Steering wheel return method, vehicle and storage medium

Abstract

The application discloses a steering wheel returning method, a vehicle and a storage medium, wherein the steering wheel returning method comprises the following steps: obtaining an angle between the steering wheel and a returning position, and recording the angle as an initial angle; determining whether the initial angle is equal to 0; when the initial angle is not equal to 0, controlling the steering wheel to rotate to the returning position and disconnecting the control of the steering wheel; obtaining an angle between the steering wheel after being reversed and the returning position, and recording the angle as an offset angle; determining whether the offset angle is equal to 0; when the offset angle is not equal to 0, determining a returning angle according to the initial angle and the offset angle, and controlling the steering wheel to rotate at the returning angle, so that the steering wheel reaches the returning position after being reversed. The application directly performs the front suspension comprehensive stress compensation on the turning angle feedback of the steering wheel returning operation during use, greatly reduces the development cost, and is favorable for realizing the accurate returning of the steering wheel in various different environments, and is more suitable and practical.

Description

TECHNICAL FIELD

[0001] The present application relates to a steering mechanism of a motor vehicle, in particular to a steering wheel returning method, a vehicle and a storage medium. BACKGROUND

[0002] When a vehicle is automatically parked, the steering wheel needs to be returned after the vehicle is stationary due to the response speed of the vehicle-related module and the parking route algorithm. When the steering wheel is returned while the vehicle is stationary, the steering wheel will be deflected due to the influence of the comprehensive stress of the front suspension such as the ground friction of the tire and the elastic deformation of the tire. At present, the steering wheel returning operation after automatic parking is realized by compensating the returning angle of the steering wheel. The calculation of the returning compensation angle of the steering wheel depends on a large number of bench tests, and needs to combine the data of the front axle load, weather, tire performance, ground conditions, and aging of each part of the vehicle steering system to build a data model after the test, so that the steering wheel can be automatically returned in actual use according to different use environments. It can be seen that the development cost of this steering wheel returning method is high, and it depends on the data model established during development, and has poor adaptability to different use environments. Therefore, there is an urgent need for a steering wheel returning method that is easy to develop and has better adaptability. SUMMARY

[0003] The present application aims to provide a steering wheel returning method, a vehicle and a storage medium to solve one or more technical problems in the prior art, at least to provide a beneficial choice or create conditions.

[0004] According to the steering wheel returning method of the first aspect of the present application, the method comprises:

[0005] An angle between the steering wheel and the returning position is obtained, denoted as an initial angle;

[0006] It is judged whether the initial angle is equal to 0;

[0007] When the initial angle is not equal to 0, the steering wheel is controlled to rotate to the returning position, and the control of the steering wheel is disconnected;

[0008] An angle between the steering wheel after reversing and the returning position is obtained, denoted as an offset angle;

[0009] It is judged whether the offset angle is equal to 0;

[0010] When the offset angle is not equal to 0, a returning angle is determined according to the initial angle and the offset angle, and the steering wheel is controlled to rotate at the returning angle, so that the steering wheel reaches the returning position after reversing.

[0011] The technical scheme has at least the following beneficial effects: the angle formed between the steering wheel distance and the return position at this time is obtained, the return position is the position that the steering wheel needs to reach when returning, and is generally the position that the steering wheel is in the central state; when the initial angle is not equal to 0, that is, the steering wheel is not returned, it is determined that the steering wheel needs to be returned, at this time, the steering wheel is first controlled to rotate to the return position, and when the friction between the tire of the vehicle and the ground is large, etc., the steering wheel rotation return only causes the elastic deformation of the tire, that is, the elastic torsion of the tire and the formation of a certain angle between the tire and the hub, when the control on the steering wheel is disconnected, the torque applied to the steering wheel is removed, the tire elastically recovers, and drives the steering wheel to reverse, at this time, the offset angle is formed between the reversed steering wheel and the return position, and the influence degree of the tire to the front suspension comprehensive stress can be judged by comparing the values of the offset angle and the initial angle, so that the angle that needs to be considered for the front suspension comprehensive stress compensation when the steering wheel is rotated to the return position, that is, the return angle, can be obtained, when the steering wheel is rotated at the return angle, the steering wheel can still reach the return position after compensating the elastic offset of the tire caused by the front suspension comprehensive stress, the return is realized, and thus a large amount of bench test for data accumulation is not needed during development, the front suspension comprehensive stress compensation is directly performed by the steering wheel return operation angle feedback during use, the development cost is greatly reduced, and the accurate return of the steering wheel in various different environments is facilitated, and the adaptability and practicality are higher.

