A method, device, and vehicle for aligning a vehicle steering wheel.

Abstract

This invention provides a method, device, and vehicle for aligning a vehicle steering wheel, belonging to the field of vehicle technology. It aims to adjust the steering wheel position without disassembling it when the steering wheel is misaligned. Applied to a front-wheel active steering system, the system includes an electric variable transmission motor for adjusting the angular transmission ratio between the steering wheel and the wheel steering mechanism. The method includes: determining the deviation angle between the current position and the preset position when the wheel is in the center position and the current position of the steering wheel deviates from the preset position; determining the triggered adjustment mode when the deviation angle is less than or equal to the preset angle; triggering a preset return-to-center strategy corresponding to the adjustment mode in response to the adjustment mode; controlling the electric variable transmission motor to assist the steering wheel in returning to the preset position based on the preset return-to-center strategy; and controlling the wheel steering mechanism to lock so that the wheel remains in the center position during the steering wheel return-to-center process.

Description

Technical Field

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

[0002] Before a vehicle leaves the factory, the steering wheel and wheels need to be adjusted to the center position, ensuring they are aligned. This allows the driver to easily judge the alignment of the steering wheel and wheels and facilitates vehicle control. However, when the front suspension is severely worn or after repairs and a four-wheel alignment is performed, the steering wheel may become misaligned.

[0003] However, the common method for addressing the issue of misaligned steering wheel is to disassemble the steering wheel, mechanically adjust it, and then reassemble it to align it. This method requires disassembling the steering wheel for adjustment and then reassembling it, which is time-consuming, laborious, and can easily damage the steering wheel and surrounding components. Summary of the Invention

[0004] In view of this, the present invention aims to provide a method, device and vehicle for aligning a vehicle steering wheel, so as to solve the problem that when the steering wheel of a current vehicle is not aligned, it is necessary to disassemble the steering wheel for adjustment, which is a cumbersome adjustment method.

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

[0006] A method for aligning a vehicle steering wheel, applied to a front-wheel active steering system, the front-wheel active steering system including an electric variable transmission motor, the electric variable transmission motor being used to adjust the angular transmission ratio between the steering wheel and the wheel steering gear, the method comprising:

[0007] When the wheel is in the center position and the current position of the steering wheel deviates from the preset position, the deviation angle between the current position and the preset position is determined; wherein, the preset position is the center position of the steering wheel;

[0008] When the deviation angle is less than or equal to a preset angle, the triggered adjustment mode is determined; wherein, the preset angle is the maximum deviation angle of the steering wheel without damaging the mechanical parts of the front wheel active steering system;

[0009] In response to the adjustment mode, a preset return-to-center strategy corresponding to the adjustment mode is triggered; wherein, different adjustment modes correspond to different preset return-to-center strategies;

[0010] Based on the preset return-to-center strategy, the electric variable transmission motor is controlled to assist the steering wheel in returning to the preset position; and the wheel steering mechanism is locked to keep the wheels in the center position during the return-to-center process of the steering wheel.

[0011] Furthermore, the electric variable transmission motor is connected to the steering wheel via gears, and when the adjustment mode is automatic adjustment mode, the preset return-to-center strategy is an active return-to-center strategy;

[0012] The step of controlling the electric variable transmission motor to assist the steering wheel in returning to the preset position based on the preset return-to-center strategy includes:

[0013] Based on the deviation angle, the rotation parameters of the electric variable transmission motor are obtained;

[0014] The electric variable transmission motor is controlled to rotate according to the rotation parameters to drive the gear to rotate. The gear outputs rotational force to drive the steering wheel to rotate, so that the steering wheel returns to the preset position.

[0015] Furthermore, the electric variable transmission motor is connected to the steering wheel via gears, and when the adjustment mode is manual adjustment mode, the preset return-to-center strategy is a manual return-to-center strategy;

[0016] The step of controlling the electric variable transmission motor to assist the steering wheel in returning to the preset position based on the preset return-to-center strategy includes:

[0017] In response to the user's rotation of the steering wheel, the electric variable transmission motor is controlled to stop operating, so that the electric variable transmission motor rotates in accordance with the rotation of the gear; wherein, the gear rotates in accordance with the rotation of the steering wheel;

[0018] The method further includes:

[0019] The position of the steering wheel is detected in real time during the rotation of the steering wheel;

[0020] When the steering wheel position stops changing and remains at the preset position for a preset duration, it is determined that the steering wheel has successfully returned to the preset position.

[0021] Furthermore, the front wheel active steering system also includes a torsion bar. The steps of obtaining the rotation parameters of the electric variable transmission motor based on the deviation angle, and controlling the electric variable transmission motor to rotate according to the rotation parameters to drive the gear to rotate, include:

[0022] Based on the deviation angle, the first rotation angle of the electric variable drive motor is determined;

[0023] The electric variable transmission motor is controlled to rotate according to the first rotation angle, so as to drive the gear to rotate;

[0024] During the rotation of the electric variable transmission motor, the torque signal of the torsion bar is detected in real time;

[0025] Based on the torque signal, the second rotation angle of the electric variable drive motor is determined, and the first rotation angle is corrected by the second rotation angle.

[0026] Furthermore, before controlling the electric variable transmission motor to rotate according to the rotation parameters to drive the gear to rotate, the method further includes:

[0027] Detect whether the steering wheel is in a hands-free state;

[0028] The control of the electric variable transmission motor to rotate according to the rotation parameters, so as to drive the gear to rotate, includes:

[0029] When the steering wheel is in the off-hand state, the electric variable transmission motor is controlled to rotate according to the rotation parameters to drive the gear to rotate.

[0030] Further, controlling the electric variable transmission motor to rotate according to the rotation parameters to drive the gear to rotate includes:

[0031] The deviation angle is detected in real time;

[0032] The current rotational speed of the electric variable transmission motor is determined based on the deviation angle.

[0033] The electric variable transmission motor is controlled to rotate according to the rotation parameters and the current rotation speed, so as to drive the gear to rotate.

[0034] Furthermore, after controlling the electric variable transmission motor to assist the steering wheel in returning to the preset position based on the preset return-to-center strategy, the method further includes:

[0035] Record the adjusted position of the steering wheel after it has been straightened; wherein the angle difference between the adjusted position and the preset position is less than or equal to 0.1°;

[0036] The adjusted position is marked as the zero position of the steering wheel, and the position of the wheel steering gear is marked as the zero position of the wheel steering gear.

[0037] Further, the wheel steering system includes a power steering motor, which is connected to the rack of the wheel steering system via gears; the step of controlling the locking of the wheel steering system includes:

[0038] Monitor the motor position information of the power steering motor;

[0039] Based on the motor position information, the steering assist motor is controlled to maintain a holding torque to keep the rack position unchanged, thus locking the wheel steering system.

