Steering wheel angle calibration method, device and storage medium for vehicles

Abstract

The present application discloses a method, device and storage medium for calibrating the steering wheel angle of a vehicle, the method comprising: placing the vehicle in the front area of ​​a designated tooling position, ensuring that the central axis of the vehicle is perpendicular to the axis of the front floating disk hub of the vehicle; starting and adjusting the vehicle parameters of the vehicle; after straightening the steering wheel of the vehicle, controlling the steering wheel to rotate within a first preset angle range at a preset speed and then returning to the center; monitoring the flashing state of a fault light on the dashboard of the vehicle in real time; if the fault light flashes at a preset frequency, moving the vehicle to the designated tooling position; fixing a spirit level above the steering wheel, and placing the vertical support rod of the spirit level on the front windshield of the vehicle, and swinging the vertical support rod left and right to adjust the position of the spirit level so that the spirit level remains within a second preset angle range; connecting the calibration device to the vehicle, and starting the angle calibration of the vehicle's steering wheel to record and save the position of the steering wheel when it is at zero degrees.

Description

Technical Field

[0001] The present application belongs to the technical field of steering wheel calibration, and in particular relates to a method, device and storage medium for calibrating the steering wheel angle of a vehicle. Background Art

[0002] EPS (Electric Power Steering, abbreviated as EPS) refers to an electric power steering system, which is a power steering system that directly relies on the auxiliary torque of the motor. With the development of EPS electric power steering systems, it has become increasingly common for modern cars to be equipped with electric power steering systems. During the vehicle steering process, the ECU control unit calculates the torque that the motor needs to provide based on the amount of hand torque applied by the driver to the steering wheel (expressed as the electrical signal of the torsion bar deformation detected by the torque sensor), the vehicle speed, the engine ignition signal, etc., and then drives the motor to provide corresponding assistance to assist the vehicle in achieving the driver's steering intention. In this steering process, especially for vehicles with active self-centering function and intelligent driving assistance function, it is particularly important to accurately calibrate the steering wheel angle zero position.

[0003] However, existing technologies still have a certain probability of failure in corner zero calibration, even when eliminating the influence of other systems. This is difficult to quickly locate and resolve. Limited by the layout of the inspection line, vehicles with FAIL calibration must be removed from the calibration station to meet production schedules. This results in lengthy rework and severely impacts production schedules, resulting in low calibration efficiency and accuracy. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, and storage medium for calibrating the steering wheel angle of a vehicle, thereby improving the accuracy and efficiency of steering wheel angle calibration, at least to a certain extent.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0006] According to a first aspect of an embodiment of the present application, a method for calibrating the steering wheel angle of a vehicle is provided, the method comprising: placing a vehicle to be calibrated in an area in front of a designated tooling position, and ensuring that the central axis of the vehicle is perpendicular to the axis of the front floating disk hub of the vehicle; starting the vehicle, and adjusting the vehicle parameters of the vehicle so that the state of the vehicle meets preset calibration preconditions; after straightening the steering wheel of the vehicle, controlling the steering wheel to rotate within a first preset angle range at a preset speed and then returning to the center; monitoring the flashing state of a fault light on the dashboard of the vehicle in real time; when the fault light flashes at a preset frequency, moving the vehicle to the designated tooling position; fixing a spirit level above the steering wheel, and placing the vertical support rod of the spirit level on the front windshield of the vehicle, and swinging the vertical support rod left and right to adjust the position of the spirit level so that the spirit level remains within a second preset angle range; connecting the calibration equipment to the vehicle, and starting the angle calibration of the steering wheel of the vehicle to record and save the position of the steering wheel when it is at zero degrees.

[0007] In some embodiments of the present application, based on the aforementioned scheme, the state of the vehicle is determined to meet the preset calibration preconditions when all of the following conditions are met: the voltage of the vehicle controller of the vehicle is in a preset voltage range; the steering system of the vehicle is in a normal startup state; the maximum values ​​of the wheel speed and vehicle speed of the vehicle are both less than or equal to the preset vehicle speed threshold.