[0012] According to some embodiments of the application, the return angle is determined according to the initial angle and the offset angle, and the method comprises:

[0013] determining whether the offset angle is less than or equal to the initial angle;

[0014] when the offset angle is less than the initial angle, the double of the value of the offset angle is the return angle.

[0015] According to some embodiments of the application, the return angle is determined according to the initial angle and the offset angle, and the method further comprises:

[0016] when the offset angle is equal to the initial angle, the steering wheel is controlled to rotate at a first angle, wherein the first angle is greater than the initial angle;

[0017] the position of the steering wheel after rotating at the first angle is obtained, and is recorded as a first position;

[0018] the control on the steering wheel is disconnected, and the angle between the reversed steering wheel and the first position is obtained, and is recorded as a second angle;

[0019] determining whether the second angle is less than or equal to the first angle;

[0020] acquiring an angle between the steering wheel and the return position, denoted as a third angle, when the second angle is less than the first angle;

[0021] adding the second angle and the third angle to obtain the return angle.

[0022] According to some embodiments of the present application, the determining the return angle according to the initial angle and the offset angle further comprises:

[0023] when the second angle is equal to the first angle, increasing the value of the first angle, and repeating the controlling the steering wheel to rotate at the first angle.

[0024] According to some embodiments of the present application, the controlling the steering wheel to rotate at the first angle comprises:

[0025] using the same or greater torque as when the controlling the steering wheel to rotate to the return position is performed.

[0026] According to some embodiments of the present application, the steering wheel return method further comprises:

[0027] when the offset angle is equal to 0, ending the return of the steering wheel.

[0028] According to some embodiments of the present application, the controlling the steering wheel to rotate at the return angle comprises:

[0029] using the same torque as when the controlling the steering wheel to rotate to the return position is performed.

[0030] According to some embodiments of the present application, the steering wheel return method further comprises:

[0031] when the initial angle is equal to 0, ending the return of the steering wheel.

[0032] According to some embodiments of the second aspect of the present application, a vehicle comprises a memory, a processor, and a program stored in the memory and executable on the processor, and the program is executed by the processor to implement the above-mentioned steering wheel return method.

[0033] The technical solution has at least the following beneficial effects: when the vehicle needs to return the steering wheel, the above-mentioned steering wheel return method can be used to accurately return the steering wheel in various different environments, and the adaptability and practicality are stronger. In addition, the vehicle does not need to perform a large number of bench tests for data accumulation during development and production, but directly performs front suspension comprehensive stress compensation through the angle feedback of the steering wheel return operation during use, which greatly reduces the development cost, is conducive to improving the production efficiency of the vehicle, and reduces the production cost.

[0034] According to a third aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores computer executable instructions for causing a computer to perform the steering wheel return method described above.

[0035] The steering wheel return method described above can be implemented as a computer program, and is tangibly contained in a computer readable storage medium. When the processor uses the computer readable storage medium to return the steering wheel, accurate return of the steering wheel can be achieved in various different environments, and the adaptability and practicality are stronger. In addition, when the vehicle is developed and produced, a large number of bench tests are not needed to accumulate data, and the development cost is greatly reduced by directly feeding back the corner of the steering wheel return operation to compensate for the comprehensive stress of the front suspension when the steering wheel is returned, which is beneficial to improve the production efficiency of the vehicle and reduce the production cost.

[0036] Additional aspects and advantages of the present application will be made apparent from the following description of the application.

[0037] The additional aspects and advantages of the present application will be apparent from the following description of the application. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly described below. Obviously, the described drawings are only some of the embodiments of the present application, not all embodiments, and those skilled in the art can obtain other design schemes and drawings according to these drawings without creative labor.

[0039] Figure 1 is the overall flowchart of the steering wheel return method of the present application.

