Steering wheel angle processing method and device, computer device and storage medium

Abstract

The application relates to a steering wheel rotation angle processing method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring vehicle operation data; updating the vehicle operation data based on a validity flag corresponding to the vehicle operation data to obtain valid operation data, wherein the validity flag is determined by a fault diagnosis device of the vehicle; determining whether the vehicle meets an entering condition corresponding to a zero rotation angle calibration condition based on the valid operation data; updating a zero offset angle based on the steering wheel rotation angle under the condition that the entering condition is met; and in response to a driver triggering a steering operation, compensating for a to-be-compensated rotation angle detected by a steering wheel rotation angle sensor based on the updated zero offset angle to obtain a target steering wheel rotation angle, wherein the target steering wheel rotation angle is used for assisting the steering operation. The driving safety is improved.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a steering wheel angle processing method, device, computer equipment, storage medium, and computer program product. Background Technology

[0002] With the development of automotive technology, the variety of cars has increased dramatically, greatly facilitating people's work and lives. However, a problem arises with car steering wheels: zero-position misalignment. This means that even when the driver is not moving the steering wheel, the steering wheel angle sensor may output a value other than zero. Traditionally, a zero-position offset angle is calibrated at the factory, and this angle is used continuously to compensate for the steering wheel angle collected by the sensor. However, this method is ineffective and poses safety hazards. Summary of the Invention

[0003] Therefore, it is necessary to provide a steering wheel angle processing method, device, computer equipment, computer-readable storage medium, and computer program product that can improve driving safety in response to the above-mentioned technical problems.

[0004] Firstly, this application provides a method for adjusting steering wheel angle. The method includes:

[0005] Acquire vehicle operation data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force.

[0006] Based on the validity flag corresponding to the vehicle operation data, the vehicle operation data is updated to obtain valid operation data. The validity flag is determined by the vehicle's fault diagnosis device.

[0007] Based on valid operating data, determine whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition. If the conditions are met, update the zero-position offset angle based on the steering wheel angle.

[0008] In response to the driver's steering operation, the steering angle detected by the steering wheel angle sensor is compensated based on the updated zero offset angle to obtain the target steering wheel angle, which is used to assist the steering operation.

[0009] In one embodiment, vehicle operation data includes vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force. Based on the validity flags corresponding to the vehicle operation data, the vehicle operation data is updated to obtain valid operation data, including: updating the vehicle speed to a preset speed when the validity flag for vehicle speed indicates an invalid speed, and maintaining the vehicle speed unchanged when the validity flag for vehicle speed indicates a valid speed; updating the steering wheel angle to a preset angle when the validity flag for steering wheel angle indicates an invalid steering wheel angle, and maintaining the steering wheel angle unchanged when the validity flag for steering wheel angle indicates a valid steering wheel angle; updating the steering wheel speed to a preset speed when the validity flag for steering wheel speed indicates an invalid steering wheel speed, and maintaining the steering wheel speed unchanged when the validity flag for steering wheel speed indicates a valid steering wheel speed; and updating the steering wheel force to a preset force when the validity flag for steering wheel force indicates an invalid steering wheel force, and maintaining the steering wheel force unchanged when the validity flag for steering wheel force indicates a valid steering wheel force.

[0010] In one embodiment, the entry conditions corresponding to the zero-position steering angle calibration condition include: the vehicle speed is in a first preset vehicle speed range, the steering wheel angle is in a first preset steering angle range, the steering wheel speed is in a first preset speed range, and the steering wheel force is in a first preset force range.

[0011] In one embodiment, the steering wheel angle detected by the steering wheel angle sensor is compensated based on the updated zero offset angle to obtain the target steering wheel angle, including: subtracting the updated zero offset angle from the steering wheel angle detected by the steering wheel angle sensor to obtain the target steering wheel angle.

[0012] In one embodiment, the method further includes: determining whether the vehicle meets the exit conditions corresponding to the zero-position angle calibration condition based on valid operating data, and keeping the zero-position offset angle unchanged if the conditions are met.

[0013] In one embodiment, updating the zero-position offset angle based on the steering wheel angle includes: determining the difference between the zero-position offset angle and the steering wheel angle; if the difference is less than a preset smooth step value, updating the zero-position offset angle to the steering wheel angle; if the difference is greater than or equal to the preset smooth step value, determining a smooth step angle based on the preset smooth step value and the steering wheel angle, and updating the zero-position offset angle to the smooth step angle.

[0014] Secondly, this application also provides a steering wheel angle control device. The device includes:

[0015] The acquisition module is used to acquire vehicle operation data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force.

[0016] The update module is used to update the vehicle operation data based on the validity flag bit corresponding to the vehicle operation data to obtain valid operation data. The validity flag bit is determined by the vehicle's fault diagnosis device.

[0017] The judgment module is used to determine whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration working condition based on valid operating data. If the conditions are met, the zero-position offset angle is updated based on the steering wheel angle.

[0018] The compensation module is used to respond to the driver's steering operation by compensating the steering angle detected by the steering wheel angle sensor based on the updated zero offset angle, and obtaining the target steering wheel angle, which is used to assist the steering operation.

[0019] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0020] Acquire vehicle operation data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force.

[0021] Based on the validity flag corresponding to the vehicle operation data, the vehicle operation data is updated to obtain valid operation data. The validity flag is determined by the vehicle's fault diagnosis device.

[0022] Based on valid operating data, determine whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition. If the conditions are met, update the zero-position offset angle based on the steering wheel angle.