[0008] In some embodiments of the present application, based on the aforementioned scheme, the vehicle is equipped with a torque index sensor, and the method further includes: after the steering wheel of the vehicle is straightened, the steering wheel is controlled to rotate within a first preset angle range at a preset speed and then returned to the center, and when the steering wheel returns to the center, a high-level pulse signal is sent out through the TIS sensor to the vehicle controller of the vehicle, and the vehicle controller combines the pulse signal, the motor rotor position signal and the transmission ratio to calculate the current steering wheel angle to zero and store it.

[0009] In some embodiments of the present application, based on the aforementioned solution, the preset rotation speed is less than or equal to 200° per second.

[0010] In some embodiments of the present application, based on the aforementioned solution, the first preset angle range is ±45° to ±90°.

[0011] In some embodiments of the present application, based on the aforementioned solution, the preset frequency is 5 Hz.

[0012] In some embodiments of the present application, based on the aforementioned solution, the second preset angle range is -0.2° to 0.2°.

[0013] In some embodiments of the present application, based on the aforementioned scheme, the method also includes: when the vehicle's steering angle validity signal is invalid, the vehicle's steering system signal is allowed to be calibrated, and the steering system's fault light signal is normal, the vehicle's fault light will flash at a preset frequency.

[0014] According to a second aspect of an embodiment of the present application, a device for calibrating a steering wheel angle of a vehicle is provided, the device comprising: a vehicle moving module, for placing the vehicle to be calibrated in the front area of ​​a designated tooling position, and ensuring that the central axis of the vehicle is perpendicular to the axis of the front floating disk hub of the vehicle; and for moving the vehicle to the designated tooling position when a fault light on the dashboard of the vehicle flashes at a preset frequency; a vehicle parameter adjustment module, for starting the vehicle and adjusting the vehicle parameters of the vehicle so that the state of the vehicle meets the preset calibration preconditions; a vehicle steering wheel adjustment module, for straightening the steering wheel of the vehicle After that, the steering wheel is controlled to rotate within a first preset angle range at a preset speed and then return to the center; a vehicle dashboard monitoring module is used to monitor the flashing status of the fault light on the dashboard of the vehicle in real time; a spirit level adjustment module is used to fix the spirit level above the steering wheel, and place the vertical support rod of the spirit level on the front windshield of the vehicle, and swing the vertical support rod left and right to adjust the position of the spirit level so that the spirit level remains within a second preset angle range; a steering wheel calibration module is used to connect the calibration equipment to the vehicle and start the angle calibration of the steering wheel of the vehicle to record and save the position of the steering wheel when it is at zero degrees.

[0015] According to a third aspect of an embodiment of the present application, a computer program product is provided, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes a method as described in any embodiment of the first aspect above.

[0016] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which at least one computer program instruction is stored. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the method described in any embodiment of the first aspect above.

[0017] In this solution, by defining the key inspection points for the calibration environment in detail and guiding the industrialized operation of the factory inspection line, the high NG rate of steering wheel angle calibration can be greatly improved. At the same time, the flashing frequency of the fault light on the vehicle's instrument panel can be used to eliminate problems with the EPS system itself, which is also conducive to the rapid location and analysis of calibration NG problems, which can effectively improve calibration efficiency.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0020] Figure 1 A flow chart of a method for calibrating a steering wheel angle of a vehicle in an embodiment of the present application is shown;

[0021] Figure 2 A schematic diagram showing a preparatory process for steering wheel angle calibration in an embodiment of the present application is shown;

[0022] Figure 3 A schematic diagram showing a steering wheel angle calibration process in an embodiment of the present application is shown;

[0023] Figure 4 A block diagram of a steering wheel angle calibration device for a vehicle in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0025] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0026] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0027] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0028] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0029] In order to enable those skilled in the art to better understand the present application, the application scenarios involved in the present application are first briefly described.

[0030] Reference Figure 1 , shows a flowchart of a steering wheel angle calibration method for a vehicle in an embodiment of the present application, which can be executed by a device with computing and processing functions.