[0040] Compared with existing technologies, the vehicle steering wheel alignment method described in this invention has the following advantages:

[0041] The present invention provides a vehicle steering wheel alignment method applied to a front-wheel active steering system. The front-wheel active steering system includes an electric variable transmission motor, which adjusts the angular transmission ratio between the steering wheel and the wheel steering mechanism. The method includes: determining the deviation angle between the current position and the preset position when the wheel is in the center position and the current position of the steering wheel deviates from the preset position; wherein the preset position is the center position of the steering wheel; determining a triggered adjustment mode when the deviation angle is less than or equal to the preset angle; wherein the preset angle is the maximum deviation angle of the steering wheel without damaging the mechanical parts of the front-wheel active steering system; triggering a preset return-to-center strategy corresponding to the adjustment mode in response to the adjustment mode; wherein different adjustment modes correspond to different preset return-to-center strategies; controlling the electric variable transmission motor to assist the steering wheel in returning to the preset position based on the preset return-to-center strategy; and controlling the wheel steering mechanism to lock, so as to keep the wheel in the center position throughout the steering wheel return-to-center process.

[0042] Therefore, when the wheels are in the center position and the steering wheel is off-center, the electric variable transmission motor is controlled to assist in adjusting the steering wheel to the center position. During the adjustment process, the wheel steering gear is locked to fix the wheels in the center position, so that both the steering wheel and the wheels are in the center position after adjustment, thus aligning the steering wheel. Since the electric variable transmission motor is mechanically connected to the steering wheel, it can assist in the steering wheel alignment process, so that the steering wheel can be aligned without disassembling it. This avoids the cumbersome and potentially damaging process of disassembling and reassembling the steering wheel for alignment.

[0043] Another objective of this invention is to provide a vehicle steering wheel alignment device to solve the problem that when the vehicle steering wheel is not aligned, it is necessary to disassemble the steering wheel for adjustment, which is a cumbersome adjustment method.

[0044] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0045] A vehicle steering wheel alignment device is applied to a front-wheel active steering system. The electric variable transmission motor is used to adjust the angular transmission ratio between the steering wheel and the wheel steering gear. The front-wheel active steering system includes the electric variable transmission motor, and the alignment device includes:

[0046] The first determining module is used to determine the deviation angle between the current position and the preset position when the wheel is in the center position and the current position of the steering wheel deviates from the preset position; wherein the preset position is the center position of the steering wheel;

[0047] The second determining module is used to determine the triggered adjustment mode when the deviation angle is less than or equal to a preset angle; wherein the preset angle is the maximum deviation angle of the steering wheel without damaging the mechanical parts of the front wheel active steering system.

[0048] A triggering module is used to trigger a preset return-to-center strategy corresponding to the adjustment mode in response to the adjustment mode; wherein, different adjustment modes correspond to different preset return-to-center strategies;

[0049] The control module is used to control the electric variable transmission motor to assist the steering wheel in turning back to the preset position based on the preset return-to-center strategy; and to control the wheel steering lock to keep the wheel in the center position during the steering wheel return-to-center process.

[0050] The device and the above-mentioned vehicle steering wheel alignment method have the same advantages over the prior art, and will not be described in detail here.

[0051] Another objective of this invention is to provide a vehicle that solves the problem that when the steering wheel of a current vehicle is misaligned, it is necessary to remove the steering wheel for adjustment, which is a cumbersome process.

[0052] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0053] A vehicle includes an alignment unit for performing the vehicle steering wheel alignment method described in the first aspect above.

[0054] The method for aligning the vehicle's steering wheel with the aforementioned vehicle has the same advantages over existing technologies, and will not be elaborated upon here. Attached Figure Description

[0055] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0056] Figure 1This is a schematic diagram of the front wheel active steering system of a vehicle in an embodiment of the present invention;

[0057] Figure 2 A flowchart illustrating the steps of a vehicle steering wheel alignment method provided in an embodiment of the present invention;

[0058] Figure 3 A flowchart illustrating the steps of the active steering wheel alignment strategy in the vehicle steering wheel alignment method provided in this embodiment of the invention;

[0059] Figure 4 This is a control logic diagram of a vehicle steering wheel alignment method under an active self-alignment strategy provided in an embodiment of the present invention.

[0060] Figure 5 A flowchart illustrating the steps of the manual steering wheel alignment strategy in the vehicle steering wheel alignment method provided in this embodiment of the invention;

[0061] Figure 6 This is a control logic diagram of a vehicle steering wheel alignment method under a manual return-to-center strategy, provided in an embodiment of the present invention.

[0062] Figure 7 This is a schematic diagram of the vehicle steering wheel alignment device provided in an embodiment of the present invention. Detailed Implementation

[0063] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0064] Currently, when the steering wheel and wheels of a vehicle are not aligned, the steering wheel is usually disassembled for mechanical adjustment and then reassembled, making the adjustment process quite cumbersome. At the same time, since the steering wheel needs to be disassembled for manual adjustment, it may damage the surrounding parts of the steering wheel, increasing maintenance costs.

[0065] In view of this, the present invention provides a method, device and vehicle for aligning a vehicle steering wheel. By using a variable transmission motor of the front wheel active steering system to assist in the adjustment of the vehicle steering wheel, the steering wheel does not need to be disassembled during the adjustment process, which simplifies the steering wheel alignment method and reduces maintenance costs.

[0066] The following will describe in detail, with reference to the accompanying drawings and embodiments, a method, apparatus, and vehicle for aligning a vehicle steering wheel provided by the present invention.

[0067] First, refer to the structural diagram of the front wheel active steering system. Figure 1 ,like Figure 1As shown, the front wheel active steering system includes a kinematic pair 1 consisting of a steering wheel, an input shaft, and a gear; a kinematic pair 2 consisting of an electric variable transmission motor and a gear; and a kinematic pair 3 consisting of a gear, an output shaft, and a steering gear.

[0068] When the vehicle is steering normally, the driver turns the steering wheel, which drives the input shaft to rotate. The input shaft then drives the gear to rotate, which in turn drives the output shaft to rotate, thus turning the steering gear and achieving steering. The electric variable transmission motor adjusts the angular transmission ratio between the steering wheel and the steering gear based on factors such as vehicle speed, achieving precise control. For example, at lower vehicle speeds, the electric variable transmission motor can output a force in the same direction as the steering wheel, requiring only a small steering wheel rotation angle to achieve the desired steering effect. Conversely, at higher vehicle speeds, the electric variable transmission motor can output a force in the opposite direction to the steering wheel, preventing excessive vehicle yaw at higher speeds and improving vehicle steering stability.

