle during the turning operation is avoided, the matching degree between the steering of the steering wheel and the turning of the vehicle tire during the steering of the vehicle is improved, and the technical problem that the deviation of the electric power assisted steering gear causes the deviation of the turning operation of the vehicle is solved.

[0051] Optionally, determining whether the mechanical neutral position of the steering gear and the preset position of the angle sensor of the vehicle exist deviation based on the wheel speed signal, the yaw rate and the torque signal comprises: determining whether the vehicle is in a straight driving state based on the wheel speed signal and the yaw rate; and in response to the vehicle being in the straight driving state, determining whether the mechanical neutral position and the preset position exist deviation based on the torque signal.

[0052] Specifically, the wheel speed signal can include the wheel speed signals of two front wheels of the vehicle, and in the case that the difference between the wheel speed signals of the two front wheels is less than a first threshold value and the yaw rate is less than a second threshold value, it is determined that the vehicle is in the straight driving state, and in the case that the wheel speed signals of the two front wheels are equal to or greater than the first threshold value, it is indicated that the wheel speeds of the left and right front wheels of the vehicle are inconsistent and the difference is large, the vehicle is turning and is not in the straight driving state, or the yaw rate is equal to or greater than the second threshold value, it is indicated that the center of mass of the vehicle deviates by a large angle and there is a turning behavior, and the vehicle is not in the straight driving state. In the case that the vehicle is in the execution state, whether the mechanical neutral position and the preset position exist deviation can be further determined based on the torque signal.

[0053] Optionally, determining whether the mechanical neutral position and the preset position exist deviation based on the torque signal comprises: in response to the torque signal being less than a third threshold value, determining that the mechanical neutral position and the preset position do not exist deviation; and in response to the torque signal being greater than or equal to the third threshold value, determining that the mechanical neutral position and the preset position exist deviation.

[0054] In an optional embodiment, in the case that the torque signal is less than the third threshold value, it is determined that the mechanical neutral position of the steering gear and the preset position of the angle sensor substantially coincide, and in the case that the torque signal is equal to or greater than the third threshold value, it is determined that the mechanical neutral position of the steering gear and the preset position of the angle sensor exist deviation.

[0055] Optionally, determining whether the vehicle is in the straight driving state based on the wheel speed signal and the yaw rate includes: in response to the wheel speed signal being less than a first threshold value and the yaw rate being less than a second threshold value, determining that the vehicle is in the straight driving state; and in response to the wheel speed signal being greater than or equal to the first threshold value or the yaw rate being greater than or equal to the second threshold value, determining that the vehicle is not in the straight driving state.

[0056] Specifically, the wheel speed signal can include wheel speed signals of two front wheels of the vehicle, and the vehicle is determined to be in the straight driving state when a difference between the wheel speed signals of the two front wheels is less than a first threshold value and the yaw rate is less than a second threshold value. The vehicle is determined to be not in the straight driving state when the wheel speed signal is greater than or equal to the first threshold value and the yaw rate is less than the second threshold value, the wheel speed signal is greater than or equal to the first threshold value and the yaw rate is greater than or equal to the second threshold value, or the wheel speed signal is less than the first threshold value and the yaw rate is greater than or equal to the second threshold value.

[0057] Optionally, the steering angle correction of the steering gear is performed after the next ignition of the vehicle, including: obtaining a historical average value of the steering angle of the steering gear; determining whether to perform the steering angle correction of the steering gear based on the historical average value of the steering angle; in response to determining to perform the steering angle correction of the steering gear, obtaining a first steering angle signal of the vehicle; and performing the steering angle correction of the steering gear based on the first steering angle signal and the historical average value of the steering angle.

[0058] Optionally, the steering angle correction of the steering gear based on the first steering angle signal and the historical average value of the steering angle includes: performing superposition operation on the first steering angle signal and the historical steering angle signal to obtain an angle correction value; and performing the steering angle correction of the steering gear based on the angle correction value.