[0031] Reference Figure 1 As shown, the steering wheel angle calibration method for a vehicle includes at least the following steps:

[0032] Step 110 : Place the vehicle to be calibrated in the front area of ​​the designated tooling position, and ensure that the center axis of the vehicle is perpendicular to the axis of the front floating disc hub of the vehicle.

[0033] Step 120 , starting the vehicle and adjusting vehicle parameters so that the vehicle state meets preset calibration preconditions.

[0034] Step 130 , after the steering wheel of the vehicle is aligned, the steering wheel is controlled to rotate within a first preset angle range at a preset speed and then returned to the alignment.

[0035] Step 140: monitor the flashing state of the fault light on the dashboard of the vehicle in real time.

[0036] Step 150: When the fault light flashes at a preset frequency, the vehicle is moved to a designated tooling location.

[0037] Step 160: Fix the spirit level above the steering wheel, place the vertical support rod of the spirit level on the front windshield of the vehicle, and swing the vertical support rod left and right to adjust the position of the spirit level so that the spirit level remains within the second preset angle range.

[0038] Step 170 : Connect the calibration device to the vehicle and start angle calibration of the vehicle's steering wheel to record and save the position of the steering wheel when it is at zero degrees.

[0039] In this solution, in order to improve the efficiency and accuracy of the steering wheel angle calibration, a complex calibration pre-step is set before the steering wheel angle calibration is officially started. Specifically, for any vehicle to be calibrated, the vehicle to be calibrated can first be moved to the front area of ​​the designated tooling position. At the same time, it is necessary to ensure that the central axis of the vehicle is perpendicular to the axis of the front floating disk hub of the vehicle. Then, it is necessary to control the start of the vehicle to keep the vehicle in a ready state. That is, it is necessary to ensure that the vehicle is always in the starting state, and the engine of the vehicle is in the starting state. In this state, the vehicle parameters of the vehicle also need to be adjusted so that the state of the vehicle meets the preset calibration pre-conditions.

[0040] In one embodiment, the state of the vehicle is determined to meet the preset calibration preconditions when all of the following conditions are met: the voltage of the vehicle controller of the vehicle is in a preset voltage range; the steering system of the vehicle is in a normal startup state; the maximum values ​​of the wheel speed and vehicle speed of the vehicle are both less than or equal to the preset vehicle speed threshold.

[0041] In a specific embodiment, the preset voltage range can be set to 9V-16V. The vehicle's steering system being in a normal start-up state means that the vehicle's steering system is in a normal state. The preset vehicle speed threshold can be set to 5kph. That is, when the voltage of the vehicle's vehicle controller (i.e., ECE) is between 9V-16V, the vehicle's steering system (EPS system) is in a normal state, and the maximum values ​​of the vehicle's wheel speed and vehicle speed are both less than or equal to 5kph, it can be determined that the vehicle's state meets the preset calibration preconditions.

[0042] After the vehicle's state meets the preset calibration preconditions, the vehicle's steering wheel can be straightened, and then the steering wheel can be controlled to rotate within a first preset angle range at a preset speed and then returned to the center. In other words, the vehicle's steering wheel can be adjusted by moving it to a neutral position, rotating the steering wheel at a preset speed at the neutral position, and then returning it to the center.

[0043] In one embodiment, the method further includes: after the steering wheel of the vehicle is straightened, the steering wheel is controlled to rotate within a first preset angle range at a preset speed and then returned to the center, and when the steering wheel returns to the center, a high-level pulse signal is sent to the vehicle controller of the vehicle through the TIS sensor. The vehicle controller combines the pulse signal, the motor rotor position signal and the transmission ratio to calculate the current steering wheel angle to zero and store it.

[0044] The vehicle in this solution is equipped with a TIS sensor, which is a torque index sensor that integrates both a torque sensor and an index sensor. In the EPS electric power steering system, the TIS sensor has two functions: first, the torque sensor monitors the deformation of the torsion bar and converts it into an electrical signal, which is then fed into the ECU to calculate the command current to drive the motor to provide power assistance; second, the torque index sensor is a Hall sensor that provides periodic high and low level feedback. Its direct input is a high and low level pulse signal. The ECU combines this signal with parameters such as the motor rotor position and transmission ratio to calculate the steering wheel angle according to an algorithm and transmit it externally. Angle calibration in this solution means that when the wheel and steering wheel are in the middle position, the torque index sensor sends a high-level pulse signal to the ECU, setting the current angle to zero and transmitting it externally.