[0069] Therefore, in a front-wheel active steering system, kinematic pairs 1, 2, and 3 all require gear connections to achieve joint control of the steering wheel and the electric variable transmission motor on the steering gear angle. Based on this, since kinematic pairs 1, 2, and 3 are all connected by gears, it is possible to achieve a transmission from kinematic pair 1 to kinematic pair 2 or vice versa. Thus, the rotation of the electric variable transmission motor can drive the steering wheel.

[0070] Reference Figure 2 , Figure 2 This invention illustrates a flowchart of a vehicle steering wheel alignment method according to an embodiment of the present invention. The method is applied to a front-wheel active steering system, which includes an electric variable transmission motor. The electric variable transmission motor is used to adjust the angular transmission ratio between the steering wheel and the wheel steering gear. Figure 2 As shown, the method includes:

[0071] Step S101: When the wheel is in the center position and the current position of the steering wheel deviates from the preset position, determine the deviation angle between the current position and the preset position.

[0072] The preset position is the center position of the steering wheel.

[0073] Specifically, if the steering wheel is off-center when the wheels are in the center position, it means that the zero position of the wheels and the zero position of the steering wheel are not consistent. This makes it difficult for the driver to judge the turning angle of the vehicle by the steering wheel angle, which can easily lead to dangerous driving. Therefore, when the wheels are in the center position but the steering wheel is off-center, the steering wheel needs to be aligned.

[0074] In this embodiment of the invention, steering wheel alignment is performed with the wheel steering gear locked. Excessive rotation angle may cause the clock spring connected to the steering wheel to become too tight or be damaged. Therefore, before aligning the steering wheel, it is necessary to determine the current position of the steering wheel, that is, the deviation angle between the steering wheel position when the wheel is in the center position and the steering wheel center position. This deviation angle can be measured by the steering wheel angle sensor. It should be noted that the steering wheel angle sensor is usually calibrated with the center position when the vehicle leaves the factory. Therefore, the angle of rotation of the current position of the steering wheel relative to the center position can be directly determined by the steering wheel angle sensor. This angle is the deviation angle.

[0075] In some embodiments, manual position recording can be performed to confirm the steering wheel position when the wheel is in the center position and the deflection angle between the steering wheel position and the center position of the steering wheel. For example, when it is determined that the steering wheel needs to be adjusted, the user is first prompted to turn the steering wheel to the center position and hold it for a certain period of time. Then, the steering wheel position is adjusted to place the wheel in the center position and hold it for a certain period of time. After recording the two positions, the angle between the two positions is determined to be the deviation angle.

[0076] In this embodiment of the invention, a prompt message can be output to remind the user to place the wheels in the center position for steering wheel alignment. For example, when the user triggers the vehicle steering wheel alignment function, the multimedia interface may display "Please place the wheels in the center position" or output the voice message "Please place the vehicle in the center position".

[0077] In some embodiments, if a sensor for detecting the position of the wheels is provided, the position of the wheels can be detected by the sensor, and the wheels can be adjusted to the center position to determine the steering wheel deviation angle.

[0078] Step S102: When the deviation angle is less than or equal to the preset angle, determine the triggered adjustment mode.

[0079] The preset angle is the maximum deviation angle of the steering wheel without damaging the mechanical parts of the front wheel active steering system. In this embodiment, the preset angle is 15°. Adjustments below this angle will not damage the steering wheel and related parts. When the steering wheel angle at the wheel center position is determined, the angle difference between the steering wheel angle at the wheel center position and the angle at the steering wheel center position, i.e., the deviation angle, is determined. Since forcibly adjusting when the deviation angle is large may damage the parts, it is necessary to confirm whether the current deviation angle allows for steering wheel alignment. At this time, the deviation angle is compared with the preset angle. If the deviation angle is less than or equal to the preset angle, the next adjustment operation is performed. If the deviation angle is greater than the preset angle, it indicates that the steering wheel position deviation is too large and steering wheel alignment cannot be performed. In this case, a prompt message can be output to remind the user that repair is needed to align the steering wheel.

[0080] Specifically, multiple adjustment modes can be set, such as an automatic vehicle adjustment mode and a manual user adjustment mode, so that users can adjust the vehicle's steering wheel according to their own needs. For example, when adjusting the steering wheel, multiple touch buttons for adjustment modes can be displayed on the vehicle's multimedia display screen, and the user can click the button to enter the corresponding adjustment mode for adjustment.

[0081] In some embodiments, the triggered adjustment mode can also be determined based on the specific deviation angle. For example, when the deviation angle is small, such as within 5°, the user manual adjustment mode can be directly triggered, while when the deviation angle is greater than 5°, the vehicle automatic adjustment mode can be directly triggered. Thus, the vehicle can adjust itself when the deviation angle is large, avoiding the possibility of damage to mechanical parts during user adjustment.

[0082] Step S103: In response to the adjustment mode, a preset correction strategy corresponding to the adjustment mode is triggered.

[0083] Different adjustment modes correspond to different preset steering wheel return strategies. For example, in the automatic adjustment mode corresponding to the preset active steering wheel return strategy, the preset active steering wheel return strategy is triggered according to the triggered automatic adjustment mode to return the steering wheel to center; that is, the vehicle automatically returns the steering wheel to center. In the manual adjustment mode corresponding to the preset manual steering wheel return strategy, the preset manual steering wheel return strategy is triggered to return the steering wheel to center; that is, the vehicle cooperates with the user to adjust the steering wheel to center.

[0084] Step S104: Based on the preset return-to-center strategy, control the electric variable transmission motor to assist the steering wheel in returning to the preset position; and control the wheel steering lock to keep the wheel in the center position during the steering wheel return-to-center process.

[0085] Specifically, after determining the return-to-center strategy corresponding to the adjustment mode, the electric variable drive motor is controlled to assist the steering wheel in returning to the center position according to the corresponding return-to-center strategy. The auxiliary function of the electric variable drive motor differs under different preset return-to-center strategies, but all are used to assist the steering wheel in returning to the center position. For example, under the active return-to-center strategy, the electric variable drive motor actively rotates, driving the steering wheel to rotate, to assist the steering wheel in returning to the center position; under the manual return-to-center strategy, the electric variable drive motor assists the steering wheel's return-to-center process by outputting the steering wheel's rotational force, to avoid damage to mechanical parts during steering wheel rotation; thus, under different return-to-center strategies, it is not necessary to disassemble the steering wheel for alignment.