[0059] In an optional embodiment, when the vehicle is in the straight driving state and the torque signal is equal to or greater than a third threshold value for a first duration of time, i.e., the time during which the deviation between the mechanical neutral position of the steering gear and the preset position of the steering angle sensor lasts, a plurality of steering angles of the steering gear in the first duration of time are recorded, and an average value of an average of the plurality of steering angles (i.e., the historical average value described above) is calculated. When the historical average value of the steering angle is greater than a fourth threshold value, it indicates that the matching degree between the driving direction of the vehicle during driving and the direction of the steering wheel is low, and there is a problem of deviation, and the steering angle correction of the steering gear is needed. In the case of determining that the steering angle correction of the steering gear is needed, a first steering angle signal of the vehicle is obtained, superposition operation can be performed on the first steering angle signal and the historical average value of the steering angle to obtain an angle correction value, and the steering angle correction of the steering gear is performed based on the angle correction value.

[0060] Optionally, the determining whether to correct the steering angle of the steering gear based on the historical average steering angle comprises: in response to the historical average steering angle being greater than a fourth threshold, determining to correct the steering angle of the steering gear; and in response to the historical average steering angle being less than or equal to the fourth threshold, determining not to correct the steering angle of the steering gear.

[0061] Specifically, in the case that the average steering angle is greater than the fourth threshold, it indicates that there is a large deviation between the mechanical center of the steering gear and the preset position of the steering angle sensor, and the steering angle of the steering gear needs to be corrected; in the case that the historical average steering angle is less than or equal to the fourth threshold, it indicates that the deviation between the mechanical center of the steering gear and the preset position of the steering angle sensor is small, and the steering angle of the steering gear does not need to be corrected.

[0062] Optionally, the method further comprises: in response to determining to correct the steering angle of the steering gear, outputting first prompt information, wherein the first prompt information is used to prompt the steering wheel of the vehicle to be turned to a preset position; and in response to the correction of the steering angle of the steering gear being completed, outputting second prompt information, wherein the second prompt information is used to prompt that the correction of the steering angle of the steering gear is completed.

[0063] Specifically, the steering wheel is also referred to as the steering wheel of the vehicle. The preset position can be a horizontal position.

[0064] As an optional implementation, after the vehicle is started, the steering gear controller can send a reminder signal to the instrument to output the first prompt information to prompt the driver that the vehicle needs to be corrected in angle and the steering wheel needs to be turned to the horizontal position. After the driver turns the steering wheel to the horizontal position, the current steering angle signal of the vehicle is acquired, and the current steering angle signal is superimposed with the historical average steering angle to obtain an angle correction value, and the angle correction value is used to calibrate the steering angle sensor. After the calibration is completed, the steering gear controller sends a reminder signal to the instrument, and the instrument outputs the second prompt information to prompt the driver that the angle calibration has been completed and the vehicle can be used normally.

[0065] Optionally, in response to the deviation between the mechanical center and the preset position, the method further comprises: determining a first duration in which the vehicle is in a straight driving state; in response to the first duration being greater than a first preset time, acquiring a plurality of steering angles of the steering gear in the first duration; and acquiring an average value of the plurality of steering angles to obtain a historical average steering angle.

[0066] As an optional implementation, in the case that the vehicle is in the straight driving state and the deviation exists between the mechanical center of the steering gear and the preset position of the steering angle sensor during the current ignition cycle, the time in which the vehicle is in the straight driving state is determined, i.e., the first duration. In the case that the first duration is greater than the first preset time, the steering gear controller can be used to record a plurality of steering angles of the steering gear in the first duration, then the average value of the plurality of steering angles is calculated, and the average value is confirmed as the historical average steering angle.

[0067] Optionally, after obtaining the average value of the plurality of steering angles, a target steering angle is obtained by performing an operation on the received steering angle signal and the average value of the steering angles, and the steering device is controlled based on the target steering angle.

[0068] As an optional implementation, after obtaining the average value of the steering angles in the current ignition cycle, a target steering angle is obtained by performing an operation on the received steering angle signal and the average value of the steering angles, and the steering device is controlled according to the target steering angle in the current ignition cycle.

