An EPS and escl linkage assisted four-wheel alignment method and system

Abstract

The application discloses an EPS and ESCL linkage assisted four-wheel positioning method and system, belongs to the technical field of automobile steering systems, and provides an effective whole vehicle domain control and electric power steering controller (EPS) and electronic steering column lock (ESCL) linkage assisted four-wheel positioning system interaction technical scheme; in the four-wheel positioning link, the steering system itself is used for fixing and locking the steering wheel. The four-wheel positioning process is simplified, the operation time of four-wheel positioning is saved, and the surface damage risk of the leather seat is reduced. The problems that the four-wheel positioning operation is complicated, time-consuming and has a large risk of median deviation when the automobile product is offline and after-sales maintenance are solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automobile steering system, and particularly relates to a four-wheel alignment method and system assisted by linkage of EPS and ESCL. BACKGROUND

[0002] Four-wheel alignment is based on the parameters of the four wheels of a vehicle, and through adjustment to ensure good driving performance and certain reliability. This technology covers front wheel alignment and rear wheel alignment. The former mainly focuses on four contents, i.e., kingpin inclination, camber, caster and toe, while the latter mainly focuses on camber and toe of each rear wheel. Four-wheel alignment technology relies on sensors, laser range finders, cameras and other devices, combined with advanced data processing and algorithms, to achieve accurate measurement and adjustment of vehicle attitude, wheel symmetry, wheel track, front and rear wheel offset, and wheel vertical force.

[0003] In the traditional method, when four-wheel alignment is performed, a steering wheel fixing clamp is used to fix the steering wheel to ensure that the steering system has no steering action during the entire four-wheel alignment process. There are the following problems:

[0004] (1) The four-wheel alignment of the vehicle needs to be completed in the last link of the vehicle off-line, the four-wheel alignment parameters are required to be high, the entire operation process is cumbersome, and the technical requirements for the production line staff are high;

[0005] (2) When four-wheel alignment is performed for after-sales maintenance, the control of the center position of the steering wheel can only rely on the subjective judgment of the maintenance personnel, and the risk of center position deviation is large.

[0006] (3) The steering wheel clamp required in the traditional four-wheel alignment process is rigidly connected with the steering wheel and the seat, and the surface of the seat is subjected to a large pressure, which is easy to cause damage to the leather seat.

[0007] The traditional steering wheel clamp is cumbersome to operate and takes a long time, and the steering wheel and the seat are fixed, which has a large probability of causing damage to the leather seat. When four-wheel alignment is performed for after-sales maintenance, the control of the center position of the steering wheel can only rely on the subjective judgment of the maintenance personnel, and the risk of center position deviation is large. Therefore, the existing technology has the problems of cumbersome four-wheel alignment operation, long time consumption and large risk of center position deviation before the automobile product is off-line and during after-sales maintenance. SUMMARY

[0008] The purpose of the present application is to solve the problems in the prior art and provide a four-wheel alignment method and system assisted by linkage of EPS and ESCL, mainly to solve the problems of cumbersome four-wheel alignment operation, long time consumption and large risk of center position deviation before the automobile product is off-line and during after-sales maintenance.

[0009] To achieve the above-mentioned purpose, the technical scheme is adopted as follows:

[0010] A four-wheel alignment method assisted by EPS and ESCL linkage, comprising:

[0011] Adjusting the whole vehicle state and sending a "four-wheel alignment assistance" request to the EPS;

[0012] After the EPS receives the "four-wheel alignment assistance" request, issuing a self-locking instruction to the ESCL;

[0013] After the ESCL receives and executes the self-locking instruction, adjusting the four-wheel alignment parameters and judging the calibration midpoint, recording and storing the midpoint, then releasing the self-locking and feeding back that the calibration of the midpoint is completed.

[0014] Preferably, the adjusting the whole vehicle state and sending a "four-wheel alignment assistance" request to the EPS specifically comprises:

[0015] S101: Adjusting the steering wheel to the straight-line driving state position of the whole vehicle;

[0016] S102: Sending a "four-wheel alignment assistance" request to the VMC;

[0017] S103: The VMC determines whether the current whole vehicle working state meets the condition for further passing the request to the EPS according to the power system, if not, it feeds back and adjusts the whole vehicle working state.