[0023] In response to the driver's steering operation, the steering angle detected by the steering wheel angle sensor is compensated based on the updated zero offset angle to obtain the target steering wheel angle, which is used to assist the steering operation.

[0024] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0025] Acquire vehicle operation data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force.

[0026] Based on the validity flag corresponding to the vehicle operation data, the vehicle operation data is updated to obtain valid operation data. The validity flag is determined by the vehicle's fault diagnosis device.

[0027] Based on valid operating data, determine whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition. If the conditions are met, update the zero-position offset angle based on the steering wheel angle.

[0028] In response to the driver's steering operation, the steering angle detected by the steering wheel angle sensor is compensated based on the updated zero offset angle to obtain the target steering wheel angle, which is used to assist the steering operation.

[0029] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0030] Acquire vehicle operation data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force.

[0031] Based on the validity flag corresponding to the vehicle operation data, the vehicle operation data is updated to obtain valid operation data. The validity flag is determined by the vehicle's fault diagnosis device.

[0032] Based on valid operating data, determine whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition. If the conditions are met, update the zero-position offset angle based on the steering wheel angle.

[0033] In response to the driver's steering operation, the steering angle detected by the steering wheel angle sensor is compensated based on the updated zero offset angle to obtain the target steering wheel angle, which is used to assist the steering operation.

[0034] The aforementioned steering wheel angle processing method, device, computer equipment, storage medium, and computer program product first acquire vehicle operating data, including at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force. Based on the validity flag corresponding to the vehicle operating data, the vehicle operating data is updated to obtain valid operating data, where the validity flag is determined by the vehicle's fault diagnosis device. Then, based on the valid operating data, it is determined whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition. If the conditions are met, the zero-position offset angle is updated based on the steering wheel angle. In response to the driver triggering a steering operation, the steering wheel angle sensor detects the angle to be compensated based on the zero-position offset angle, and a target steering wheel angle is obtained. This target steering wheel angle is used to assist steering operations. This allows the zero-position offset angle to be updated in real time during vehicle operation, avoiding safety hazards caused by ineffective compensation due to using a uniform zero-position offset angle for angle compensation, thus improving driving safety. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating a steering wheel angle processing method in one embodiment;

[0036] Figure 2 This is a schematic diagram of an input signal validity detection module in one embodiment;

[0037] Figure 3 This is a schematic diagram of the steering wheel center position learning condition judgment module in one embodiment;

[0038] Figure 4 This is a schematic diagram of the steering wheel center position compensation learning calculation module in one embodiment;

[0039] Figure 5 This is a structural block diagram of a steering wheel angle processing device in one embodiment;

[0040] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0042] The steering wheel angle processing method provided in this application can be applied to any type of vehicle, such as commercial vehicles and passenger vehicles. Taking commercial vehicles as an example, commercial vehicles are used to transport people, goods, and tow trailers, so the weight they bear is often relatively large. In this case, the steering wheel of a commercial vehicle may have a zero-position misalignment problem. A zero-position offset angle can be calibrated before leaving the factory, and this zero-position offset angle can be used to compensate for the steering wheel angle collected by the steering wheel angle sensor. However, this method has poor compensation effect and poses a safety hazard. To this end, this application proposes a method for real-time learning of the zero-position offset angle during vehicle operation. Every certain period of time, the following steps are performed: acquiring vehicle operation data, updating the vehicle operation data based on the validity flag bit corresponding to the vehicle operation data to obtain valid operation data, and then determining whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition based on the valid operation data. If the conditions are met, the zero-position offset angle is updated based on the steering wheel angle. After detecting a driver-triggered steering operation, the steering wheel angle sensor can compensate for the angle to be compensated based on the updated zero-offset angle, thus obtaining the target steering wheel angle. This allows for real-time updates of the zero-offset angle during vehicle operation, avoiding ineffective compensation caused by using a uniform zero-offset angle, and improving driving safety. The implementation process is described below with reference to specific embodiments.

[0043] In one embodiment, such as Figure 1 As shown, a steering wheel angle processing method is provided. Taking the application of this method to a commercial vehicle as an example, the method includes the following steps:

[0044] Step 102: Obtain vehicle operation data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force.

[0045] Among them, vehicle speed can be collected by a vehicle speed sensor, steering wheel angle can be collected by a steering wheel angle sensor, steering wheel speed can be collected by a steering wheel speed sensor, and steering wheel force can be collected by a steering wheel force sensor. The collection of the above-mentioned sensors can be synchronous or asynchronous.

[0046] In this embodiment, steps 102-106 can be executed at a certain frequency after the vehicle is powered on. For example, steps 102-106 can be executed every 5 minutes after the vehicle is powered on. This embodiment does not limit the execution frequency.

[0047] When it is determined that steps 102-206 need to be executed at the current moment, the latest collected vehicle speed, steering wheel angle, steering wheel speed, and steering wheel force are used as vehicle operation data for subsequent processing.

[0048] Step 104: Update the vehicle operation data based on the validity flag corresponding to the vehicle operation data to obtain valid operation data. The validity flag is determined by the vehicle's fault diagnosis device.

[0049] When a vehicle's fault diagnosis device detects an anomaly, it performs a fault diagnosis, obtains the diagnosis result, and determines the validity flags corresponding to the vehicle's operating data based on the result. For example, if the fault diagnosis device detects an anomaly and determines that the vehicle speed sensor and steering wheel angle sensor are faulty, it will set the validity flag for the vehicle speed sensor to invalid, and similarly, the validity flag for the steering wheel angle sensor to invalid.