[0069] Optionally, during the first steering angle calibration of the steering device, the method further comprises: in response to receiving a steering angle calibration request sent by the steering angle calibration device, controlling the steering device to steer, determining whether the steering device reaches the mechanical neutral position; in response to determining that the steering device reaches the mechanical neutral position, obtaining the steering angle position collected by the steering angle sensor; and determining that the steering angle position is the preset position.

[0070] As an optional implementation, when the vehicle is first delivered and four-wheel alignment adjustment is performed, first, the vehicle can be placed on the four-wheel alignment device, the steering angle calibration device is connected to the vehicle OBD interface through the OBD (On-Board Diagnostics, vehicle diagnostic system) line, and then the steering angle calibration device sends a steering angle calibration request to the steering device to control the steering device to steer, determines whether the steering device can reach the mechanical neutral position during steering, and records the steering angle position collected by the steering angle sensor in the case that the steering device can reach the mechanical neutral position, and determines that the steering angle position at this time is the preset position.

[0071] Optionally, controlling the steering device to steer and determining whether the steering device reaches the mechanical neutral position comprises: controlling the steering device to steer in a first direction, determining a first steering time of the steering device, wherein the first steering time is used to represent the time from the start of steering of the steering device to the first torque value of the steering device reaching a first preset torque value; controlling the steering device to steer in a second direction, determining a second steering time of the steering device, wherein the second steering time is used to represent the time from the start of steering of the steering device to the second torque value of the steering device reaching a second preset torque value; determining a third steering time based on the first steering time and the second steering time; and in response to the third steering time of the steering device in the first direction reaching a target steering time, determining that the steering device reaches the mechanical neutral position.

[0072] Specifically, the first direction can be the left side, the second direction can be the right side, the first preset torque value can be a preset torque threshold, and the first preset torque value can be the same as the second preset torque value. The third steering time can be the average of the first steering time and the second steering time.

[0073] As an optional implementation, after receiving a steering angle calibration request, the steering assist motor provides steering assistance with a set output current. First, it steers to the left. When the torque value reaches a threshold T and the duration reaches a time threshold t, the time t1 from the start of assistance to reaching the threshold is recorded. Then, it steers to the right, again recording the time t2 after the torque value reaches the threshold T and the duration reaches the time threshold t. Next, the average value t0 of t1 and t2 is calculated, and steering assistance is applied from the right limit position to the left for a duration t0. The steering angle position at this moment is the middle position of the rack, and a "0-position steering angle confirmed" signal is sent to the steering angle calibration device. Upon receiving the "0-position steering angle confirmed" signal, the steering angle calibration device sends a "0-position steering angle calibration" signal to the steering system, setting the current steering angle position as 0-position steering. Then, the steering wheel is fixed using fixtures to ensure that it does not deflect during four-wheel alignment parameter adjustment. Finally, the four-wheel alignment parameters are adjusted to ensure the front wheel toe-in value is within the design range, and the four-wheel alignment adjustment is completed.

[0074] In one alternative embodiment, Figure 2 This is a flowchart illustrating a steering angle processing method for a steering gear in an optional embodiment of this application, as shown below. Figure 2 As shown, during the execution of this application, it is first necessary to confirm whether the steering angle of the vehicle is in a calibrated state. If the steering angle is uncalibrated, the steering angle value is a default value and will not change with the driver's steering operation. Therefore, a coarse calibration of the steering 0 position is required first. In this case, a steering angle calibration request can be sent to the steering gear through a steering angle calibration device. After receiving the steering angle calibration request, the steering assist motor provides steering assistance with a set output current, obtaining the first steering time t1 and the second steering time t2. For example, first, the steering gear is controlled to turn left according to the set output current. When the torque value reaches a threshold T and the duration reaches a time threshold t, the first steering time t1 from the start of assistance to the torque value reaching the threshold T is recorded. Then, the steering gear is controlled to turn right according to the set output current. When the torque value reaches the threshold T and the duration reaches a time threshold t, the second steering time t2 from the start of assistance to the torque value reaching the threshold T is recorded. After obtaining the first steering time t1 and the second steering time t2, the average of t1 and t2 is calculated to obtain the third steering time t0. Then, the steering gear angle is turned from the right limit position (i.e., the position where the torque value reaches the threshold T) to the left for a duration of t0. At the end of t0, it is confirmed that the position reached by the steering gear is the mechanical neutral position, i.e. the middle position of the rack. The angle calibration is then confirmed to be complete, and a "angle 0 has been confirmed" signal is sent back to the angle calibration device.