[0086] During the steering wheel return-to-center process, the wheel steering mechanism needs to be locked to bring the wheels to the center position. Therefore, when the steering wheel returns to the center position, the wheels are also in the center position, ensuring that their zero positions are consistent. It is understood that, because the wheels need to be locked during steering wheel alignment, the vehicle steering wheel alignment method provided in this embodiment is applied when the vehicle is powered on but stationary, where stationary means the vehicle is in P gear and the vehicle speed is 0.

[0087] In this embodiment of the invention, the specific steps for controlling the wheel steering lock include:

[0088] Step S1041: Monitor the motor position information of the power steering motor;

[0089] Step S1042: Based on the motor position information, control the steering assist motor to maintain the holding torque, so as to keep the rack position unchanged and lock the wheel steering gear.

[0090] Since the wheel steering system includes a power steering motor, which is connected to the rack of the wheel steering system via gears, the power steering motor can keep the rack of the wheel steering system in different positions, thereby locking the wheel steering system.

[0091] Specifically, by monitoring the current torque of the power steering motor, the power steering motor is controlled to maintain the same torque during the steering wheel rotation, so that the gear connecting the power steering motor and the wheel steering gear cannot rotate, and thus the rack of the wheel steering gear cannot rotate, thereby locking the wheel steering gear.

[0092] The vehicle steering wheel alignment method provided in this invention uses an electric variable transmission motor of the front wheel active steering system to assist the steering wheel in returning to the center position, while keeping the wheels locked during the return process. This realigns the zero positions of the wheels and steering wheel back to the center position, enabling steering wheel alignment without the need for disassembly, thus improving the efficiency of steering wheel alignment and avoiding damage to parts caused by disassembly and reassembly. Furthermore, since the wheels are also in the center position when the steering wheel is returned to the center position, the zero positions of the wheels and steering wheel are consistent, making it easier for the driver to judge the wheel turning angle based on the steering wheel angle, thereby improving driving safety.

[0093] In this invention, the preset return-to-center strategy can include an active return-to-center strategy and a manual return-to-center strategy. Since the selection of the preset return-to-center strategy depends on the triggered mode, in one example, information about the adjustment mode can be output on the display screen, and then the corresponding preset return-to-center strategy can be determined based on the user's selection. For example, a touch button for steering wheel alignment is provided on the in-vehicle multimedia display screen. Clicking this button displays touch buttons for different adjustment modes, such as an "automatic adjustment mode" button and a "manual adjustment mode" button. When the user triggers the corresponding button, the corresponding preset return-to-center strategy is determined.

[0094] In another example, the corresponding steering wheel return strategy can be automatically determined based on the deviation angle. For instance, when the deviation angle is small, the manual adjustment mode is triggered, and the steering wheel is centered using the manual return strategy. When the deviation angle is large, the automatic adjustment mode is triggered, and the steering wheel is centered using the active return strategy.

[0095] The active correction strategy and the manual correction strategy will be introduced below:

[0096] The active steering wheel return strategy in this embodiment of the invention is a strategy in which the vehicle actively returns the steering wheel to center: Refer to Figure 3 , Figure 3 The flowchart illustrating the active steering wheel alignment strategy in the vehicle steering wheel alignment method provided in this embodiment of the invention is shown below. Figure 3 As shown, the method includes:

[0097] Step S201: Obtain the rotation parameters of the electric variable transmission motor based on the deviation angle.

[0098] Specifically, the rotation parameters are used to instruct the electric variable drive motor to rotate and return the steering wheel to the center position. Therefore, by obtaining the rotation parameters, the required rotation angle and direction of the motor can be determined, thereby turning the steering wheel to the center position. The rotation parameters may include the rotation direction and rotation angle of the electric variable drive motor.

[0099] In this embodiment of the invention, since the steering wheel needs to be in a free state in the automatic adjustment mode, the following steps are included before controlling the rotation of the electric variable transmission motor:

[0100] Step S202: Detect whether the steering wheel is in a hands-free state;

[0101] Specifically, if the user's hands are on or gripping the steering wheel before controlling the electric variable drive motor to turn the steering wheel, it will affect the steering wheel's rotation. That is, some force is used to resist the pressure of the hands, making it impossible for the electric variable drive motor to turn the steering wheel to the corresponding position. Therefore, it is necessary to check whether the steering wheel is in a hands-free state before controlling the electric variable drive motor to turn the steering wheel.

[0102] The steering wheel status detection is performed based on sensors built into the vehicle itself. For example, if the vehicle steering wheel is connected to a pressure sensor, the pressure sensor is used to determine whether the steering wheel is in a hands-free state; if the vehicle steering wheel is connected to a capacitive sensor, the capacitive sensor is used to determine whether the steering wheel is in a hands-free state. The specific detection method depends on the actual situation and is not limited by this invention.

[0103] When it is detected that the steering wheel is off-hand, step S203 is executed;

[0104] If the system detects that the steering wheel is not off-hand, it will remind the user to release the steering wheel and continue to monitor whether the steering wheel is off-hand. Once the user releases the steering wheel, it will control the electric variable transmission motor to rotate the steering wheel.

[0105] If the steering wheel is still not off the hands, a prompt message can be output to the user; for example, "Please release both hands from the steering wheel" can be output via voice. Within a preset time interval after the prompt message ends, the steering wheel is checked again to see if it is off the hands. If it is off the hands, the electric variable transmission motor is controlled to rotate. If the steering wheel is not off the hands within the preset time interval, it is determined that the steering wheel cannot be aligned, and the user can be directly reminded that the steering wheel cannot be aligned and the function is exited. The preset time interval can be set according to the actual situation, and the present invention does not impose specific limitations.

[0106] Step S203: Control the electric variable transmission motor to rotate according to the rotation parameters to drive the gear to rotate; and control the wheel steering to lock so that the wheel is always in the center position during the steering wheel return process.

[0107] The gear outputs rotational force to drive the steering wheel to rotate, returning the steering wheel to the preset position. Specifically, since the steering wheel and the electric variable transmission motor are connected by gears, when the electric variable transmission motor rotates autonomously, the rotational force it generates cannot be output from the output shaft due to the wheel steering gear being locked. Instead, it is transmitted to the steering wheel through the gears, thus enabling the electric variable transmission motor to drive the steering wheel to rotate.

[0108] The specific steps for obtaining the rotation parameters include:

[0109] Based on the deviation angle, the first rotation angle of the electric variable drive motor is determined;

[0110] The electric variable transmission motor is controlled to rotate according to the first rotation angle, so as to drive the gear to rotate;

[0111] During the rotation of the electric variable transmission motor, the torque signal of the torsion bar is detected in real time;

[0112] Based on the torque signal, the second rotation angle of the electric variable drive motor is determined, and the first rotation angle is corrected by the second rotation angle.

