Automatic wheel aligning method and device

Abstract

The embodiment of the invention relates to the technical field of vehicles, and discloses an automatic wheel aligning method and device.The method is suitable for an electric power steering system (EPS) of a target vehicle, the EPS comprises a power assisting module and a dormancy module, and the method comprises the steps that when a lower high voltage signal of the target vehicle is received, a timer is started; when the timer is not finished, if the target vehicle meets a preset wheel return activation condition, the power assisting module activates a wheel return control function, and wheels of the target vehicle are driven to return; and when the timer ends, the dormancy module responds to the lower high-voltage signal to control the EPS to enter a dormancy state. According to the technical scheme, the electric power steering system can serve as a control node, the timer is started to enable the EPS to enter the dormant state in a delayed mode, the wheels of the target vehicle are driven to return to the right position when the timer is not finished, an external controller is not needed, delay of signal transmission and signal processing can be effectively reduced, and the wheel return efficiency is effectively improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle technology, and in particular to a method and device for automatically returning a wheel to its proper position. Background Art

[0002] With the progress and development of the country, almost every family owns a family car, and cars have now become an indispensable tool for people's daily commuting. In actual use scenarios, it is easy for the wheels to not be returned to the correct position after parking, which may cause the elastic elements in the suspension system (such as shock absorbers, swing arm bushings, etc.) and the steering rods in the steering system to be under stress. This phenomenon is usually called "fatigue accumulation" or "fatigue damage". The accumulated fatigue will gradually lead to the performance degradation of the components, and may eventually cause failures or damage. If the angle of the wheel that is not returned to the correct position is too large, it will also cause excessive force on one side of the tire, especially at the shoulder position. In the long run, it will accelerate tire fatigue aging and pose certain safety hazards. In terms of safety, if the wheel is not returned to the correct position when parking, the next time the vehicle is started, there may be a situation where the wheel direction is not returned in time after the vehicle is started, causing the vehicle to not drive as the driver intended, and traffic safety accidents may occur in the case of negligence.

[0003] Existing methods for automatic wheel return usually utilize an external controller, such as a power delay relay, to keep the power on after the vehicle is powered off, to ensure that the steering system can control the wheel return. However, it is difficult to quickly respond to wheel return requirements using an external controller, resulting in low wheel return efficiency. Summary of the invention

[0004] In view of the above problems, an embodiment of the present invention provides a method and device for automatic wheel alignment, which is used to solve the technical problem in the prior art that it is difficult to quickly respond to the wheel alignment demand using an external controller, resulting in low efficiency of wheel alignment.

[0005] According to one aspect of an embodiment of the present invention, a method for automatically returning a wheel to its original position is provided, which is applicable to an electric power steering system (EPS) of a target vehicle, wherein the EPS includes a power assist module and a sleep module, and the method includes:

[0006] When receiving the down high voltage signal from the target vehicle, starting a timer;

[0007] The power assist module activates the wheel return control function to drive the wheel of the target vehicle to return to the center position if the target vehicle meets the preset wheel return activation condition before the timer ends;

[0008] When the timer ends, the sleep module responds to the lower high voltage signal to control the EPS to enter a sleep state.

[0009] According to one aspect of an embodiment of the present invention, an electric power steering system (EPS) is provided, wherein the EPS comprises a signal processing module, a power assist module and a sleep module:

[0010] A signal processing module, used for starting a timer when receiving a down high voltage signal from the target vehicle;

[0011] The power assist module is used to activate the wheel return control function and drive the wheel of the target vehicle to return to the center when the timer has not expired and the target vehicle meets the preset wheel return activation condition;

[0012] The sleep module is used to respond to the lower high voltage signal when the timer ends to control the EPS to enter a sleep state.

[0013] In an optional manner, the signal processing module further includes:

[0014] A vehicle node signal acquisition unit, used to enable preset configuration parameters of the electric power steering system, and acquire corresponding vehicle node signals according to the preset configuration parameters, wherein the vehicle node signals include gear position signals, seat belt status signals, door status signals, vehicle controller status and seat sensor signals;

[0015] The lower high-voltage signal receiving unit is used to determine whether the lower high-voltage signal of the target vehicle is received according to the whole vehicle node signal.

[0016] In an optional manner, the lower high voltage signal receiving unit is further used for:

[0017] When it is determined according to the vehicle node signal that the preset driver leaving vehicle conditions are met, it is determined that the power-off high-voltage signal of the target vehicle is received, and the preset driver leaving vehicle conditions include that the current gear position of the target vehicle is P gear, the seat belt jumps from a locked state to an unlocked state, the door jumps from a closed state to an open state, the vehicle controller is in a non-high-voltage state, and the driver leaves the seat.

[0018] In an optional manner, the lower high voltage signal receiving unit is further used for:

[0019] When the sensor pressure value of the driver's seat drops within a preset threshold range, it is determined that the driver has left the seat.