[0075] In the case that the steering angle of the steering gear is in the calibrated state, the wheel speed signal and the yaw rate are acquired respectively. After the wheel speed signal is acquired, the speed of the two front wheels of the vehicle can be confirmed according to the wheel speed signal, and then the wheel speed difference of the front wheels can be confirmed. In the case that the wheel speed difference of the front wheels is less than a first threshold value and the yaw rate is less than a second threshold value, it is confirmed that the vehicle is in the straight running state. On this basis, it is further confirmed whether there is a deviation between the mechanical neutral position of the steering gear and the 0 position of the steering angle sensor based on the torque signal. In the case that the torque signal is less than a third threshold value, the mechanical neutral position of the steering gear substantially coincides with the 0 position of the steering angle sensor, and the steering angle signal does not need to be processed. In the case that the duration of the straight running state is greater than a first duration, the average value of the steering angle in the first duration (i.e. the historical average value of the steering angle in the embodiment of the application) is recorded. In the current ignition cycle, the current steering angle signal of the vehicle is acquired, the target steering angle is obtained by superimposing the steering angle signal and the average value of the steering angle in the first duration, and the power assistance is performed based on the target steering angle. In the case that the duration is less than or equal to the first duration and the next ignition cycle signal is received, in the case that the average value of the steering angle is greater than 0, the first prompt information is sent to the instrument of the vehicle to remind the driver to correct the angle and turn the steering wheel to the horizontal position. Then, the current second steering angle signal is acquired, the angle correction value is obtained by superimposing the second steering angle signal and the historical average value, and the steering angle of the steering gear is corrected based on the angle correction value. After the correction is completed, the second prompt information is sent to the instrument to prompt the driver that the angle correction has been completed and the vehicle can be used normally.

[0076] In the embodiment of the application, a steering angle processing device of a steering gear is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware or a combination of software and hardware is also possible and contemplated.

[0077] Figure 3 is a structural block diagram of a steering angle processing device of a steering gear according to one of the embodiments of the application, as shown in Figure 3 , the device comprises:

[0078] The acquisition module 32 is configured to acquire the wheel speed signal, the yaw rate and the torque signal of the vehicle during the driving of the vehicle.

[0079] The deviation determination module 34 is configured to determine whether there is a deviation between the mechanical neutral position of the steering gear of the vehicle and the preset position of the steering angle sensor based on the wheel speed signal, the yaw rate and the torque signal.

[0080] The correction module 36 is configured to correct the steering angle of the steering gear after the next ignition of the vehicle in response to the deviation of the mechanical neutral position from the preset position.

[0081] Optionally, the deviation determination module comprises: a straight running state confirmation unit configured to determine whether the vehicle is in a straight running state based on the wheel speed signal and the yaw rate; and a deviation confirmation unit configured to determine whether the mechanical neutral position deviates from the preset position based on the torque signal in response to the vehicle being in the straight running state.

[0082] Optionally, the straight running state confirmation unit is further configured to determine that the vehicle is in the straight running state in response to the wheel speed signal being less than a first threshold value and the yaw rate being less than a second threshold value, and determine that the vehicle is not in the straight running state in response to the wheel speed signal being greater than or equal to the first threshold value or the yaw rate being greater than or equal to the second threshold value.

[0083] Optionally, the deviation confirmation unit is further configured to determine that the mechanical neutral position does not deviate from the preset position in response to the torque signal being less than a third threshold value, and determine that the mechanical neutral position deviates from the preset position in response to the torque signal being greater than or equal to the third threshold value.