[0113] The process of obtaining the first and second turning angles is explained in detail below:

[0114] In the front-wheel active steering system, when the electric variable drive motor rotates, its rotational force is output through gears, which drive the steering wheel to rotate. The ratio of the electric variable drive motor's angle to the steering wheel's angle is a fixed coefficient K1. When the steering wheel rotates at an angle α, the angle of rotation of the electric variable drive motor is K1 × α. Therefore, the required rotation angle of the electric variable drive motor can be calculated using the following formula:

[0115] δ1=K1×α

[0116] Where δ1 is the required rotation angle of the electric variable drive motor, K1 is the ratio of the rotation angle of the electric variable drive motor to that of the steering wheel, and α is the deviation angle.

[0117] In embodiments of the present invention, such as Figure 1 As shown, the electric variable drive motor of the front wheel active steering system is connected to a gear, which is connected to the wheel steering gear via an output shaft. A torsion bar is mounted on the output shaft. The torsion bar is an elastic structure; therefore, as the gear rotates, the torsion bar also rotates, forming a certain angle. Due to its spring-like nature, it generates a rebound force to resist the rotation of the steering wheel. This can be understood as a portion of the rotational force of the electric variable drive motor being output to the torsion bar. Therefore, if the steering wheel is rotated only according to the required angle, a certain error will occur during the steering wheel alignment process. Thus, it is necessary to correct the angle of the electric variable drive motor during rotation to correct this error and improve the steering wheel alignment accuracy.

[0118] Specifically, the rotation angle of the torsion bar can be determined during the rotation of the electric variable drive motor to further determine the angle that the electric variable drive motor needs to correct. Since there is a linear relationship between the torque and the rotation angle of the torsion bar, the rotation angle δ3 of the torsion bar can be calculated using the following formula:

[0119] δ3=T / K2;

[0120] Where T is the detected torque signal, and K2 is the torsion bar stiffness of the steering gear torsion bar.

[0121] After obtaining the torsion bar's rotation angle, it needs to be converted into the rotation angle of the electric variable transmission motor. Since the torsion bar's rotation angle is converted into the steering wheel's rotation angle, the torsion bar's rotation angle can be considered as the steering wheel's resistance angle. Then, based on the angular transmission ratio between the steering wheel and the electric variable transmission motor, the corrected rotation angle of the electric variable transmission motor, i.e., the second rotation angle δ2, can be calculated.

[0122] δ2=K1×δ3

[0123] Where δ2 is the corrected angle of the electric variable drive motor, i.e., the second angle; K1 is the ratio of the angle of the electric variable drive motor to the angle of the steering wheel; and δ3 is the angle of rotation of the torsion bar.

[0124] In some embodiments, the rotation angle can be regarded as a vector to facilitate the determination of the rotation direction of the electric variable drive motor; for example, clockwise rotation is taken as positive and counterclockwise rotation as negative. When calculating the rotation angle of the electric variable drive motor, if clockwise rotation is required, the value of the rotation angle is positive; if counterclockwise rotation is required, the value of the rotation angle is negative, so as to facilitate the determination of the rotation direction.

[0125] In some embodiments, considering that a slower rotation speed is required during the steering wheel return process to avoid damage from excessive speed, and also to improve the accuracy of the angle correction of the electric variable drive motor, the rotation speed can also be controlled during the rotation of the electric variable drive motor; the specific control steps are as follows:

[0126] The deviation angle is detected in real time.

[0127] The current rotational speed of the electric variable transmission motor is determined based on the deviation angle.

[0128] The electric variable transmission motor is controlled to rotate according to the rotation parameters and the current rotation speed, so as to drive the gear to rotate.

[0129] In this embodiment of the invention, the real-time detection deviation angle refers to the angular difference between the steering wheel position and the center position detected in real time during rotation. At this time, as the steering wheel is returning to the center position, the deviation angle gradually decreases. Therefore, the speed of the electric variable transmission motor can be reduced, making it easier to determine the correction angle of the electric variable transmission motor and improving the steering wheel alignment accuracy. Simultaneously, the slower speed also avoids damage to parts.

[0130] In some embodiments, the electric variable transmission motor can be rotated at a certain rotation angle and speed to return the steering wheel to the center position at a constant speed. This makes it easier to control the rotation speed during rotation and avoids damage to the steering wheel and related parts.

[0131] In this embodiment of the invention, although the steering wheel is returned to the center position, the recorded zero position in the vehicle system is still the position before adjustment. That is, the vehicle will still return to the zero position during driving. Therefore, after the steering wheel is returned to the center position, it is necessary to recalibrate the steering wheel zero position and the wheel steering gear zero position to facilitate subsequent vehicle use. The specific calibration process is as follows:

[0132] Step S204: Record the adjusted position of the steering wheel after it has been straightened; wherein the angle difference between the adjusted position and the preset position is less than or equal to 0.1°.

[0133] In this embodiment of the invention, an electric variable transmission motor is used to adjust the steering wheel, which can reduce the deviation between the position of the steering wheel and the center position to 0.1° or less. Therefore, the actual angle between the adjusted position of the steering wheel and the center position may be different, but the deviation is within 0.1°.

[0134] Step S205: The adjusted position is calibrated as the zero position of the steering wheel, and the position of the wheel steering gear is calibrated as the zero position of the wheel steering gear.

[0135] Specifically, you can first clear the previously calibrated steering wheel zero position and wheel steering gear zero position, and then recalibrate the steering wheel zero position and wheel steering gear zero position. During calibration, the wheels are always in the zero position, while the steering wheel is always in the adjusted position.

[0136] In some embodiments, after calibration is completed, a prompt message indicating successful steering wheel alignment can be output to the user. For example, the prompt message "steering wheel alignment successful" can be displayed on the screen or played by voice, so that the user can confirm that the steering wheel is aligned and can perform driving operations.

[0137] The vehicle steering wheel alignment method provided in this invention employs an active return-to-center strategy when the wheels are in the center position and the steering wheel is deviating from the center position. The electric variable transmission motor of the front wheel active steering system automatically adjusts the steering wheel. During this automatic adjustment, the rotation angle of the electric variable transmission motor is calculated, and the motor is rotated based on this angle to return the steering wheel to center. Because the rotation angle is corrected in real time during the rotation of the electric variable transmission motor, the steering wheel not only returns to the center position but also ensures that the deviation angle from the center position is within 0.1°, improving the accuracy of steering wheel alignment. Furthermore, since the steering wheel is checked to ensure it is in a hands-free state before alignment, and adjustment is only performed when the hands are free, the method avoids situations where the steering wheel is gripped tightly, preventing it from returning to the center position and avoiding steering wheel kickback. Therefore, vehicle steering wheel alignment is simpler and easier to perform.