[0020] In an optional manner, the wheel return activation condition includes an EPS function judgment condition and a target vehicle driving demand judgment condition;

[0021] The electric power steering system function judgment conditions include that the current steering wheel steering torque is less than or equal to a first preset value and the continuous action time is greater than or equal to a preset time, the vehicle driving assistance function is in an inactive state, and the current steering wheel angle is greater than or equal to a second preset value;

[0022] The target vehicle driving demand judgment condition is that, within the ignition cycle when the lower high-voltage signal of the target vehicle is received, the vehicle speed of the target vehicle is greater than a third preset value.

[0023] In an optional manner, the boost module is further used for:

[0024] The steering wheel of the target vehicle is driven to rotate at a preset angular speed, and the wheels of the target vehicle are driven to adjust from a current direction to a direction of a straight-ahead driving state through the steering wheel of the target vehicle; wherein the preset angular speed is determined based on the maximum angle of the steering wheel, and the time taken for the steering wheel to rotate from the maximum angle to the position of the straight-ahead driving state at the preset angular speed is less than the first preset time length.

[0025] In an optional manner, the EPS further includes an angle overshoot module, configured to:

[0026] The current angle of the steering wheel is adjusted to a preset angle, wherein the preset angle is determined by performing a steering performance test on the target vehicle.

[0027] In an optional manner, the boost module is further used for:

[0028] When driving the wheels of the target vehicle to return to the center, if an abnormal situation is detected, the wheel return control function is exited, wherein the abnormal situation includes at least one of the target vehicle's speed exceeding a fourth preset value, the vehicle's gear is switched from P gear to non-P gear, the steering wheel is manually taken over, the driving assistance system is activated, an instruction to exit the wheel return control function is received, the electric power steering system has an internal fault, the motor is abnormal, and the wheel rotation is blocked.

[0029] In an optional manner, the boost module is further used for:

[0030] Wheel rotation resistance is determined when at least one of the steering wheel angle change rate is lower than a fifth preset value, the motor current exceeds the maximum current for a second preset time period, and the motor operates at full load for a third preset time period.

[0031] According to another aspect of an embodiment of the present invention, there is provided a wheel automatic straightening device, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus;

[0032] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the above-mentioned wheel automatic straightening method.

[0033] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein at least one executable instruction is stored in the storage medium, and when the executable instruction is executed on the automatic wheel righting device / electric power steering system, the automatic wheel righting device / electric power steering system performs the operation of the automatic wheel righting method as described above.

[0034] The embodiment of the present invention uses an electric power steering system as a control node. When a lower high-voltage signal of the target vehicle is received, a timer is started to make the sleep module respond to the lower high-voltage signal of the whole vehicle with a delay, and the electric power steering system is controlled to enter sleep with a delay, so as to provide sufficient power for the wheel return. Before the timer ends, when the target vehicle meets the preset wheel return activation conditions, the wheels of the target vehicle are driven to return to the center through the power-assist module. The electric power steering system can be used as a control node to complete the signal delay execution and the wheel return control execution without the aid of an external controller. It can not only effectively reduce the delay of signal transmission and signal processing, effectively improve the efficiency of wheel return control, but also effectively reduce the equipment deployment cost.

[0035] Furthermore, the embodiment of the present invention adjusts the current angle of the steering wheel by a preset angle, which can effectively reduce the deviation caused by the rebound phenomenon during the steering wheel returning to the center position, so that the steering wheel and the wheels are both in a straight-line driving state. When the vehicle is started next time, it is beneficial to improve the controllability of the vehicle's direction and can effectively ensure driving safety.

[0036] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0038] Figure 1 A schematic diagram showing a flow chart of a method for automatically returning a wheel to its proper position according to an embodiment of the present invention is shown;

[0039] Figure 2 A schematic diagram showing a process flow of a delayed response to a high-voltage signal of an electric power steering system provided by an embodiment of the present invention is shown;

[0040] Figure 3A schematic diagram of the structure of an electric power steering system controller provided by an embodiment of the present invention is shown;

[0041] Figure 4 A schematic structural diagram of an electric power steering system provided by an embodiment of the present invention is shown;

[0042] Figure 5 A schematic structural diagram of an automatic wheel straightening device provided in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0043] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0044] Figure 1 A flow chart of a wheel automatic straightening method provided by an embodiment of the present invention is shown. The method is applicable to an electric power steering system EPS of a target vehicle, wherein the EPS includes a power assist module and a sleep module.

[0045] like Figure 1 As shown, the method comprises the following steps:

[0046] Step 110: When receiving the down high voltage signal from the target vehicle, start the timer;

[0047] The electric power steering system provides a function of turning on and off the wheel return control mode, and can determine to enter the wheel return control mode by receiving a user's input command. For example, the user can turn on and off the wheel return control model on the host CDC (Cockpit Domain Controller).