[0084] Optionally, the correction module comprises: an average value acquisition unit configured to acquire a historical steering angle average value of the steering gear; a determination unit configured to determine whether to correct the steering angle of the steering gear based on the historical steering angle average value; a response unit configured to acquire a first steering angle signal of the vehicle in response to a determination to correct the steering angle of the steering gear; and a steering angle correction unit configured to correct the steering angle of the steering gear based on the first steering angle signal and the historical steering angle average value.

[0085] Optionally, the determination unit is further configured to determine to correct the steering angle of the steering gear in response to the historical steering angle average value being greater than a fourth threshold value, and determine not to correct the steering angle of the steering gear in response to the historical steering angle average value being less than or equal to the fourth threshold value.

[0086] Optionally, the steering angle correction unit is further configured to perform superposition operation on the first steering angle signal and the historical steering angle signal to obtain an angle correction value, and correct the steering angle of the steering gear based on the angle correction value.

[0087] Optionally, the apparatus further comprises: a first output module configured to output first prompt information in response to a determination to correct the steering angle of the steering gear, wherein the first prompt information is used to prompt a steering wheel of the vehicle to be turned to a preset position; and a second output module configured to output second prompt information in response to completion of correction of the steering angle of the steering gear, wherein the second prompt information is used to prompt completion of correction of the steering angle of the steering gear.

[0088] Optionally, the apparatus further comprises: a time determining module, configured to determine a first duration of the vehicle in the straight driving state in response to the deviation of the mechanical neutral position from the preset position; an angle obtaining module, configured to obtain a plurality of steering angles of the steering gear within the first duration in response to the first duration being greater than a first preset time; and an average value determining module, configured to obtain an average value of the plurality of steering angles to obtain a historical average steering angle.

[0089] Optionally, the apparatus further comprises: an operation module, configured to perform an operation on the received steering angle signal and the average steering angle to obtain a target steering angle after obtaining the average value of the plurality of steering angles to obtain the historical average steering angle; and a control module, configured to control the steering gear based on the target steering angle.

[0090] Optionally, the apparatus further comprises: a steering gear state determining module, configured to control the steering gear to steer in response to receiving a steering angle calibration request sent by a steering angle calibration device, and determine whether the steering gear reaches the mechanical neutral position; a steering angle position obtaining module, configured to obtain a steering angle position collected by a steering angle sensor in response to determining that the steering gear reaches the mechanical neutral position; and a preset position determining module, configured to determine the steering angle position as the preset position.

[0091] Optionally, the steering gear state determining module comprises: a first steering time determining unit, configured to control the steering gear to steer in a first direction, and determine a first steering time of the steering gear, wherein the first steering time is used to represent a time from the steering gear starting to steer to a first torque value of the steering gear reaching a first preset torque value; a second steering time determining unit, configured to control the steering gear to steer in a second direction, and determine a second steering time of the steering gear, wherein the second steering time is used to represent a time from the steering gear starting to steer to a second torque value of the steering gear reaching a second preset torque value; a third steering time determining unit, configured to determine a third steering time based on the first steering time and the second steering time; and a mechanical neutral position determining unit, configured to determine that the steering gear reaches the mechanical neutral position in response to the third steering time of the steering gear in the first direction reaching a target steering time.

[0092] According to another aspect of the embodiments of the present application, a non-volatile storage medium is also provided, which comprises a storage degree, wherein when a program is running, a processor of a device where the program is running performs any one of the steering angle processing methods of the steering gear in the embodiments of the present application.

[0093] According to another aspect of the embodiments of the present application, a vehicle is also provided, which comprises: one or more processors; a storage device configured to store one or more programs; and when the one or more programs are executed by the one or more processors, the one or more processors perform any one of the steering angle processing methods of the steering gear in the embodiments of the present application.

[0094] In the above-mentioned embodiments of the present application, the description of each embodiment is focused on, and the part not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0095] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and in actual implementation, there can be another division way, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interfaces, and can be electrical or other forms.