[0050] Specifically, if the validity flag corresponding to the vehicle operation data indicates that the vehicle operation data is invalid, the vehicle operation data will be updated to the set value; if the validity flag corresponding to the vehicle operation data indicates that the vehicle operation data is valid, the vehicle operation data will remain unchanged.

[0051] Step 106: Based on valid operating data, determine whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition. If the conditions are met, update the zero-position offset angle based on the steering wheel angle.

[0052] Among them, the entry conditions corresponding to the zero-position steering angle calibration condition can be calibrated by bench testing before the vehicle leaves the factory. The entry conditions corresponding to the zero-position steering angle calibration condition can be: the vehicle speed is in the first preset speed range, the steering wheel angle is in the first preset angle range, the steering wheel speed is in the first preset speed range, and the steering wheel force is in the first preset force range.

[0053] Alternatively, the entry condition for the zero-angle calibration condition can be: each time the vehicle operation data acquired within a preset time period meets the following conditions: vehicle speed is within a first preset speed range, steering wheel angle is within a first preset angle range, steering wheel speed is within a first preset speed range, and steering wheel force is within a first preset force range. The preset time period can be the time interval between the current moment and the moment corresponding to a preset duration of time counting backwards. The preset duration can be 500ms.

[0054] For example, the first preset vehicle speed range can be [5kph, 100kph], the first preset turning angle range can be [-∞, 15deg], the first preset speed range can be [-∞, 8deg / s], and the first preset hand force range can be [0.5Nm, 2.5Nm].

[0055] In some possible implementations, under the conditions that 5kph≤veh speedVeh≤100kph, steering wheel angle abs(SA)<=15deg, steering wheel speed abs(SV)<=8deg / s and 0.5Nm≤steering wheel force abs(ST)≤2.5Nm, it can be determined that the vehicle meets the entry conditions corresponding to the zero-position steering angle calibration condition.

[0056] When the driver does not trigger a steering operation, i.e., does not turn the steering wheel, the steering wheel angle output by the steering wheel angle sensor may not be zero due to the steering wheel being out of alignment. Instead, it may have a certain value, which can be called the zero-position offset angle. Therefore, after the driver triggers a steering operation, the steering wheel angle sensor detects an angle that includes this zero-position offset angle. Thus, it is necessary to remove the zero-position offset angle from the angle detected by the steering wheel angle sensor to obtain an accurate angle. This allows the electro-hydraulic coupling steering system to provide assistance based on the accurate angle, ensuring the safe driving of the vehicle. However, the zero-position offset angle may be constantly changing during vehicle operation. Therefore, this application proposes that after the vehicle is powered on, vehicle operation data is acquired at regular intervals. Based on the validity flag corresponding to the vehicle operation data, the vehicle operation data is updated to obtain valid operation data. Based on the valid operation data, it is determined whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition. If the conditions are met, the vehicle is considered to be in a straight-line driving condition (i.e., the driver does not turn the steering wheel), and the zero-position offset angle is updated to the steering wheel angle output by the steering wheel angle sensor, thereby realizing that the zero-position offset angle is continuously updated as the vehicle is driving.

[0057] Step 108: In response to the driver triggering a steering operation, the steering angle to be compensated detected by the steering wheel angle sensor is compensated based on the updated zero offset angle to obtain the target steering wheel angle, which is used to assist the steering operation.

[0058] In this process, after the vehicle detects that the driver has triggered a steering operation, the zero offset angle is subtracted from the steering wheel angle detected by the steering wheel angle sensor to obtain the target steering wheel angle.

[0059] After obtaining the target steering wheel angle, the target steering wheel angle can be input into the electro-hydraulic coupling steering system, so that the electro-hydraulic coupling steering system can assist the steering operation based on the target steering wheel angle, reducing the difficulty of steering operation.

[0060] In some embodiments, the zero-position offset angle can be recorded in a non-volatile storage medium, such as read-only memory (ROM), while vehicle operation data can be stored in a volatile storage medium, such as random access memory (RAM). This way, the zero-position offset angle is not lost after the vehicle is powered off. If, after the vehicle is powered on again, there is not enough time to obtain the real-time zero-position offset angle using the method provided in this application embodiment, the zero-position offset angle recorded from the previous trip can be used for compensation. This improves vehicle driving safety while ensuring reasonable allocation of storage space.

[0061] In the above embodiments, vehicle operating data is first acquired, including at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force. Based on the validity flag corresponding to the vehicle operating data, the vehicle operating data is updated to obtain valid operating data. The validity flag is determined by the vehicle's fault diagnosis device. Then, based on the valid operating data, it is determined whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition. If the conditions are met, the zero-position offset angle is updated based on the steering wheel angle. In response to the driver triggering a steering operation, the steering angle to be compensated detected by the steering wheel angle sensor is compensated based on the zero-position offset angle to obtain the target steering wheel angle, which is used to assist steering operations. This allows the zero-position offset angle to be updated in real time during vehicle operation, avoiding safety hazards caused by ineffective compensation due to using a uniform zero-position offset angle for angle compensation, thus improving driving safety.