[0045] Therefore, in this embodiment, after the vehicle's steering wheel is straightened, the steering wheel is controlled to rotate at a preset speed within a first preset angle range and then returned to the center position. When the steering wheel returns to the center position, the TIS sensor can send a high-level pulse signal to the vehicle's ECU. The ECU can then calculate the current steering wheel angle to zero by combining the pulse signal, the motor rotor position signal, the gear ratio, and other data, and store the calculated value.

[0046] In a specific embodiment, the preset rotation speed is less than or equal to 200° per second. That is, after the steering wheel of the vehicle is straightened, the steering wheel of the vehicle can be controlled to rotate within the first preset angle range at a speed less than or equal to 200° per second and then return to the straight position.

[0047] In a specific embodiment, the first preset angle range is ±45° to ±90°. That is, after the steering wheel of the vehicle is straightened, the steering wheel of the vehicle can be controlled to rotate within the angle range of ±45° to ±90° at a speed of less than or equal to 200° per second and then return to the straight position.

[0048] Furthermore, it is also necessary to monitor the flashing state of the fault light on the instrument panel of the vehicle in real time. If the fault light flashes according to a preset frequency, the vehicle can be moved to a designated tooling position.

[0049] In one embodiment, when the vehicle's steering angle validity signal is invalid, the vehicle's steering system signal is calibration-allowed, and the steering system's fault light signal is normal, the vehicle's fault light will flash at a preset frequency.

[0050] like Figure 2 As shown, in this embodiment, it is specified that the calibration pre-step is completed and meets the requirements in this case. Specifically, if the vehicle's steering angle validity signal (eps_sasSteeringAngleValid signal) is invalid, the vehicle's steering system (EPS system) signal (eps_calibrationFlag signal) indicates that calibration is allowed, and the steering system's fault light signal (eps_warningLamp signal) is normal, the vehicle's fault light will flash at a preset frequency. In one specific embodiment, the preset frequency is 5 Hz.

[0051] Tests have shown that the vehicle's fault light will flash at a 5Hz frequency only when all three of the above conditions are met. In other cases, the flashing frequency of the vehicle's fault light is not 5Hz. Therefore, in this solution, the flashing frequency of the fault light on the vehicle's dashboard can be used to directly determine whether the vehicle's pre-calibration preparation procedures are complete and meet the requirements. If the pre-calibration preparation procedures are complete and meet the requirements, that is, the flashing frequency of the fault light on the vehicle's dashboard is 5Hz, the vehicle can be moved to the designated tooling location for the next step.

[0052] Then, the level can be fixed above the steering wheel, and the vertical support rod of the level can be placed on the front windshield of the vehicle. The position of the vertical support rod of the level can be adjusted by swinging left and right so that the level remains within the second preset angle range. In a specific embodiment, the second preset angle range is -0.2° to 0.2°. Figure 2 As shown, after completing all the above operations and meeting the above-mentioned standards, it means that the pre-calibration steps for the vehicle's steering wheel angle calibration have been completed and met the standards. At this point, you can officially enter the steering wheel angle calibration step. That is, you can connect the calibration device to the vehicle and start the vehicle's steering wheel angle calibration step to record and save the position of the steering wheel at zero degrees.

[0053] like Figure 3 As shown, a specific process diagram of steering wheel angle calibration is provided.