[0138] The above process will be illustrated with an example below:

[0139] Reference Figure 4 , Figure 4 The diagram illustrates the control logic of a vehicle steering wheel alignment method under an active self-alignment strategy, according to an embodiment of the present invention. Figure 4 As shown, firstly, when the wheels are in the center position and the current position of the steering wheel deviates from the center position, it is determined that the steering wheel needs to be aligned, i.e., entering the "center position calibration mode". At this time, the deviation angle between the current position of the steering wheel and the center position of the steering wheel is detected.

[0140] If the deviation angle is less than or equal to 15°, it is determined that the electric variable drive motor can be used to align the steering wheel. In this case, the rotation parameters of the electric variable drive motor are obtained to determine the required rotation angle and direction. However, if the deviation angle is greater than 15°, it indicates that using the electric variable drive motor to align the steering wheel will damage the steering wheel components. In this case, a prompt can be issued to the user, reminding them that the steering wheel cannot be aligned and requires repair.

[0141] Then, by monitoring the position sensor of the power steering motor, the position information of the power steering motor is monitored. Based on this position information, the torque of the power steering motor is kept constant, thereby keeping the rack position of the wheel steering gear constant, so as to lock the wheel steering gear.

[0142] Then, it checks whether the steering wheel is in a hands-free state to prevent the user's hands from affecting the steering wheel's rotation angle during rotation and to prevent the steering wheel from hitting the hands.

[0143] If the steering wheel is off-hand, the electric variable transmission motor is controlled to rotate according to the rotation parameters, and these parameters are corrected in real time until the motor stops rotating. If the steering wheel is detected to be on-hand, a prompt message is output to remind the user to release their hands. When the steering wheel is detected to be on-hand for a preset duration, the center calibration mode is confirmed to end, indicating that the steering wheel cannot be aligned at this time. The preset duration depends on the actual situation; for example, if the steering wheel is detected to be on-hand for 20 seconds, the center calibration mode ends.

[0144] After the electric variable drive motor rotates according to the rotation parameters, the steering wheel is considered to be centered. At this time, the position of the steering wheel after adjustment is recalibrated as the zero position, and the position of the wheel steering gear is also calibrated as the zero position, so that the zero positions of both the steering wheel and the wheel steering gear are in the neutral position.

[0145] The manual steering wheel return strategy in this embodiment of the invention is a strategy for assisting the vehicle in turning the steering wheel during the user's manual steering wheel return process: (Refer to...) Figure 5 , Figure 5 The flowchart illustrates the steps of the manual steering wheel alignment strategy in the vehicle steering wheel alignment method provided in this embodiment of the invention, as follows: Figure 5 As shown, the method includes:

[0146] Step S301: In response to the user's rotation operation of the steering wheel, control the electric variable transmission motor to stop running so that the electric variable transmission motor rotates in accordance with the rotation of the gear; and control the wheel steering gear to lock so that the wheels remain in the center position during the steering wheel return process.

[0147] In this embodiment of the invention, when the manual adjustment mode is triggered, a prompt message can be output to prompt the user to turn the steering wheel; and during the user's steering wheel turning process, the electric variable transmission motor is controlled to stop running; during the turning process, it is also necessary to maintain a slow speed to turn the steering wheel to avoid damage to the steering wheel-related parts that may be caused by turning too fast. The specific steering wheel speed monitoring can be carried out by a sensor, and a prompt message will be issued to the user when the speed is too fast to remind the user to reduce the speed.

[0148] In this system, the gear rotates in tandem with the steering wheel, thus the electric variable transmission motor acts as an output unit, transmitting the steering force from the steering wheel. Specifically, when the wheel steering is locked, if only the steering wheel is turned, the rotation of the steering wheel will drive the gear, but the gear's rotational force cannot be output. This would cause the torsion bar to rotate forcibly, damaging the mechanical parts of the front wheel active steering system. Therefore, it is necessary to control the electric variable transmission motor to stop operating, allowing it to rotate in tandem with the gear. This ensures that the steering force from the steering wheel is transmitted to the electric variable transmission motor, preventing damage to the torsion bar.

[0149] Step S302: During the rotation of the steering wheel, the position of the steering wheel is detected in real time. When the position of the steering wheel stops changing and remains at a preset time, it is determined that the steering wheel has successfully returned to the preset position.

[0150] In this embodiment of the invention, in manual adjustment mode, the user can subjectively determine the position where the steering wheel needs to be centered. At this time, sensors can detect changes in the steering wheel's position, and based on this information, determine whether the user has centered the steering wheel to the desired position. In this case, manually centereding the steering wheel to a position that conforms to the user's operating habits improves driving comfort. Specifically, if the steering wheel position remains unchanged for a preset duration, the desired position is determined, and this position is identified as the new zero position of the steering wheel.

[0151] In some embodiments, when the user rotates the steering wheel, the steering wheel angle sensor can confirm the angle difference between the current center position of the steering wheel and the center position. When the angle difference is zero, the user is reminded that the steering wheel has been returned to center and does not need to continue rotating, thereby keeping the steering wheel position still to confirm that the steering wheel has been successfully returned to center.

[0152] In some embodiments, to avoid the steering wheel rotating too fast during the user's steering wheel operation, which could adversely affect the mechanical parts, a sensor can be used to monitor the steering wheel rotation speed in real time during the user's steering wheel operation. If the steering wheel rotation speed is too fast, the user can be reminded to reduce the steering wheel rotation speed, thereby avoiding damage to the steering wheel and related mechanical parts.

[0153] In this embodiment of the invention, although the steering wheel is returned to the center position, the recorded zero position in the vehicle system is still the position before adjustment. That is, the vehicle will still return to the zero position during driving. Therefore, after the steering wheel is returned to the center position, it is necessary to recalibrate the steering wheel zero position and the wheel steering gear zero position to facilitate subsequent vehicle use. The specific calibration process is as follows:

[0154] Step S303: Record the adjusted position of the steering wheel after it has been straightened.

[0155] Step S304: The adjusted position is calibrated as the zero position of the steering wheel, and the position of the wheel steering gear is calibrated as the zero position of the wheel steering gear.

[0156] Specifically, after confirming that the steering wheel is straight, the adjusted position of the steering wheel is recorded and marked as the zero position of the steering wheel, and the position of the wheel steering gear is marked as the zero position of the wheel steering gear. In this way, the zero positions of both the steering wheel position and the wheel steering gear position are adjusted to the center position, so that the two are aligned. This allows the driver to judge the wheel steering based on the steering wheel position, thus improving driving safety.