[0018] Preferably, in the S103, the whole vehicle working state for passing the request to the EPS is that the vehicle is in the empty load nominal load state and remains stationary.

[0019] Preferably, after the ESCL receives and executes the self-locking instruction, before adjusting the four-wheel alignment parameters, it further comprises:

[0020] The ESCL feeds back to the EPS that the self-locking instruction is completed, the EPS performs self-checking on the completion of the self-locking instruction, confirms whether the self-locking is correctly completed, if yes, it proceeds to the next step, otherwise, it feeds back to the previous level to re-adjust the whole vehicle state and send a "four-wheel alignment assistance" request to the EPS.

[0021] Preferably, after the adjusting of the four-wheel alignment parameters is completed, the EPS records the current position through the torque sensor, judges the calibration midpoint, records and stores the midpoint, then issues an instruction to the ESCL to release the self-locking.

[0022] A four-wheel alignment system assisted by EPS and ESCL linkage, comprising:

[0023] A vehicle condition adjustment unit for adjusting the whole vehicle state and sending a "four-wheel alignment assistance" request to the EPS;

[0024] An instruction transmission unit is configured to send a self-locking instruction to the ESCL after receiving a "four-wheel alignment assistance" request from the EPS;

[0025] An execution unit is configured to adjust four-wheel alignment parameters and determine a calibration center position, record and store the center position, release the self-locking, and feed back the center calibration completion to the vehicle condition adjustment unit after receiving and executing the self-locking instruction from the ESCL.

[0026] Preferably, the vehicle condition adjustment unit comprises a diagnostic instrument and a VMC.

[0027] The diagnostic instrument is configured to send a "four-wheel alignment assistance" request to the VMC or receive feedback information from the VMC.

[0028] The VMC is configured to determine a working state of the vehicle, send a "four-wheel alignment assistance" request to the EPS, and receive feedback information from the EPS after receiving the request from the diagnostic instrument.

[0029] Preferably, the adjustment of the working state of the vehicle and the sending of the "four-wheel alignment assistance" request to the EPS specifically comprises:

[0030] The diagnostic instrument sends a "four-wheel alignment assistance" request to the VMC after adjusting the steering wheel to a straight driving state position.

[0031] The VMC determines whether the working state of the vehicle meets the condition for further sending the request to the EPS according to the power system, and feeds back to the diagnostic instrument if the condition is not met.

[0032] Preferably, the execution unit comprises the EPS and the ESCL; the ESCL feeds back the completion of the self-locking instruction to the EPS after receiving and executing the self-locking instruction, and the EPS performs self-checking on the completion of the self-locking instruction and confirms whether the self-locking is correctly completed.

[0033] If the self-locking is correctly completed, the four-wheel alignment parameters are adjusted, the center position is determined, the center position is recorded and stored, the self-locking is released, and the center calibration completion is fed back to the vehicle condition adjustment unit.

[0034] If the self-locking is not correctly completed, the EPS feeds back to the vehicle condition adjustment unit to re-adjust the working state of the vehicle and send a "four-wheel alignment assistance" request to the EPS.

[0035] A vehicle comprising the four-wheel alignment system assisted by the linkage of the EPS and the ESCL according to any one of the above.

[0036] Compared with the prior art, the present application has the following beneficial effects:

[0037] 1) The disclosed EPS and ESCL linkage assisted four-wheel alignment method provides an effective whole vehicle domain control and electric power steering controller (EPS) and electronic steering column lock (ESCL) linkage assisted four-wheel alignment system interaction technical solution; in the four-wheel alignment link, the steering system itself completes the fixation and locking of the steering wheel. It breaks away from the traditional sense of external fixture design, and the operation is more simple and fast; it simplifies the four-wheel alignment process, saves the operation time of four-wheel alignment, and reduces the risk of surface damage of the leather seat. It solves the problem of complex, time-consuming and high risk of four-wheel alignment operation before the current automobile product is out of line and after-sales maintenance.