[0062] In some embodiments, vehicle operating data includes vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force. Based on the validity flags corresponding to the vehicle operating data, the vehicle operating data is updated to obtain valid operating data, including: updating the vehicle speed to a preset speed when the validity flag for vehicle speed indicates an invalid speed, and maintaining the vehicle speed unchanged when the validity flag for vehicle speed indicates a valid speed; updating the steering wheel angle to a preset angle when the validity flag for steering wheel angle indicates an invalid steering wheel angle, and maintaining the steering wheel angle unchanged when the validity flag for steering wheel angle indicates a valid steering wheel angle; updating the steering wheel speed to a preset speed when the validity flag for steering wheel speed indicates an invalid steering wheel speed, and maintaining the steering wheel speed unchanged when the validity flag for steering wheel speed indicates a valid steering wheel speed; and updating the steering wheel force to a preset force when the validity flag for steering wheel force indicates an invalid steering wheel force, and maintaining the steering wheel force unchanged when the validity flag for steering wheel force indicates a valid steering wheel force.

[0063] When the vehicle's fault diagnosis device detects an abnormality, it will perform fault diagnosis on the vehicle and determine the validity flag bit corresponding to the vehicle's operating data based on the fault diagnosis.

[0064] The effective operation data acquisition process provided in this application embodiment can be executed by the input signal validity detection module. Vehicle operation data includes vehicle speed, steering wheel angle, steering wheel speed, and steering wheel force. (See [link to relevant documentation]). Figure 2 As shown, the input information for the input signal validity detection module includes: vehicle speed and its corresponding validity flag, steering wheel angle and its corresponding validity flag, steering wheel speed and its corresponding validity flag, and steering wheel force and its corresponding validity flag. When the validity flag for vehicle speed indicates that the vehicle speed is invalid, the input signal validity detection module updates the vehicle speed to a preset speed and outputs the updated speed as the valid speed. When the validity flag for vehicle speed indicates that the vehicle speed is valid, the module keeps the vehicle speed unchanged and outputs that speed as the valid speed. Similarly, when the validity flag for steering wheel angle indicates that the steering wheel angle is invalid, the input signal validity detection module updates the steering wheel angle to a preset angle and outputs the updated steering wheel angle as the valid steering wheel angle. When the validity flag for steering wheel angle indicates that the steering wheel angle is valid, the module keeps the steering wheel angle unchanged and outputs that steering wheel angle as the valid steering wheel angle. The input signal validity detection module updates the steering wheel speed to a preset speed and outputs the updated speed as the valid steering wheel speed when the validity flag corresponding to the steering wheel speed indicates that the steering wheel speed is invalid. When the validity flag indicates that the steering wheel speed is valid, the module maintains the steering wheel speed unchanged and outputs that speed as the valid steering wheel speed. Similarly, the input signal validity detection module updates the steering wheel hand force to a preset hand force when the validity flag corresponding to the steering wheel hand force indicates that the hand force is invalid. When the validity flag indicates that the hand force is valid, the module maintains the hand force unchanged and outputs that hand force as the valid hand force. In addition, the input signal validity detection module can also output a fault signal to indicate the signal acquired by a faulty sensor.

[0065] In the above embodiments, the vehicle operation data is updated based on the validity flag bit corresponding to the vehicle operation data to obtain valid operation data. This prevents the inaccurate zero-position offset angle from being caused by using the signal collected by a sensor to determine the entry condition corresponding to the zero-position angle calibration working condition when a certain sensor is faulty.

[0066] In some embodiments, the steering wheel angle processing method provided in this application further includes: determining whether the vehicle meets the exit conditions corresponding to the zero-position angle calibration condition based on valid operating data, and keeping the zero-position offset angle unchanged if the conditions are met.

[0067] After obtaining valid operating data, the vehicle may meet the entry conditions corresponding to the zero-position angle calibration condition, or it may meet the entry and exit conditions corresponding to the zero-position angle calibration condition, or it may not meet either condition. Only when the entry conditions are met will the zero-position offset angle be updated; otherwise, no update will be made.

[0068] Among them, the exit conditions corresponding to the zero-position steering angle calibration condition can also be calibrated by bench testing before the vehicle leaves the factory. The exit conditions corresponding to the zero-position steering angle calibration condition can be: the vehicle speed is in the second preset speed range, the steering wheel angle is in the second preset angle range, or the steering wheel force is in the second preset force range.

[0069] Alternatively, the exit condition for the zero-angle calibration condition can be: each vehicle operation data acquired within a preset time period meets the following conditions: the vehicle speed is within the second preset speed range, the steering wheel angle is within the second preset angle range, or the steering wheel force is within the second preset force range. The preset time period can be the time period between the current moment and the moment corresponding to a preset duration counted backwards from the current moment.

[0070] For example, the second preset vehicle speed range can be (-∞, 5kph), the second preset turning angle range can be [10deg, +∞), and the second preset hand force range can be [3Nm, +∞) or (-∞, 0.5Nm).

[0071] In some possible implementations, the vehicle can be determined to meet the exit conditions corresponding to the zero-position steering angle calibration condition when the vehicle speed Veh < 5 kph, the steering wheel angle abs(SA) > 10 degrees, or the steering wheel force abs(ST) > 3 or < 0.5 Nm.

[0072] See Figure 3 As shown, whether the vehicle meets the entry conditions corresponding to the zero-angle calibration condition can be determined by the steering wheel center-position learning condition judgment module. The inputs of the steering wheel center-position learning condition judgment module include: effective steering wheel angle, effective vehicle speed, effective steering wheel speed, and effective hand torque. When the steering wheel center-position learning condition judgment module determines that the vehicle meets the entry conditions corresponding to the zero-angle calibration condition based on the input information, it sets the center-position learning flag to 1. When the steering wheel center-position learning condition judgment module determines that the vehicle meets the exit conditions corresponding to the zero-angle calibration condition based on the input information, it sets the exit learning flag to 1.