[0040] Figure 2 is the flowchart of determining the return angle according to the initial angle and the offset angle in the present application. DETAILED DESCRIPTION

[0041] The embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0042] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right and the like, is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0043] In the description of the present application, one or more is meant to be one or more, more than two is meant to be two or more, greater than, less than, more than, etc. are understood to exclude the number, above, below, within, etc. are understood to include the number. If the first, second is described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the sequence of technical features indicated.

[0044] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0045] Reference Figure 1 The first aspect embodiment of the steering wheel return method includes but is not limited to the following steps:

[0046] Step S100, the angle between the steering wheel and the return position is obtained, which is recorded as the initial angle. The return position refers to the position of the steering wheel after the return, which is generally the position of the steering wheel when it is centered. The steering wheel is in the return state at this time, and the position of the steering wheel at this time is the return position. For the angle of the steering wheel deviating from the return position, an angle sensor can be used to measure it.

[0047] Step S200, determine whether the initial angle is equal to 0. By judging the value of the initial angle, it can be determined whether the steering wheel is in the return state. When the initial angle is equal to 0, the steering wheel is located at the return position; when the initial angle is not equal to 0, the steering wheel deviates from the return position.

[0048] When the initial angle is not equal to 0, step S300 is entered, the steering wheel is controlled to rotate to the return position, and the control of the steering wheel is disconnected. When it is determined that the steering wheel deviates from the return position, torque is applied to the steering wheel to make it rotate to the return position, and then the torque applied to the steering wheel is removed. After losing the torque support, the steering wheel may be reversed due to the comprehensive stress of the front suspension, therefore, the influence of the comprehensive stress of the front suspension on the rotation of the steering wheel can be observed in this step.

[0049] Step S400, the angle between the steering wheel reverse and the return position is obtained, which is recorded as the offset angle. The angle sensor can be used to obtain the angle of the steering wheel deflection after losing torque support.

[0050] Step S500, it is judged whether the offset angle is equal to 0. When the offset angle is equal to 0, that is, the influence of the front suspension comprehensive stress on the tire is zero or small, so that the steering wheel does not reverse after turning to the position; when the offset angle is not equal to 0, that is, the steering wheel is affected by the front suspension comprehensive stress during turning, the tire elastically deforms, and after losing torque support, the tire elastically recovers and drives the steering wheel to reverse, so that the steering wheel deviates from the return position at this time.

[0051] When the offset angle is not equal to 0, step S600 is entered, the return angle is determined according to the initial angle and the offset angle, and the steering wheel is controlled to turn at the return angle, so that the steering wheel reaches the return position after reversing. By comparing the initial angle and the offset angle, the influence of the front suspension comprehensive stress on the steering wheel turning can be judged, so as to obtain the angle that needs to be compensated when the steering wheel is turned to the return position considering the front suspension comprehensive stress, that is, the return angle, and then the steering wheel is turned at the return angle. After compensating for the influence of the front suspension comprehensive stress on the tire, even if the turning control of the steering wheel is disconnected, the tire reverses, and the steering wheel can reach the return position to realize the return.

[0052] As can be seen from the above, the angle formed between the steering wheel and the return position at this time is obtained, the return position is the position that the steering wheel needs to reach when returning, which is generally the central position of the steering wheel. When the initial angle is not equal to 0, that is, the steering wheel is not returned, it is determined that the steering wheel needs to be returned. At this time, the steering wheel is first controlled to turn to the return position, and when the friction between the tire of the vehicle and the ground is large, etc., the steering wheel turning to return only causes the tire to elastically deform, that is, the tire elastically twists and forms a certain angle with the hub. When the control of the steering wheel is disconnected, the torque applied to the steering wheel is removed, the tire elastically recovers, and drives the steering wheel to reverse. At this time, the offset angle is formed between the reversed steering wheel and the return position. By comparing the values of the offset angle and the initial angle, the degree of influence of the front suspension comprehensive stress on the tire at this time can be judged. Thus, the angle that needs to be compensated when the steering wheel is turned to the return position considering the front suspension comprehensive stress can be obtained, that is, the return angle. When the steering wheel is turned at the return angle, the tire elastically deviates due to the front suspension comprehensive stress is compensated, and the steering wheel can still reach the return position to realize the return. Therefore, it is not necessary to accumulate a large amount of data through bench tests during development, and the front suspension comprehensive stress compensation is directly performed through the turning angle feedback of the steering wheel return operation during use, which greatly reduces the development cost and is beneficial to the accurate return of the steering wheel in various environments, and has better adaptability and practicality.