[0096] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed to a plurality of units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0097] In addition, each functional unit in each embodiment of the present application can be integrated in a processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0098] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part of the prior art that contributes or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0099] The above-mentioned is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be regarded as the protection scope of the present application.

Claims

1. A method of corner processing of a deflector, characterized by, The method comprises: acquiring wheel speed signals, yaw rate and torque signals of a vehicle during driving of the vehicle; determining whether a mechanical neutral position of a steering gear of the vehicle deviates from a preset position of a rotation angle sensor based on the wheel speed signals, the yaw rate and the torque signals; in response to the mechanical neutral position deviating from the preset position, performing rotation angle correction on the steering gear after next ignition of the vehicle; determining whether a mechanical neutral position of a steering gear of the vehicle deviates from a preset position of a rotation angle sensor based on the wheel speed signals, the yaw rate and the torque signals, comprises: determining whether the vehicle is in a straight driving state based on a difference between the wheel speed signals of two front wheels of the vehicle and the yaw rate; in response to the vehicle being in the straight driving state, determining whether the mechanical neutral position deviates from the preset position based on the torque signal; determining whether the vehicle is in a straight driving state based on a difference between the wheel speed signals of two front wheels of the vehicle and the yaw rate, comprises: in response to the difference between the wheel speed signals of the two front wheels of the vehicle being less than a first threshold value and the yaw rate being less than a second threshold value, determining that the vehicle is in the straight driving state; in response to the wheel speed signal being greater than or equal to the first threshold value or the yaw rate being greater than or equal to the second threshold value, determining that the vehicle is not in the straight driving state; determining whether the mechanical neutral position deviates from the preset position based on the torque signal, comprises: in response to the torque signal being less than a third threshold value, determining that the mechanical neutral position does not deviate from the preset position; in response to the torque signal being greater than or equal to the third threshold value, determining that the mechanical neutral position deviates from the preset position.

2. The method of claim 1, wherein performing rotation angle correction on the steering gear after next ignition of the vehicle, comprises: acquiring a historical rotation angle average value of the steering gear; determining whether to perform rotation angle correction on the steering gear based on the historical rotation angle average value; in response to determining to perform rotation angle correction on the steering gear, acquiring a first rotation angle signal of the vehicle; performing rotation angle correction on the steering gear based on the first rotation angle signal and the historical rotation angle average value.

3. The corner processing method of a deflector according to claim 2, wherein determining whether to perform rotation angle correction on the steering gear based on the historical rotation angle average value, comprises: in response to the historical rotation angle average value being greater than a fourth threshold value, determining to perform rotation angle correction on the steering gear; in response to the historical rotation angle average value being less than or equal to the fourth threshold value, determining not to perform rotation angle correction on the steering gear.

4. The steering angle processing method for a steering gear according to claim 2, characterized in that, performing rotation angle correction on the steering gear based on the first rotation angle signal and the historical rotation angle average value, comprises: performing superposition operation on the first rotation angle signal and the historical rotation angle average value to obtain an angle correction value; performing rotation angle correction on the steering gear based on the angle correction value.

5. The method of claim 2, wherein the steering angle of the diverter is processed by: The method further comprises: in response to determining to perform rotation angle correction on the steering gear, outputting first prompt information, wherein the first prompt information is used to prompt to rotate a steering wheel of the vehicle to a preset position; In response to completion of the steering angle correction of the steering gear, second prompt information is output, wherein the second prompt information is used to prompt completion of the steering angle correction of the steering gear.

6. The corner processing method of a deflector according to claim 2, wherein In response to the deviation between the mechanical neutral position and the preset position, the method further comprises: determining a first duration that the vehicle is in a straight driving state; in response to the first duration being greater than a first preset time, obtaining a plurality of steering angles of the steering gear in the first duration; obtaining an average value of the plurality of steering angles to obtain the historical average steering angle.

7. A vehicle characterized by comprising: comprise: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors execute the steering angle processing method of any one of claims 1 to 6.

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