[0038] 2) The current automobile steering system mainly realizes the automobile steering function through the form of toothed spline connection and gear and rack transmission. With the gradual maturity of EPS by-wire steering technology, in the future steering system, the upper steering column and the lower steering gear are separated in hardware. The present application can also provide design ideas for the development of EPS by-wire steering function. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0040] Figure 1 The method flowchart of the present application;

[0041] Figure 2 The four-wheel alignment flowchart of the embodiment of the present application;

[0042] Figure 3 The system connection diagram of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the application.

[0045] It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0046] In the description of the embodiments of the application, it should be noted that if the terms "upper", "lower", "horizontal", "inner" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, only for the convenience of describing the application and simplifying the description, and it is not intended to indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0047] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0048] In the description of the embodiments of the application, it should also be noted that unless otherwise explicitly specified and limited, if the terms "arrangement", "installation", "connection", "connection" appear, they should be understood in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between the two elements inside. For those of ordinary skill in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0049] The application will be described in further detail below in conjunction with the drawings:

[0050] Referring to Figure 1 The application discloses a four-wheel alignment method assisted by EPS and ESCL linkage, comprising:

[0051] S1: Adjust the vehicle state and send a "four-wheel alignment assistance" request to the EPS;

[0052] S2: After receiving the "four-wheel alignment assistance" request, the EPS sends a self-locking instruction to the ESCL;

[0053] S3: After the ESCL receives and executes the self-locking instruction, the four-wheel alignment parameters are adjusted, and the center position is determined. After recording and storing the center position, the self-locking is released, and it is fed back that the center alignment is completed.

[0054] In the four-wheel alignment process, the steering system itself is used to fix and lock the steering wheel, which is free from the traditional external fixture design, and the operation is simpler and faster. The four-wheel alignment process is simplified, the operation time of the four-wheel alignment is saved, and the risk of surface damage of the leather seat is reduced. The problems of complicated four-wheel alignment operation, long time consumption, and large center deviation risk before the current automobile product is delivered and during the after-sales maintenance are solved.

[0055] In some embodiments, the adjusting the whole vehicle state and sending a "four-wheel alignment assistance" request to the EPS specifically comprises:

[0056] S101: Adjust the steering wheel to the straight-line driving state position of the whole vehicle;

[0057] S102: Send a "four-wheel alignment assistance" request to the VMC;

[0058] S103: The VMC determines whether the whole vehicle state meets the condition of further transmitting the request to the EPS according to the power system, and if not, it feeds back and adjusts the whole vehicle state.

[0059] Further preferably, in the S103, the whole vehicle state for transmitting the request to the EPS is that the vehicle is in an empty load nominal load state and remains stationary.

[0060] In some embodiments, after the ESCL receives and executes the self-locking instruction, before adjusting the four-wheel alignment parameters, it further comprises:

[0061] The ESCL feeds back to the EPS that the self-locking instruction is completed, the EPS performs self-checking on the completion of the self-locking instruction, confirms whether the self-locking is correctly completed, and if so, proceeds to the next step, otherwise, feeds back to the previous stage to adjust the whole vehicle state from the beginning and send a "four-wheel alignment assistance" request to the EPS.

[0062] In some embodiments, after the adjustment of the four-wheel alignment parameters is completed, the EPS records the position at this time through the torque sensor, determines the center position, records and stores the center position, and then issues an instruction to the ESCL to release the self-locking.

[0063]

Embodiment

[0064] Referring to Figure 2 The main modules associated with this scheme are the whole vehicle domain control system (VMC), the electric power steering control system (EPS), and the steering column control system (ESCL). In the process of four-wheel alignment:

[0065] S1: First of all, the professional technician determines that the steering wheel is in the "zero position" (the state of the steering wheel in the straight driving state of the vehicle, hereinafter referred to as "zero position"). The worker uses a diagnostic instrument (a vehicle software writing device of the host factory, referred to as a diagnostic instrument) to send a "four-wheel positioning auxiliary" request to the VMC.