[0054] First, the vehicle establishes a connection with the calibration device—that is, the vehicle's EPS system connects to the calibration device to enter diagnostic mode. The calibration device then initiates an access request to the vehicle. Upon receiving the access request, the vehicle returns the vehicle's security access seed to the calibration device. The security access seed is a random code generated by the vehicle. Upon receiving the security access seed, the calibration device calculates the vehicle's access key based on the security access seed and sends the calculated access key to the vehicle for verification. If the vehicle passes the verification, the calibration device successfully connects to the vehicle's EPS system and begins the steering wheel angle calibration process. The calibration device then sends a response request to the vehicle. If the vehicle verifies that all pre-calibration preparations are complete and meet the requirements, it returns a positive response notification to the calibration device. The calibration device then reconfirms whether the vehicle can proceed with the angle calibration process. If the vehicle receives another positive response notification, the steering wheel angle calibration is successful. Conversely, if the vehicle inspection reveals that its pre-calibration preparations have not met the standards, as shown in the figure, that is, the fault light on the vehicle dashboard flashes at a frequency other than 5 Hz, and / or the vehicle's status does not meet the preset pre-calibration conditions (such as excessive speed, ECU voltage not within the specified preset voltage range, the vehicle's steering system not in the normal start-up state, the steering wheel adjustment speed or angle is incorrect, etc.), then the vehicle will not return a positive response notification to the calibration equipment. In this case, it is necessary to return to the calibration pre-calibration accurate procedure to reconfirm that the vehicle's pre-calibration process is complete and meets the standards.

[0055] In this solution, by defining the key inspection points for the calibration environment in detail and guiding the industrialized operation of the factory inspection line, the high NG rate of steering wheel angle calibration can be greatly improved. At the same time, the flashing frequency of the fault light on the vehicle's instrument panel can be used to eliminate problems with the EPS system itself, which is also conducive to the rapid location and analysis of calibration NG problems, which can effectively improve calibration efficiency.

[0056] The following describes an embodiment of the device of the present application, which can be used to perform the steering wheel angle calibration method for a vehicle described in the above-mentioned embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the steering wheel angle calibration method for a vehicle described in the above-mentioned embodiment of the present application.

[0057] See also Figure 4 , shows a block diagram of a steering wheel angle calibration device for a vehicle in an embodiment of the present application. Figure 4 As shown, the steering wheel angle calibration device 400 for a vehicle according to an embodiment of the present application includes: a vehicle movement module 401, a vehicle parameter adjustment module 402, a vehicle steering wheel adjustment module 403, a vehicle instrument panel monitoring module 404, a level adjustment module 405 and a steering wheel calibration module 406. Specifically,

[0058] The vehicle movement module 401 is used to place the vehicle to be calibrated in the area in front of the designated tooling location, ensuring that the vehicle's center axis is perpendicular to the axis of the vehicle's front floating plate hub; and is used to move the vehicle to the designated tooling location when the fault light on the vehicle's dashboard flashes at a preset frequency;

[0059] The vehicle parameter adjustment module 402 is used to start the vehicle and adjust the vehicle parameters of the vehicle so that the vehicle state meets the preset calibration preconditions;

[0060] The vehicle steering wheel adjustment module 403 is used to adjust the vehicle's steering wheel, control the steering wheel to rotate within a first preset angle range at a preset speed, and then return it to the center position;

[0061] The vehicle dashboard monitoring module 404 is used to monitor the flashing state of the fault light on the vehicle dashboard in real time;

[0062] The level adjustment module 405 is used to fix the level above the steering wheel, place the vertical support rod of the level on the front windshield of the vehicle, and swing the vertical support rod left and right to adjust the position of the level so that the level remains within a second preset angle range;

[0063] The steering wheel calibration module 406 is used to connect the calibration device to the vehicle and start the angle calibration of the vehicle's steering wheel to record and save the position of the steering wheel when it is at zero degrees.

[0064] Based on the same inventive concept, an embodiment of the present application also provides a computer program product, which includes computer instructions stored in a computer-readable storage medium and suitable for being read and executed by a processor, so that a computer device having the processor executes the method described above.

[0065] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, which stores at least one computer program instruction, and the at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the method described above.

[0066] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. Furthermore, the functional units may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0067] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0068] The units described as separate components may or may not be physically separate, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0069] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store computer program instructions.