[0053] In step S600, the return angle is determined according to the initial angle and the offset angle, including but not limited to the following steps:

[0054] In step S610, it is judged whether the offset angle is less than or equal to the initial angle. When the offset angle is less than the initial angle, that is, the steering wheel is turned to the return position in step S300 to offset the influence of the front suspension comprehensive stress on the tire, at this time, the steering wheel is turned to the return position in the direction of approaching; when the offset angle is equal to the initial angle, that is, the influence of the front suspension comprehensive stress on the tire is greater in step S300, at this time, the steering wheel cannot be turned to the return position in the direction of approaching. Therefore, by comparing the offset angle with the initial angle, the influence of the front suspension comprehensive stress on the tire can be obtained.

[0055] When the offset angle is less than the initial angle, step S620 is entered, and the double value of the offset angle is the return angle. At this time, the steering wheel has the effect of turning to the return position in the direction of approaching, but there is still a distance from the return position, that is, the offset angle, at this time, the offset angle is both the angle of the steering wheel reversed due to the influence of the front suspension comprehensive stress on the tire, and the angle of the steering wheel required to be turned from the return position. Therefore, multiplying the value of the offset angle by 2 can obtain the angle of the steering wheel required to be compensated when turning to the return position combined with the influence of the front suspension comprehensive stress.

[0056] In step S600, the return angle is determined according to the initial angle and the offset angle, and further includes but is not limited to the following steps, as shown in Figure 2

[0057] When the offset angle is equal to the initial angle, step S631 is entered, and the steering wheel is controlled to be turned at a first angle, wherein the first angle is greater than the initial angle. When the torque is applied to the steering wheel to make the steering wheel turn, the influence of the front suspension comprehensive stress on the tire is greater, so that the steering wheel drives the tire to elastically deform during the turning process. When the torque applied to the steering wheel is removed, the tire elastically resets and drives the steering wheel to reverse the same angle to return to the original position. At this time, the offset angle is equal to the initial angle, and therefore, the angle of the steering wheel turning is further increased to the first angle, so as to offset part of the influence of the front suspension comprehensive stress on the tire.

[0058] In step S632, the position of the steering wheel after being turned at the first angle is obtained, which is recorded as a first position. After the steering wheel is turned at the first angle, it exceeds the return position, and at this time, the position of the steering wheel is the first position.

[0059] ​Step S633, the control of the steering wheel is disconnected, and an angle between the steering wheel after being reversed and the first position is obtained and recorded as a second angle. The control of the steering wheel is disconnected, and the torque applied to the steering wheel is removed. After losing the torque support, the steering wheel can be reversed due to the comprehensive stress of the front suspension. At this time, the angle of the steering wheel after being reversed at the first position is obtained. In this step, the influence of the comprehensive stress of the front suspension on the rotation of the steering wheel can be observed.

[0060] Step S634, it is judged whether the second angle is less than or equal to the first angle. When the second angle is less than the first angle, that is, the steering wheel is rotated at the first angle in step S631, the influence of the comprehensive stress of the front suspension on the tire is offset, and the steering wheel is relatively deflected back to the positive position. At this time, the influence of the comprehensive stress of the front suspension on the tire can be obtained. When the second angle is equal to the first angle, that is, even if the steering wheel is rotated at a larger angle in step S631, the steering wheel still returns to the original position after the rotation torque of the steering wheel is removed, and the influence of the comprehensive stress of the front suspension on the tire cannot be offset.

[0061] When the second angle is less than the first angle, step S635 is entered, and an angle between the steering wheel and the positive position is obtained and recorded as a third angle. After the steering wheel is rotated at the first angle, the influence of the comprehensive stress of the front suspension on the tire is offset. When the steering wheel is reversed and returned to the original position, the third angle is the angle that the steering wheel still needs to rotate to the positive position.