[0066] S2: The VMC determines the working state of the vehicle according to the brake system, powertrain and other related systems, and determines whether to further deliver the request to the EPS. If not, feedback the signal to the diagnostic instrument, and the worker adjusts the working state of the vehicle (which is not described in detail here).

[0067] S3: The EPS successfully receives the "four-wheel positioning auxiliary" request and issues a self-locking instruction to the ESCL.

[0068] S4: The ESCL successfully receives the self-locking instruction, and the steering column starts the self-locking action. The ESCL completes the self-locking action and feeds back the instruction completion to the upper-level EPS. The motor of the EPS can rotate in the forward and reverse directions with a certain torque, and the steering torque sensor is used to determine whether the ESCL has correctly completed the self-locking. Then the EPS feeds back the "four-wheel positioning auxiliary" completion to the upper-level VMC, and the VMC feeds back the completion to the special diagnostic device.

[0069] S5: The worker adjusts the four-wheel positioning parameters according to the normal operation. After the worker completes the four-wheel positioning, the worker uses the diagnostic device to send a request to the EPS for mid-position calibration. The EPS records the position at this time through the torque sensor and determines it as the mid-position, and records it in the storage position "Z".

[0070] S6: After the mid-position learning is successful, the EPS feeds back the mid-position calibration completion to the diagnostic device, and sends a self-locking release instruction to the ESCL. The ESCL releases the self-locking, and the vehicle four-wheel positioning + mid-position calibration work is completed.

[0071] In summary, through the linkage control of the EPS and the ESCL, the steering wheel fixing action before four-wheel positioning can be completed by replacing the steering wheel clamp. During the vehicle four-wheel positioning process, only the first vehicle on the production line needs to be confirmed by the worker that the steering wheel is in the "zero position", and the subsequent four-wheel positioning can be completed by the "Z" point stored by the EPS. The operation process of the vehicle four-wheel positioning is simplified.

[0072] In the early stage of the development of the whole vehicle steering system, the function requirement of EPS and ESCL linkage to realize auxiliary four-wheel alignment is clearly proposed. Each system defines the interaction signals and interaction logic between systems according to the interaction diagram and related function requirements. ESCL opens the corresponding function according to the request signal of EPS, and executes the corresponding function according to the corresponding function definition, and timely feedback to the diagnostic instrument through EPS to display the corresponding function state, and adds specific fault code definition in the specific signal interaction link (such as EPS and ESCL signal interaction, EPS and diagnostic instrument signal interaction) according to the actual demand to facilitate system problem troubleshooting. The locking torque of the electronic steering column lock (ESCL) on the steering column needs to be greater than the working torque of the EPS check locking state, and the specific locking torque of the ESCL can be defined in combination with the rack force, steering assist motor output torque and whole vehicle function demand and other parameters. Each system executes according to the defined technical scheme, so that the correct implementation of the system scheme can be ensured, thereby achieving the purpose of solving the technical problems described in the preface.

[0073] Referring to Figure 3 The application also discloses an EPS and ESCL linkage auxiliary four-wheel alignment system, which is characterized by comprising:

[0074] A vehicle condition adjustment unit is configured to adjust the whole vehicle state and send a "four-wheel alignment auxiliary" request to the EPS.

[0075] An instruction transmission unit is configured to send a self-locking instruction to the ESCL after receiving the "four-wheel alignment auxiliary" request through the EPS.

[0076] An execution unit is configured to adjust the four-wheel alignment parameters and judge the calibration midpoint after receiving and executing the self-locking instruction through the ESCL, record and store the midpoint, and then release the self-locking and feed back the midpoint calibration completion to the vehicle condition adjustment unit.

[0077] In some embodiments, the vehicle condition adjustment unit comprises a diagnostic instrument and a VMC.

[0078] The diagnostic instrument is configured to send a "four-wheel alignment auxiliary" request to the VMC or receive feedback information from the VMC.