[0073] In the above embodiments, an exit condition corresponding to the zero-position angle calibration condition is provided. Under this condition, it is assumed that the vehicle is no longer in a straight-line driving condition, and the value collected by the current steering wheel angle sensor can no longer be used as the zero-position offset angle. Therefore, the zero-position offset angle is not updated, but the zero-position offset angle is kept unchanged to ensure the accuracy of the recorded zero-position offset angle.

[0074] In some embodiments, the method of compensating the steering wheel angle detected by the steering wheel angle sensor based on the zero-position offset angle to obtain the target steering wheel angle includes: subtracting the zero-position offset angle from the steering wheel angle detected by the steering wheel angle sensor to obtain the target steering wheel angle.

[0075] See Figure 4 As shown, the target steering wheel angle can be calculated by the steering wheel center position compensation learning calculation module. The inputs of the steering wheel center position compensation learning calculation module include: effective steering wheel angle, center position learning flag, exit learning flag, fault signal, and center position compensation module switch. When the center position learning flag is determined to be 1, the steering wheel center position compensation learning calculation module updates the zero position offset angle. After detecting that the driver has triggered a steering operation, the updated zero position offset angle is subtracted from the steering wheel angle angle detected by the steering wheel angle sensor to obtain the target steering wheel angle.

[0076] The above embodiments provide a specific method for compensating the steering wheel angle detected by the steering wheel angle sensor after the driver triggers the steering operation. Since the latest recorded zero offset angle is used in the compensation process instead of a uniform zero offset angle, the target steering wheel angle obtained is more accurate, thus improving vehicle driving safety.

[0077] In some embodiments, updating the zero-position offset angle based on the steering wheel angle includes: determining the difference between the zero-position offset angle and the steering wheel angle; if the difference is less than a preset smooth step value, updating the zero-position offset angle to the steering wheel angle; if the difference is greater than or equal to the preset smooth step value, determining a smooth step angle based on the preset smooth step value and the steering wheel angle, and updating the zero-position offset angle to the smooth step angle.

[0078] Considering the significant difference between the steering wheel angle detected by the steering wheel angle sensor when the vehicle met the entry conditions corresponding to the zero-position angle calibration in the previous determination and the steering wheel angle detected by the steering wheel angle sensor when the vehicle meets the entry conditions corresponding to the zero-position angle calibration in the current determination, directly using the steering wheel angle detected by the steering wheel angle sensor in the current determination to update the zero-position offset angle would cause a sudden change in torque due to an excessive update range, affecting the stability of the vehicle. This application proposes that when updating the zero-position offset angle, the difference between the currently recorded zero-position offset angle and the steering wheel angle should be determined first. If the difference is greater than or equal to a preset smooth step value, the preset smooth step value should be added to or subtracted from the steering wheel angle to obtain a smooth step angle, and the zero-position offset angle should be updated to a smooth step angle.

[0079] Specifically, when the steering wheel angle is greater than the currently recorded zero offset angle, the steering wheel angle is subtracted from the preset gradual step value; when the steering wheel angle is less than the currently recorded zero offset angle, the steering wheel angle is added to the preset gradual step value. This ensures that the update of the zero offset angle is not too large, thereby improving the overall vehicle driving safety.

[0080] In the above embodiments, the zero-position offset angle is updated smoothly, so that the update of the zero-position offset angle is not too large, thereby improving the overall vehicle driving safety.

[0081] In some embodiments, a steering wheel angle processing method is provided. Taking the application of this method to a commercial vehicle as an example, the method includes:

[0082] Acquire vehicle operation data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force.

[0083] If the validity flag corresponding to vehicle speed indicates that the vehicle speed is invalid, the vehicle speed will be updated to the preset speed; if the validity flag corresponding to vehicle speed indicates that the vehicle speed is valid, the vehicle speed will remain unchanged. Similarly, if the validity flag corresponding to steering wheel angle indicates that the steering wheel angle is invalid, the steering wheel angle will be updated to the preset angle; if the validity flag corresponding to steering wheel angle indicates that the steering wheel angle is valid, the steering wheel angle will remain unchanged. If the validity flag corresponding to steering wheel speed indicates that the steering wheel speed is invalid, the steering wheel speed will be updated to the preset speed; if the validity flag corresponding to steering wheel speed indicates that the steering wheel speed is valid, the steering wheel speed will remain unchanged. The validity flags are determined by the vehicle's diagnostic device.

[0084] Based on valid operational data, determine whether the vehicle meets the entry conditions corresponding to the zero-angle calibration condition. If so, determine the difference between the zero-offset angle and the steering wheel angle. If the difference is less than a preset smooth step value, update the zero-offset angle to the steering wheel angle; if the difference is greater than or equal to the preset smooth step value, determine the smooth step angle based on the preset smooth step value and the steering wheel angle, and update the zero-offset angle to the smooth step angle. Based on valid operational data, determine whether the vehicle meets the exit conditions corresponding to the zero-angle calibration condition. If so, maintain the zero-offset angle unchanged.

[0085] In response to the driver's steering operation, the target steering wheel angle is obtained by subtracting the updated zero offset angle from the steering wheel angle angle detected by the steering wheel angle sensor. The target steering wheel angle is used to assist the steering operation.