[0157] This invention provides a simple and easy method for steering wheel alignment by employing a manual return-to-center strategy when steering wheel alignment is required. This is achieved by using an electric variable transmission motor to assist the steering wheel in rotation during the user's turn, allowing the user to manually adjust the steering wheel position and mark it as zero without disassembling it. During manual steering wheel alignment, the electric variable transmission motor is stopped, serving as the output power source to prevent damage to the steering wheel and related components. Furthermore, since the steering wheel can be manually adjusted, the user can set the zero position according to their own preferences, making the steering wheel position more user-friendly.

[0158] The above process will now be illustrated with a specific example:

[0159] Reference Figure 6 , Figure 6 The diagram illustrates the control logic of the steering wheel alignment method under a manual return-to-center strategy, as provided in an embodiment of the present invention. Figure 6 As shown, firstly, when the wheel is in the center position and the steering wheel position deviates from the preset position, the "center position calibration mode" is triggered. At this time, it is confirmed that the steering wheel needs to be aligned. Then, the deviation angle between the current position of the steering wheel and the center position is detected, and it is compared whether the deviation angle is less than or equal to 15° to confirm whether the steering wheel alignment method can be executed.

[0160] If the deviation angle is less than or equal to 15°, it means that the deviation angle can be corrected by the steering wheel alignment method of this embodiment. In this case, the position information of the power steering motor is monitored by the power steering motor position sensor. Based on this motor position information, the torque of the power steering motor is kept constant, thereby keeping the rack position of the wheel steering gear constant, so that the wheel steering gear is locked. If the deviation angle is greater than 15°, it means that the deviation angle is large. In this case, using the steering wheel alignment method would damage the mechanical parts of the vehicle. Therefore, steering wheel alignment is not performed. In this case, information indicating that the steering wheel needs maintenance can be output to remind the user to return the steering wheel to center through maintenance.

[0161] Then, in response to the user's steering wheel rotation operation, the electric variable transmission motor is controlled to stop running. At this time, the electric variable transmission motor can output the steering wheel rotation force.

[0162] Afterwards, once the steering wheel position is detected to remain unchanged for a preset time, such as 5 seconds after the steering wheel stops turning, it is determined that the steering wheel position has been successfully returned to center.

[0163] Finally, record the position of the steering wheel after adjustment, and mark the current position of the steering wheel and the wheel steering gear as the zero position of the steering wheel and the zero position of the wheel steering gear, respectively.

[0164] Reference Figure 7 , Figure 7 This diagram illustrates the structure of a vehicle steering wheel alignment device provided in an embodiment of the present invention, applied to a front-wheel active steering system. The front-wheel active steering system includes an electric variable transmission motor, which adjusts the angular transmission ratio between the steering wheel and the wheel steering mechanism. Figure 7 As shown, the alignment device includes:

[0165] The first determining module 401 is used to determine the deviation angle between the current position and the preset position when the wheel is in the center position and the current position of the steering wheel deviates from the preset position; wherein the preset position is the center position of the steering wheel;

[0166] The second determining module 402 is used to determine the triggered adjustment mode when the deviation angle is less than or equal to a preset angle; wherein the preset angle is the maximum deviation angle of the steering wheel without damaging the mechanical parts of the front wheel active steering system.

[0167] Trigger module 403 is used to trigger a preset return-to-center strategy corresponding to the adjustment mode in response to the adjustment mode; wherein, different adjustment modes correspond to different preset return-to-center strategies;

[0168] The control module 404 is used to control the electric variable transmission motor to assist the steering wheel in turning back to the preset position based on the preset return-to-center strategy; and to control the wheel steering lock to keep the wheel in the center position during the steering wheel return-to-center process.

[0169] In some embodiments, the control module 404 further includes:

[0170] The acquisition module is used to acquire the rotation parameters of the electric variable transmission motor based on the deviation angle;

[0171] The first control submodule is used to control the electric variable transmission motor to rotate according to the rotation parameters, so as to drive the gear to rotate, wherein the gear outputs rotational force to drive the steering wheel to rotate, so that the steering wheel returns to the preset position.

[0172] In some embodiments, the control module 404 further includes:

[0173] The second control submodule is used to control the electric variable transmission motor to stop operating in response to the user's rotation operation of the steering wheel, so that the electric variable transmission motor rotates in accordance with the rotation of the gear; wherein the gear rotates in accordance with the rotation of the steering wheel;

[0174] The device further includes:

[0175] The detection module is used to detect the position of the steering wheel in real time during the rotation of the steering wheel;

[0176] The third determining module is used to determine that the steering wheel has successfully returned to the preset position when the steering wheel position stops changing and remains at the preset time.

[0177] In some embodiments, the apparatus further includes:

[0178] A recording module is used to record the adjusted position of the steering wheel after it has been straightened; wherein the angle difference between the adjusted position and the preset position is less than or equal to 0.1°.

[0179] The calibration module is used to calibrate the adjusted position as the zero position of the steering wheel and to calibrate the position of the wheel steering gear as the zero position of the wheel steering gear.

[0180] In some embodiments, the control module 404 further includes:

[0181] The monitoring module is used to monitor the motor position information of the power steering motor;

[0182] The third control submodule is used to control the holding torque of the power steering motor based on the motor position information, so as to keep the position of the rack unchanged and keep the wheel steering gear in a locked state.

[0183] Based on the same inventive concept, embodiments of the present invention also provide a vehicle, including an alignment unit, which performs the vehicle steering wheel alignment method as described in any of the above embodiments.

[0184] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0185] For the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, as some steps can be performed in other orders or simultaneously according to the present invention. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and components involved are not necessarily essential to the present invention.