[0079] The VMC is configured to judge the whole vehicle working state after receiving the request from the diagnostic instrument, send a "four-wheel alignment auxiliary" request to the EPS and receive feedback information from the EPS.

[0080] Further, the diagnostic instrument is a whole vehicle software flashing device for the host factory, which usually involves a set of professional equipment and tools, and is used for writing or updating software to the electronic control unit (ECU) of the vehicle. These devices can ensure the correct flashing of the software and improve the performance and reliability of the vehicle.

[0081] Further, the core function of the vehicle domain control system (VMC) is to coordinate and control the various motion performance of the vehicle to improve the performance, safety and comfort of the vehicle. VMC is like the human cerebellum, through the fusion of human and vehicle multi-sensor signals and centralized collaborative control, making driving more stable and comfortable. VMC can realize various advanced power chassis functions, such as torque vectoring control function, trajectory control function, distributed traction control system, etc. These functions help users better adjust the control boundaries of front and rear steering, braking, suspension, power system, and provide better driving experience. In addition, VMC technology also has high integrability and interchangeability, making driving more convenient and comfortable, and bringing exclusive experience in multiple scenarios. It provides plug-and-play up-down decoupling modules and unified intelligent standard interfaces, providing convenience for future function upgrades.

[0082] In some embodiments, the adjusting the vehicle state and sending a "four-wheel positioning assistance" request to the EPS specifically includes:

[0083] After adjusting the steering wheel to the straight-line driving state position of the vehicle, the diagnostic instrument sends a "four-wheel positioning assistance" request to the VMC;

[0084] The VMC determines whether the current vehicle working state meets the condition of further passing the request to the EPS according to the power system, and if not, feeds back to the diagnostic instrument to adjust the vehicle working state.

[0085] In some embodiments, the execution unit includes an EPS and an ESCL; after the ESCL receives and executes the self-locking instruction, the ESCL feeds back the completion of the self-locking instruction to the EPS, and the EPS performs self-checking on the completion of the self-locking instruction to confirm whether the self-locking is completed correctly:

[0086] If the self-locking is completed correctly, the four-wheel positioning parameters are adjusted and the calibration midpoint is determined, and after recording and storing the midpoint, the self-locking is released and the midpoint calibration completion is fed back to the vehicle condition adjustment unit;

[0087] If the self-locking is not completed correctly, the EPS feeds back to the vehicle condition adjustment unit to re-adjust the vehicle state from the beginning and send a "four-wheel positioning assistance" request to the EPS.

[0088] Further, the electric power steering control system (EPS) is a power steering system that directly relies on an electric motor to provide auxiliary torque. It is composed of a mechanical steering system, a torque sensor, a speed sensor, an electronic control unit, a reducer, an electric motor, etc. Based on the traditional mechanical steering system, EPS uses electronic control device to generate auxiliary power of corresponding size and direction according to the torque signal on the steering wheel and the vehicle speed signal, to assist the driver in steering.

[0089] Further, the steering column control system (ESCL) is an electronic device installed below the steering wheel system, which is part of the vehicle anti-theft system. Its main function is to lock the steering column without the permission of the vehicle authentication action, and to unlock the steering column after the permission of the vehicle authentication. The working principle of the ESCL is to lock and unlock the steering column by using the lock tongue system through the judgment of the driver's intention, the vehicle speed and the state of the steering shaft lock, so as to achieve the purpose of protecting the safety of the automobile. Its main components include lock rod, camshaft, lock block, unlocking lever and unlocking button, etc.

[0090] The application also discloses a car comprising the EPS and ESCL linkage auxiliary four-wheel alignment system.