[0086] In the above embodiments, vehicle operating data is first acquired, including at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force. Based on the validity flag corresponding to the vehicle operating data, the vehicle operating data is updated to obtain valid operating data. The validity flag is determined by the vehicle's fault diagnosis device. Then, based on the valid operating data, it is determined whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition. If the conditions are met, the zero-position offset angle is updated based on the steering wheel angle. In response to the driver triggering a steering operation, the steering angle to be compensated detected by the steering wheel angle sensor is compensated based on the zero-position offset angle to obtain the target steering wheel angle, which is used to assist steering operations. This allows the zero-position offset angle to be updated in real time during vehicle operation, avoiding the problem of ineffective compensation caused by using a uniform zero-position offset angle for angle compensation, thus preventing safety hazards.

[0087] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0088] Based on the same inventive concept, this application also provides a steering wheel angle processing device for implementing the steering wheel angle processing method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more steering wheel angle processing device embodiments provided below can be found in the limitations of the steering wheel angle processing method described above, and will not be repeated here.

[0089] In one embodiment, such as Figure 5 As shown, a steering wheel angle processing device is provided, comprising:

[0090] The acquisition module 501 is used to acquire vehicle operating data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force.

[0091] The update module 502 is used to update the vehicle operation data based on the validity flag bit corresponding to the vehicle operation data to obtain valid operation data. The validity flag bit is determined by the vehicle's fault diagnosis device.

[0092] The judgment module 503 is used to determine whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration working condition based on valid operating data. If the conditions are met, the zero-position offset angle is updated based on the steering wheel angle.

[0093] The compensation module 504 is used to respond to the driver's steering operation by compensating the steering angle detected by the steering wheel angle sensor based on the updated zero offset angle to obtain the target steering wheel angle, which is used to assist the steering operation.

[0094] In some embodiments, the updating module 502 is specifically configured to: update the vehicle speed to a preset speed when the validity flag corresponding to the vehicle speed indicates that the vehicle speed is invalid, and keep the vehicle speed unchanged when the validity flag corresponding to the vehicle speed indicates that the vehicle speed is valid; update the steering wheel angle to a preset angle when the validity flag corresponding to the steering wheel angle indicates that the steering wheel angle is invalid, and keep the steering wheel angle unchanged when the validity flag corresponding to the steering wheel angle indicates that the steering wheel angle is valid; update the steering wheel speed to a preset speed when the validity flag corresponding to the steering wheel rotation speed indicates that the steering wheel rotation speed is invalid, and keep the steering wheel rotation speed unchanged when the validity flag corresponding to the steering wheel rotation speed indicates that the steering wheel rotation speed is valid; update the steering wheel force to a preset force when the validity flag corresponding to the steering wheel force indicates that the steering wheel force is invalid, and keep the steering wheel force unchanged when the validity flag corresponding to the steering wheel force indicates that the steering wheel force is valid.

[0095] In some embodiments, the entry conditions corresponding to the zero-angle calibration condition include: the vehicle speed is in a first preset speed range, the steering wheel angle is in a first preset angle range, the steering wheel speed is in a first preset speed range, and the steering wheel force is in a first preset force range.

[0096] In some embodiments, the determination module 503 is specifically used to subtract the updated zero offset angle from the steering wheel angle detected by the steering wheel angle sensor to obtain the target steering wheel angle.

[0097] In some embodiments, the judgment module 503 is further configured to determine whether the vehicle meets the exit conditions corresponding to the zero-position angle calibration working condition based on valid operating data, and if the conditions are met, the zero-position offset angle remains unchanged.

[0098] In some embodiments, the judgment module 503 is further used to judge the difference between the zero offset angle and the steering wheel angle. If the difference is less than the preset smooth step value, the zero offset angle is updated to the steering wheel angle. If the difference is greater than or equal to the preset smooth step value, the smooth step angle is determined based on the preset smooth step value and the steering wheel angle, and the zero offset angle is updated to the smooth step angle.

[0099] Each module in the aforementioned steering wheel angle processing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0100] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores vehicle operating data and zero-position offset angles. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements a steering wheel angle processing method.

[0101] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0102] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0103] Acquire vehicle operation data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force.

[0104] Based on the validity flag corresponding to the vehicle operation data, the vehicle operation data is updated to obtain valid operation data. The validity flag is determined by the vehicle's fault diagnosis device.

[0105] Based on valid operating data, determine whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition. If the conditions are met, update the zero-position offset angle based on the steering wheel angle.

[0106] In response to the driver's steering operation, the steering angle detected by the steering wheel angle sensor is compensated based on the updated zero offset angle to obtain the target steering wheel angle, which is used to assist the steering operation.

[0107] In one embodiment, the vehicle operating data includes vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force. When the processor executes the computer program, it further implements the following steps: if the validity flag corresponding to vehicle speed indicates that the vehicle speed is invalid, update the vehicle speed to a preset vehicle speed; if the validity flag corresponding to vehicle speed indicates that the vehicle speed is valid, keep the vehicle speed unchanged; if the validity flag corresponding to steering wheel angle indicates that the steering wheel angle is invalid, update the steering wheel angle to a preset angle; if the validity flag corresponding to steering wheel angle indicates that the steering wheel angle is valid, keep the steering wheel angle unchanged; if the validity flag corresponding to steering wheel speed indicates that the steering wheel speed is invalid, update the steering wheel speed to a preset speed; if the validity flag corresponding to steering wheel speed indicates that the steering wheel speed is valid, keep the steering wheel speed unchanged; if the validity flag corresponding to steering wheel force indicates that the steering wheel force is invalid, update the steering wheel force to a preset force; if the validity flag corresponding to steering wheel force indicates that the steering wheel force is valid, keep the steering wheel force unchanged.