[0062] Step S636, the second angle and the third angle are added to obtain a return angle. The second angle is the compensation angle required when the influence of the comprehensive stress of the front suspension on the tire is offset, and the third angle is the angle that the steering wheel still needs to rotate to the positive position. After the two angles are added, the return angle is obtained. At this time, the steering wheel is rotated at the return angle, and the steering wheel is reversed to the positive position under the elastic return of the tire after the rotation torque of the steering wheel is removed. Thus, the angle of the steering wheel rotation compensation can be adjusted under the condition of the large comprehensive stress of the front suspension, and the adaptability to the working environment is improved.

[0063] In step S634, it is judged whether the second angle is less than or equal to the first angle, when the second angle is equal to the first angle, step S637 is entered, the value of the first angle is controlled to be increased, and the control of rotating the steering wheel by the first angle is repeated. Since the second angle is still equal to the first angle, that is, when the rotating torque of the steering wheel is removed, the steering wheel still returns to the original position, at this time, the angle of rotating the steering wheel can be increased again, so that the relative slip between the tire and the ground is generated, thereby the steering wheel is reset back to the positive position after reversing. In actual operation, if step S637 is entered again after step S637, the result obtained in step S634 is that the second angle is equal to the first angle, then it is returned to step S637 until the second angle is less than the first angle in step S634, thereby the influence degree of the front suspension comprehensive stress on the tire is obtained. In this way, under the condition of large front suspension comprehensive stress, the adaptability to the working environment is further improved by continuously adjusting the angle of correcting the rotation of the steering wheel, so that the steering wheel can be accurately reset.

[0064] In step S631, when the steering wheel is controlled to rotate by the first angle, the same torque as that when the steering wheel is controlled to rotate to the reset position or a larger torque is used. Since the influence degree of the front suspension comprehensive stress on the tire is not obtained in the last rotation of the steering wheel, the same torque as that in the last rotation of the steering wheel can be selected to rotate the steering wheel by a larger angle, or a larger torque than that in the last rotation of the steering wheel is directly used to rotate the steering wheel by a larger angle, especially for the working environment with large front suspension comprehensive stress, in this way, the flexibility of the steering wheel reset operation is improved.

[0065] In step S500, it is judged whether the offset angle is equal to 0, when the offset angle is equal to 0, step S700 is entered, and the reset of the steering wheel is ended. When the offset angle is equal to 0, that is, the influence of the front suspension comprehensive stress on the tire is zero or small, so that the steering wheel does not reverse after rotating to the position, at this time, the steering wheel is directly controlled to rotate to the reset position in step S300, and the position state of the steering wheel does not need to be adjusted again.

[0066] In step S600, when the steering wheel is controlled to rotate by the reset angle, the same torque as that when the steering wheel is controlled to rotate to the reset position is used. In this way, the steering wheel can be controlled to rotate by a larger angle under the same working condition. Of course, when the steering wheel is controlled to rotate by the first angle, the torque for rotating the steering wheel is increased to determine the reset angle, at this time, the steering wheel is rotated according to the increased torque for rotating the steering wheel when the steering wheel is controlled to rotate by the reset angle.

[0067] In step S200, it is judged whether the initial angle is equal to 0. When the initial angle is equal to 0, step S800 is entered, and the steering wheel is returned to the normal position. In this way, the position state of the steering wheel can be automatically detected. When the steering wheel is in the normal position, the steering wheel does not need to be returned to the normal position, and the returning process is ended.

[0068] According to the second aspect of the present application, a vehicle includes a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, the above-mentioned steering wheel returning method is implemented. The vehicle includes any of the above-mentioned electric drive assemblies. Specifically, the vehicle can be a private car, such as a sedan, an SUV, an MPV, or a pickup truck. The vehicle can also be a commercial vehicle, such as a van, a bus, a small truck, or a large trailer. The vehicle can be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle. Since the vehicle applies all the technical solutions of the above-mentioned control device or vehicle controller, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0069] When the vehicle needs to return the steering wheel to the normal position, the above-mentioned steering wheel returning method can be used to accurately return the steering wheel in various environments, which is more adaptable and practical. In addition, the vehicle does not need to perform a large number of bench tests for data accumulation during development and production, but directly compensates the front suspension comprehensive stress through the angle feedback of the steering wheel returning operation during use, which greatly reduces the development cost and is beneficial to improve the production efficiency and reduce the production cost of the vehicle.