[0091] The above only for the preferred embodiments of the present application, and is not intended to limit the present application, for those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A four-wheel alignment method assisted by linkage of EPS and ESCL, characterized in that, Comprise: Adjust the whole vehicle state and send "four-wheel positioning auxiliary" request to EPS; EPS receives "four-wheel positioning auxiliary" request and sends self-locking instruction to ESCL; ESCL receives and executes self-locking instruction, and ESCL feeds back self-locking instruction completion to EPS, EPS self-checks self-locking instruction completion, confirms whether self-locking is completed correctly, if self-locking is completed correctly, next step is carried out, otherwise, feedback to the previous stage, and adjust the whole vehicle state and send "four-wheel positioning auxiliary" request to EPS again; Adjust four-wheel positioning parameters and judge the calibration midpoint, record and store the midpoint, then release self-locking and feedback the completion of the midpoint calibration; After the adjustment of four-wheel positioning parameters is completed, EPS records the position at this time through the torque sensor, judges the calibration midpoint, records and stores the midpoint, and then sends an instruction to ESCL to release self-locking.

2. The EPS and ESCL linked assisted four-wheel alignment method according to claim 1, wherein, The adjustment of the whole vehicle state and the sending of "four-wheel positioning auxiliary" request to EPS specifically comprises: S101: Adjust the steering wheel to the straight-line driving state position of the whole vehicle; S102: Send "four-wheel positioning auxiliary" request to VMC; S103: VMC judges whether the working state of the whole vehicle at this time meets the condition for further transmitting the request to EPS according to the power system, if not, feedback and adjust the working state of the whole vehicle.

3. The EPS and ESCL linked assisted four-wheel alignment method according to claim 2, wherein, In S103, the working state of the whole vehicle for transmitting the request to EPS is that the vehicle is in an empty load nominal load state and remains stationary.

4. An EPS and ESCL linkage-assisted four-wheel alignment system, characterized by, The four-wheel positioning method for realizing the EPS and ESCL linkage auxiliary of any one of claims 1-3 comprises: A vehicle condition adjustment unit for adjusting the whole vehicle state and sending "four-wheel positioning auxiliary" request to EPS; An instruction transmission unit for sending self-locking instruction to ESCL through EPS after receiving "four-wheel positioning auxiliary" request; An execution unit for adjusting four-wheel positioning parameters and judging the calibration midpoint after ESCL receives and executes self-locking instruction, recording and storing the midpoint, then releasing self-locking and feeding back the completion of the midpoint calibration to the vehicle condition adjustment unit.

5. The EPS and ESCL linked assisted four-wheel alignment system according to claim 4, wherein, The vehicle condition adjustment unit comprises a diagnostic instrument and VMC; The diagnostic instrument is used to send "four-wheel positioning auxiliary" request to VMC or receive feedback information from VMC; The VMC is used to receive diagnostic instrument request, judge the working state of the whole vehicle, send "four-wheel positioning auxiliary" request to EPS and receive feedback information from EPS.

6. The EPS and ESCL linked assisted four-wheel alignment system according to claim 5, wherein, The adjustment of the whole vehicle state and the sending of "four-wheel positioning auxiliary" request to EPS specifically comprises: After adjusting the steering wheel to the straight-line driving state position of the whole vehicle, the diagnostic instrument sends "four-wheel positioning auxiliary" request to VMC; VMC judges whether the working state of the whole vehicle at this time meets the condition for further transmitting the request to EPS according to the power system, if not, feedback to the diagnostic instrument and adjust the working state of the whole vehicle.

7. The EPS and ESCL linked assisted four-wheel alignment system of claim 4, wherein, The execution unit comprises EPS and ESCL; ESCL feeds back self-locking instruction completion to EPS after receiving and executing self-locking instruction, EPS self-checks self-locking instruction completion, confirms whether self-locking is completed correctly: If self-locking is completed correctly, adjust four-wheel positioning parameters and judge the calibration midpoint, record and store the midpoint, then release self-locking and feed back the completion of the midpoint calibration to the vehicle condition adjustment unit; If the self-locking is not completed correctly, the EPS feeds back to the vehicle condition adjustment unit to re-adjust the vehicle condition from the beginning and sends a "four-wheel alignment assistance" request to the EPS.

8. An automobile characterized by comprising: The four-wheel alignment system with the EPS and ESCL linkage assistance according to any one of claims 4-7.

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