[0108] In one embodiment, the entry conditions corresponding to the zero-position steering angle calibration condition include: the vehicle speed is in a first preset vehicle speed range, the steering wheel angle is in a first preset steering angle range, the steering wheel speed is in a first preset speed range, and the steering wheel force is in a first preset force range.

[0109] In one embodiment, when the processor executes the computer program, it further performs the following steps: subtracting the updated zero offset angle from the steering wheel angle angle detected by the steering wheel angle sensor to obtain the target steering wheel angle.

[0110] In one embodiment, when the processor executes the computer program, it further implements the following steps: determining whether the vehicle meets the exit conditions corresponding to the zero-position angle calibration condition based on valid operating data, and keeping the zero-position offset angle unchanged if the conditions are met.

[0111] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the difference between the zero-position offset angle and the steering wheel angle; if the difference is less than a preset smooth step value, updating the zero-position offset angle to the steering wheel angle; if the difference is greater than or equal to the preset smooth step value, determining the smooth step angle based on the preset smooth step value and the steering wheel angle, and updating the zero-position offset angle to the smooth step angle.

[0112] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0113] Acquire vehicle operation data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force.

[0114] Based on the validity flag corresponding to the vehicle operation data, the vehicle operation data is updated to obtain valid operation data. The validity flag is determined by the vehicle's fault diagnosis device.

[0115] Based on valid operating data, determine whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition. If the conditions are met, update the zero-position offset angle based on the steering wheel angle.

[0116] In response to the driver's steering operation, the steering angle detected by the steering wheel angle sensor is compensated based on the updated zero offset angle to obtain the target steering wheel angle, which is used to assist the steering operation.

[0117] In one embodiment, when the computer program is executed by the processor, the vehicle operation data includes vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force. The program further implements the following steps: if the validity flag corresponding to vehicle speed indicates that the vehicle speed is invalid, update the vehicle speed to a preset speed; if the validity flag corresponding to vehicle speed indicates that the vehicle speed is valid, maintain the vehicle speed unchanged. If the validity flag corresponding to steering wheel angle indicates that the steering wheel angle is invalid, update the steering wheel angle to a preset angle; if the validity flag corresponding to steering wheel angle indicates that the steering wheel angle is valid, maintain the steering wheel angle unchanged. If the validity flag corresponding to steering wheel speed indicates that the steering wheel speed is invalid, update the steering wheel speed to a preset speed; if the validity flag corresponding to steering wheel speed indicates that the steering wheel speed is valid, maintain the steering wheel speed unchanged. If the validity flag corresponding to steering wheel force indicates that the steering wheel force is invalid, update the steering wheel force to a preset force; if the validity flag corresponding to steering wheel force indicates that the steering wheel force is valid, maintain the steering wheel force unchanged.

[0118] In one embodiment, the entry conditions corresponding to the zero-position steering angle calibration condition include: the vehicle speed is in a first preset vehicle speed range, the steering wheel angle is in a first preset steering angle range, the steering wheel speed is in a first preset speed range, and the steering wheel force is in a first preset force range.

[0119] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: subtracting the updated zero offset angle from the steering wheel angle detected by the steering wheel angle sensor to obtain the target steering wheel angle.

[0120] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining whether the vehicle meets the exit conditions corresponding to the zero-position angle calibration condition based on valid operating data, and keeping the zero-position offset angle unchanged if the conditions are met.

[0121] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the difference between the zero-position offset angle and the steering wheel angle; if the difference is less than a preset smooth step value, updating the zero-position offset angle to the steering wheel angle; if the difference is greater than or equal to the preset smooth step value, determining the smooth step angle based on the preset smooth step value and the steering wheel angle, and updating the zero-position offset angle to the smooth step angle.

[0122] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0123] Acquire vehicle operation data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force.

[0124] Based on the validity flag corresponding to the vehicle operation data, the vehicle operation data is updated to obtain valid operation data. The validity flag is determined by the vehicle's fault diagnosis device.

[0125] Based on valid operating data, determine whether the vehicle meets the entry conditions corresponding to the zero-position angle calibration condition. If the conditions are met, update the zero-position offset angle based on the steering wheel angle.

[0126] In response to the driver's steering operation, the steering angle detected by the steering wheel angle sensor is compensated based on the updated zero offset angle to obtain the target steering wheel angle, which is used to assist the steering operation.

[0127] In one embodiment, when the computer program is executed by the processor, the vehicle operation data includes vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force. The program further implements the following steps: if the validity flag corresponding to vehicle speed indicates that the vehicle speed is invalid, update the vehicle speed to a preset speed; if the validity flag corresponding to vehicle speed indicates that the vehicle speed is valid, maintain the vehicle speed unchanged. If the validity flag corresponding to steering wheel angle indicates that the steering wheel angle is invalid, update the steering wheel angle to a preset angle; if the validity flag corresponding to steering wheel angle indicates that the steering wheel angle is valid, maintain the steering wheel angle unchanged. If the validity flag corresponding to steering wheel speed indicates that the steering wheel speed is invalid, update the steering wheel speed to a preset speed; if the validity flag corresponding to steering wheel speed indicates that the steering wheel speed is valid, maintain the steering wheel speed unchanged. If the validity flag corresponding to steering wheel force indicates that the steering wheel force is invalid, update the steering wheel force to a preset force; if the validity flag corresponding to steering wheel force indicates that the steering wheel force is valid, maintain the steering wheel force unchanged.