[0070] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for calibrating a steering wheel angle of a vehicle, characterized in that: The method comprises: Place the vehicle to be calibrated in the area in front of the designated tooling location, and ensure that the vehicle's center axis is perpendicular to the vehicle's front floating disc hub axis; Starting the vehicle and adjusting vehicle parameters of the vehicle so that the state of the vehicle meets preset calibration preconditions; After the steering wheel of the vehicle is straightened, the steering wheel is controlled to rotate within a first preset angle range at a preset speed and then returned to the straight position; Real-time monitoring of the flashing state of a fault light on the dashboard of the vehicle; When the fault light flashes at a preset frequency, the vehicle is moved to the designated tooling position; Fixing a spirit level above the steering wheel, placing a vertical support rod of the spirit level on the front windshield of the vehicle, and swinging the vertical support rod left and right to adjust the position of the spirit level so that the spirit level remains within a second preset angle range; Connecting a calibration device to the vehicle and starting angle calibration of the steering wheel of the vehicle to record and save the position of the steering wheel when it is at zero degrees; The vehicle state is determined to meet the preset calibration preconditions when all of the following conditions are met: the voltage of the vehicle controller of the vehicle is within a preset voltage range; the steering system of the vehicle is in a normal start-up state; the maximum of the wheel speed and the vehicle speed of the vehicle are both less than or equal to a preset vehicle speed threshold; When the vehicle's steering angle validity signal is invalid, the vehicle's steering system signal is calibration-permitted, and the steering system's fault light signal is normal, the vehicle's fault light will flash at a preset frequency.

2. The method according to claim 1, characterized in that The vehicle is equipped with a torque index sensor, and the method further includes: After the steering wheel of the vehicle is straightened, the steering wheel is controlled to rotate within a first preset angle range at a preset speed and then returned to the center. When the steering wheel returns to the center, a high-level pulse signal is sent to the vehicle controller of the vehicle through the TIS sensor. The vehicle controller combines the pulse signal, the motor rotor position signal and the transmission ratio to calculate the current steering wheel angle to zero and store it.

3. The method according to claim 1, characterized in that The preset rotation speed is less than or equal to 200° per second.

4. The method according to claim 1, wherein The first preset angle range is .

5. The method according to claim 1, wherein The preset frequency is 5 Hz.

6. The method according to claim 1, characterized in that The second preset angle range is .

7. A steering wheel angle calibration device for a vehicle, characterized in that: The device comprises: A vehicle moving module is used to place the vehicle to be calibrated in the area in front of the designated tooling location, ensuring that the vehicle's central axis is perpendicular to the vehicle's front floating disk hub axis; and is used to move the vehicle to the designated tooling location when the fault light on the vehicle's dashboard flashes at a preset frequency; A vehicle parameter adjustment module, configured to start the vehicle and adjust the vehicle parameters of the vehicle so that the state of the vehicle meets the preset calibration preconditions; A vehicle steering wheel adjustment module, configured to straighten the steering wheel of the vehicle, control the steering wheel to rotate within a first preset angle range at a preset speed, and then return to the straight position; A vehicle dashboard monitoring module, used to monitor the flashing state of the fault light on the dashboard of the vehicle in real time; a level adjustment module, configured to fix a level above the steering wheel, place a vertical support rod of the level on the front windshield of the vehicle, and swing the vertical support rod left and right to adjust the position of the level so that the level remains within a second preset angle range; a steering wheel calibration module, configured to connect a calibration device to the vehicle and initiate angle calibration of the vehicle's steering wheel to record and save the position of the steering wheel when it is at zero degrees; The vehicle state is determined to meet the preset calibration preconditions when all of the following conditions are met: the voltage of the vehicle controller of the vehicle is within a preset voltage range; the steering system of the vehicle is in a normal start-up state; the maximum of the wheel speed and the vehicle speed of the vehicle are both less than or equal to a preset vehicle speed threshold; When the vehicle's steering angle validity signal is invalid, the vehicle's steering system signal is calibration-permitted, and the steering system's fault light signal is normal, the vehicle's fault light will flash at a preset frequency.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, which are loaded and executed by a processor to implement the operations performed by the method according to any one of claims 1 to 6.

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