[0070] For example, the processor and the memory in the vehicle controller can be connected through a bus. The memory, as a non-transitory computer readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one disk memory, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory remotely arranged relative to the control processor, and these remote memories can be connected to the control device through a network.

[0071] The device embodiments described above are only schematic, and the units described as separate components can or can not be physically separate, i.e., they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment.

[0072] According to a third aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores computer executable instructions for causing a computer to perform the steering wheel return method.

[0073] The steering wheel return method described above can be implemented as a computer program, and is tangibly contained in a computer readable storage medium. When a processor uses the computer readable storage medium to return the steering wheel, accurate return of the steering wheel can be achieved in various different environments, and the adaptability and practicality are stronger. In addition, when a vehicle is developed and produced, a large number of bench tests are not needed to accumulate data, and the development cost is greatly reduced. The production efficiency of the vehicle is improved, and the production cost is reduced.

[0074] It is worth noting that the computer readable storage medium of the embodiments of the present application can perform the steering wheel return method of any of the above embodiments, and therefore the specific implementation and technical effects of the computer readable storage medium of the embodiments of the present application can refer to the specific implementation and technical effects of the steering wheel return method of any of the above embodiments.

[0075] Those of ordinary skill in the art can understand that all or some of the steps in the method disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer readable medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those of ordinary skill in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage, or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically includes computer readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transport mechanisms, and can include any information delivery medium.

[0076] The preferred embodiments of the present application have been disclosed above, but the present application is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application. The equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. A steering wheel return method, characterized by: The method comprises: acquiring an angle between the steering wheel and the neutral position, denoted as an initial angle; determining whether the initial angle is equal to 0; when the initial angle is not equal to 0, controlling the steering wheel to rotate to the neutral position, and disconnecting the control of the steering wheel; acquiring an angle between the steering wheel after being reversed and the neutral position, denoted as an offset angle; determining whether the offset angle is equal to 0; when the offset angle is not equal to 0, determining a neutral angle according to the initial angle and the offset angle, and controlling the steering wheel to rotate at the neutral angle, so that the steering wheel reaches the neutral position after being reversed, wherein the determining the neutral angle according to the initial angle and the offset angle comprises: determining whether the offset angle is less than or equal to the initial angle; when the offset angle is less than the initial angle, twice the value of the offset angle is the neutral angle; the determining the neutral angle according to the initial angle and the offset angle further comprises: when the offset angle is equal to the initial angle, controlling the steering wheel to rotate at a first angle, wherein the first angle is greater than the initial angle; acquiring a position of the steering wheel after rotating at the first angle, denoted as a first position; disconnecting the control of the steering wheel, acquiring an angle between the steering wheel after being reversed and the first position, denoted as a second angle; determining whether the second angle is less than or equal to the first angle; when the second angle is less than the first angle, acquiring an angle between the steering wheel and the neutral position, denoted as a third angle; adding the second angle and the third angle to obtain the neutral angle.

2. A steering wheel return method according to claim 1, characterized in that: the determining the neutral angle according to the initial angle and the offset angle further comprises: when the second angle is equal to the first angle, controlling the value of the first angle to be increased, and repeating the controlling the steering wheel to rotate at the first angle.

3. The steering wheel return method of claim 1, wherein: the controlling the steering wheel to rotate at the first angle comprises: using a same or greater torque as when the steering wheel is controlled to rotate to the neutral position.

4. The steering wheel return method of claim 1, wherein: The steering wheel neutralization method further comprises: when the offset angle is equal to 0, ending the neutralization of the steering wheel.

5. The steering wheel return method of claim 1, wherein: the controlling the steering wheel to rotate at the neutral angle comprises: using a same torque as when the steering wheel is controlled to rotate to the neutral position.

6. The steering wheel return method of claim 1, wherein: The steering wheel neutralization method further comprises: when the initial angle is equal to 0, ending the neutralization of the steering wheel.

7. A vehicle characterized by: The device comprises a memory, a processor, and a program stored in the memory and executable on the processor, and the program is executed by the processor to implement the steering wheel neutralization method according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that: The computer readable storage medium stores computer executable instructions for causing a computer to execute the steering wheel neutralization method according to any one of claims 1 to 6.

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