[0128] In one embodiment, the entry conditions corresponding to the zero-position steering angle calibration condition include: the vehicle speed is in a first preset vehicle speed range, the steering wheel angle is in a first preset steering angle range, the steering wheel speed is in a first preset speed range, and the steering wheel force is in a first preset force range.

[0129] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: subtracting the updated zero offset angle from the steering wheel angle detected by the steering wheel angle sensor to obtain the target steering wheel angle.

[0130] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining whether the vehicle meets the exit conditions corresponding to the zero-position angle calibration condition based on valid operating data, and keeping the zero-position offset angle unchanged if the conditions are met.

[0131] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the difference between the zero-position offset angle and the steering wheel angle; if the difference is less than a preset smooth step value, updating the zero-position offset angle to the steering wheel angle; if the difference is greater than or equal to the preset smooth step value, determining the smooth step angle based on the preset smooth step value and the steering wheel angle, and updating the zero-position offset angle to the smooth step angle.

[0132] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0133] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0134] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for processing steering wheel angle, characterized in that, The method includes: Acquire vehicle operation data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force. Based on the validity flag corresponding to the vehicle operation data, the vehicle operation data is updated to obtain valid operation data, wherein the validity flag is determined by the vehicle's fault diagnosis device. Based on the valid operating data, determine whether the vehicle meets the entry or exit conditions corresponding to the zero-position angle calibration condition; if the exit condition is met, keep the zero-position offset angle unchanged; the exit conditions include: vehicle speed is in a second preset speed range, steering wheel angle is in a second preset angle range, or steering wheel force is in a second preset force range; if the entry conditions are met, update the zero-position offset angle based on the steering wheel angle; the entry conditions include: vehicle speed is in a first preset speed range, steering wheel angle is in a first preset angle range, steering wheel speed is in a first preset speed range, and steering wheel force is in a first preset force range. In response to the driver's steering operation, the steering wheel angle sensor detects the angle to be compensated based on the updated zero offset angle to obtain the target steering wheel angle, which is used to assist the steering operation. The update of the zero-position offset angle based on the steering wheel angle includes: Determine the difference between the zero-position offset angle and the steering wheel angle. If the difference is less than a preset smooth step value, update the zero-position offset angle to the steering wheel angle. If the difference is greater than or equal to the preset smooth step value, determine the smooth step angle based on the preset smooth step value and the steering wheel angle, and update the zero-position offset angle to the smooth step angle.

2. The method according to claim 1, characterized in that, The vehicle operation data includes vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force. The vehicle operation data is updated based on the validity flag corresponding to the vehicle operation data to obtain valid operation data, including: If the validity flag corresponding to the vehicle speed indicates that the vehicle speed is invalid, the vehicle speed will be updated to the preset vehicle speed; if the validity flag corresponding to the vehicle speed indicates that the vehicle speed is valid, the vehicle speed will remain unchanged. If the validity flag corresponding to the steering wheel angle indicates that the steering wheel angle is invalid, the steering wheel angle is updated to a preset angle; if the validity flag corresponding to the steering wheel angle indicates that the steering wheel angle is valid, the steering wheel angle remains unchanged. If the validity flag corresponding to the steering wheel speed indicates that the steering wheel speed is invalid, the steering wheel speed is updated to the preset speed; if the validity flag corresponding to the steering wheel speed indicates that the steering wheel speed is valid, the steering wheel speed is kept unchanged. If the validity flag corresponding to the steering wheel force indicates that the steering wheel force is invalid, the steering wheel force is updated to the preset force; if the validity flag corresponding to the steering wheel force indicates that the steering wheel force is valid, the steering wheel force remains unchanged.

3. The method according to claim 1, characterized in that, The process of compensating the steering wheel angle detected by the steering wheel angle sensor based on the updated zero-position offset angle to obtain the target steering wheel angle includes: The target steering wheel angle is obtained by subtracting the updated zero-position offset angle from the steering wheel angle angle detected by the steering wheel angle sensor.

4. A steering wheel angle processing device, characterized in that, The device includes: The acquisition module is used to acquire vehicle operation data, which includes at least one of vehicle speed, steering wheel angle, steering wheel speed, or steering wheel force. The update module is used to update the vehicle operation data based on the validity flag bit corresponding to the vehicle operation data to obtain valid operation data. The validity flag bit is determined by the vehicle's fault diagnosis device. The judgment module is used to determine whether the vehicle meets the entry or exit conditions corresponding to the zero-position angle calibration condition based on the valid operating data; if the exit condition is met, the zero-position offset angle is kept unchanged; the exit conditions include: the vehicle speed is in a second preset speed range, the steering wheel angle is in a second preset angle range, or the steering wheel force is in a second preset force range; if the entry condition is met, the zero-position offset angle is updated based on the steering wheel angle; the entry conditions include: the vehicle speed is in a first preset speed range, the steering wheel angle is in a first preset angle range, the steering wheel speed is in a first preset speed range, and the steering wheel force is in a first preset force range. The compensation module is used to respond to the driver's steering operation by compensating the steering angle detected by the steering wheel angle sensor based on the updated zero offset angle to obtain the target steering wheel angle, which is used to assist the steering operation. The update of the zero-position offset angle based on the steering wheel angle includes: Determine the difference between the zero-position offset angle and the steering wheel angle. If the difference is less than a preset smooth step value, update the zero-position offset angle to the steering wheel angle. If the difference is greater than or equal to the preset smooth step value, determine the smooth step angle based on the preset smooth step value and the steering wheel angle, and update the zero-position offset angle to the smooth step angle.

5. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

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