[0186] The above provides a detailed description of a vehicle steering wheel alignment method, device, and vehicle provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for aligning a vehicle steering wheel, characterized in that, An application is made in a front-wheel active steering system, the front-wheel active steering system including an electric variable transmission motor, the electric variable transmission motor being connected to the steering wheel via gears, the electric variable transmission motor being used to adjust the angular transmission ratio between the steering wheel and the wheel steering gear, the method comprising: When the wheel is in the center position and the current position of the steering wheel deviates from the preset position, the deviation angle between the current position and the preset position is determined; wherein, the preset position is the center position of the steering wheel; When the deviation angle is less than or equal to a preset angle, the triggered adjustment mode is determined based on the deviation angle; wherein, the preset angle is the maximum deviation angle of the steering wheel without damaging the mechanical parts of the front wheel active steering system, and the adjustment mode includes an automatic adjustment mode and a manual adjustment mode; wherein, determining the triggered adjustment mode based on the deviation angle includes: determining to trigger the manual adjustment mode when the deviation angle is small; and determining to trigger the automatic adjustment mode when the deviation angle is large; In response to the adjustment mode, a preset return-to-center strategy corresponding to the adjustment mode is triggered; wherein, different adjustment modes correspond to different preset return-to-center strategies, and the preset return-to-center strategies include active return-to-center strategies and manual return-to-center strategies; Based on the preset return-to-center strategy, the electric variable transmission motor is controlled to assist the steering wheel in returning to the preset position; and the wheel steering gear is locked to keep the wheels in the center position during the return-to-center process of the steering wheel. The step of controlling the electric variable transmission motor to assist the steering wheel in returning to the preset position based on the preset return-to-center strategy includes: When the adjustment mode is automatic adjustment mode and the active return-to-center strategy is triggered, the rotation parameters of the electric variable transmission motor are obtained according to the deviation angle. The electric variable transmission motor is controlled to rotate according to the rotation parameters to drive the gear to rotate, wherein the gear outputs rotational force to drive the steering wheel to rotate, so that the steering wheel returns to the preset position; Alternatively, when the adjustment mode is manual adjustment mode and the manual return-to-center strategy is triggered, in response to the user's rotation of the steering wheel, the electric variable transmission motor is controlled to stop running, so that the electric variable transmission motor rotates in accordance with the rotation of the gear; wherein, the gear rotates in accordance with the rotation of the steering wheel.

2. The method for aligning a vehicle steering wheel according to claim 1, characterized in that, When the adjustment mode is manual adjustment mode, and the manual adjustment mode is triggered, the method further includes: The position of the steering wheel is detected in real time during the rotation of the steering wheel; When the steering wheel position stops changing and remains at the preset position for a preset duration, it is determined that the steering wheel has successfully returned to the preset position.

3. The method for aligning a vehicle steering wheel according to claim 1, characterized in that, The front wheel active steering system further includes a torsion bar. The steps of obtaining the rotation parameters of the electric variable transmission motor based on the deviation angle, and controlling the electric variable transmission motor to rotate according to the rotation parameters to drive the gear to rotate, include: Based on the deviation angle, the first rotation angle of the electric variable drive motor is determined; The electric variable transmission motor is controlled to rotate according to the first rotation angle, so as to drive the gear to rotate; During the rotation of the electric variable transmission motor, the torque signal of the torsion bar is detected in real time; Based on the torque signal, the second rotation angle of the electric variable drive motor is determined, and the first rotation angle is corrected by the second rotation angle.

4. The method for aligning a vehicle steering wheel according to claim 1, characterized in that, Before controlling the electric variable transmission motor to rotate according to the rotation parameters to drive the gear to rotate, the method further includes: Detect whether the steering wheel is in a hands-free state; The control of the electric variable transmission motor to rotate according to the rotation parameters, so as to drive the gear to rotate, includes: When the steering wheel is in the off-hand state, the electric variable transmission motor is controlled to rotate according to the rotation parameters to drive the gear to rotate.

5. The method for aligning a vehicle steering wheel according to claim 1 or 3, characterized in that, The control of the electric variable transmission motor to rotate according to the rotation parameters, so as to drive the gear to rotate, includes: The deviation angle is detected in real time; The current rotational speed of the electric variable transmission motor is determined based on the deviation angle. The electric variable transmission motor is controlled to rotate according to the rotation parameters and the current rotation speed, so as to drive the gear to rotate.

6. The method for aligning a vehicle steering wheel according to claim 1, characterized in that, After controlling the electric variable transmission motor to assist the steering wheel in returning to the preset position based on the preset return-to-center strategy, the method further includes: Record the adjusted position of the steering wheel after it has been straightened; wherein the angle difference between the adjusted position and the preset position is less than or equal to 0.1°; The adjusted position is marked as the zero position of the steering wheel, and the position of the wheel steering gear is marked as the zero position of the wheel steering gear.

7. The method for aligning a vehicle steering wheel according to claim 1, characterized in that, The wheel steering system includes a steering assist motor, which is connected to the rack of the wheel steering system via gears. The steps for locking the wheel steering system include: Monitor the motor position information of the power steering motor; Based on the motor position information, the steering assist motor is controlled to maintain a holding torque to keep the rack position unchanged, thus locking the wheel steering system.

8. A vehicle steering wheel alignment device, characterized in that, An active steering system for front wheels includes an electric variable transmission motor connected to the steering wheel via gears. The electric variable transmission motor is used to adjust the angular transmission ratio between the steering wheel and the wheel steering mechanism. The alignment device includes: The first determining module is used to determine the deviation angle between the current position and the preset position when the wheel is in the center position and the current position of the steering wheel deviates from the preset position; wherein the preset position is the center position of the steering wheel; The second determining module is used to determine the triggered adjustment mode based on the deviation angle when the deviation angle is less than or equal to a preset angle; wherein the preset angle is the maximum deviation angle of the steering wheel without damaging the mechanical parts of the front wheel active steering system, and the adjustment mode includes an automatic adjustment mode and a manual adjustment mode; wherein determining the triggered adjustment mode based on the deviation angle includes: determining to trigger the manual adjustment mode when the deviation angle is small; and determining to trigger the automatic adjustment mode when the deviation angle is large; A triggering module is used to trigger a preset return-to-center strategy corresponding to the adjustment mode in response to the adjustment mode; wherein, different adjustment modes correspond to different preset return-to-center strategies, and the preset return-to-center strategies include an active return-to-center strategy and a manual return-to-center strategy; The control module is used to control the electric variable transmission motor to assist the steering wheel in rotating back to the preset position based on the preset return-to-center strategy; and to control the wheel steering lock to keep the wheels in the center position during the steering wheel return-to-center process. Specifically, the control module is used to obtain the rotation parameters of the electric variable transmission motor based on the deviation angle when the adjustment mode is automatic adjustment mode and the active return-to-center strategy is triggered. The electric variable transmission motor is controlled to rotate according to the rotation parameters to drive the gear to rotate, wherein the gear outputs rotational force to drive the steering wheel to rotate, so that the steering wheel returns to the preset position; or, when the adjustment mode is manual adjustment mode and the manual return-to-center strategy is triggered, in response to the user's rotation operation of the steering wheel, the electric variable transmission motor is controlled to stop running, so that the electric variable transmission motor rotates in accordance with the rotation of the gear; wherein the gear rotates in accordance with the rotation of the steering wheel.

9. A vehicle, characterized in that, The vehicle includes an alignment unit for performing the vehicle steering wheel alignment method according to any one of claims 1-7.

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