[0048] When the wheel return control model is on, the electric power steering system can start the timer to delay the response to the lower high-voltage signal to provide power for the wheel return mode. If the wheel return mode is off, the electric power steering system processes the received lower high-voltage signal with conventional logic, that is, when receiving the lower high-voltage signal, it immediately enters the sleep state.

[0049] In the embodiment of the present invention, the electric power steering system receives a vehicle signal from Ready to Not Ready in the wheel return control mode, which means that the lower high voltage signal is received.

[0050] When the electric power steering system of the embodiment of the present invention receives a lower high-voltage signal from the target vehicle in the wheel return control mode, the timer is started so that the power is maintained when the sleep module timer of the electric power steering system has not expired to provide sufficient power to drive the wheel to return.

[0051] Step 120: When the timer has not expired, if the target vehicle meets a preset wheel alignment activation condition, the power assist module activates a wheel alignment control function to drive the wheels of the target vehicle to align.

[0052] In the embodiment of the present invention, in the wheel control mode, the timer is used to time the first delay time, wherein the first delay time can be set to 3 seconds, 5 seconds or 7 seconds according to actual needs, and the first delay time cannot be too short, and needs to be greater than the time required for the steering wheel to rotate from the maximum angle to the middle position. Before the first delay time ends, that is, before the timer ends, it is detected and determined whether the target vehicle meets the preset activation conditions, and only when the conditions are met, the wheel return control function is activated.

[0053] In the embodiment of the present invention, the wheel return activation conditions of the target vehicle can be set according to actual needs, for example, the functional conditions of the electric power steering system itself and the driving state of the vehicle can be included.

[0054] When the wheel return control function is activated, the electric power steering system acts as a control node and provides power to drive the wheels of the target vehicle to return to the center.

[0055] Step 130: When the timer ends, the sleep module responds to the lower high voltage signal to control the EPS to enter a sleep state.

[0056] The embodiment of the present invention uses an electric power steering system as a control node. When a lower high-voltage signal of the target vehicle is received, a timer is started to make the sleep module respond to the lower high-voltage signal of the whole vehicle with a delay, and the electric power steering system is controlled to enter sleep with a delay, so as to provide sufficient power for the wheel return. Before the timer ends, when the target vehicle meets the preset wheel return activation conditions, the wheels of the target vehicle are driven to return to the center through the power-assist module. The electric power steering system can be used as a control node to complete the signal delay execution and the wheel return control execution without the aid of an external controller. It can not only effectively reduce the delay of signal transmission and signal processing, effectively improve the efficiency of wheel return control, but also effectively reduce the equipment deployment cost.

[0057] In an optional manner, the wheel automatic straightening method further includes:

[0058] Turning on preset configuration parameters of the electric power steering system, and acquiring corresponding vehicle node signals according to the preset configuration parameters, wherein the vehicle node signals include a gear position signal, a seat belt status signal, a door status signal, a vehicle controller status, and a seat sensor signal;

[0059] The receiving of the lower high-voltage signal of the target vehicle is determined according to the whole vehicle node signal.

[0060] In an embodiment of the present invention, it is necessary to enable the preset configuration parameters of the electric power steering system to monitor the relevant vehicle signals. The preset configuration parameters are internal configuration words related to the vehicle node signals, such as internal configuration words related to the gear position signal for obtaining the gear position signal.

[0061] In an embodiment of the present invention, the electric power steering system determines whether the lower high-voltage signal of the target vehicle is received based on the received vehicle node signal. For example, when a vehicle node signal that meets preset conditions is received, it can be regarded as receiving the lower high-voltage signal of the vehicle (Not Ready signal).

[0062] The vehicle node signals in the embodiment of the present invention include gear signals, seat belt status signals, door status signals, vehicle controller status and seat sensor signals. A variety of vehicle node signals are combined to determine whether the target vehicle's lower high-voltage signal is received, so as to accurately determine whether to start the timer, so as to control the electric power steering system to delay entering the sleep state, provide power for wheel return control, effectively reduce misjudgment, and ensure wheel return in necessary scenarios, such as wheel return when the driver leaves the vehicle, thereby effectively improving the accuracy and reliability of wheel return control.

[0063] Please refer to Table 1 for vehicle-related controller signals provided in an embodiment of the present invention.

[0064] Table 1 Vehicle related controller signals

[0065] VCU Vehicle Control Unit EPS Electric Power Steering, electric power steering system CDC Cockpit Domain Controller IBCM Integrated Body Control Module, Integrated Body Control Module DCM Door Control Module

[0066] In an optional manner, the step of determining, according to the vehicle node signal, that a lower high-voltage signal of the target vehicle is received further includes:

[0067] When it is determined according to the vehicle node signal that the preset driver leaving vehicle conditions are met, it is determined that the power-off high-voltage signal of the target vehicle is received, and the preset driver leaving vehicle conditions include that the current gear position of the target vehicle is P gear, the seat belt jumps from a locked state to an unlocked state, the door jumps from a closed state to an open state, the vehicle controller is in a non-high-voltage state, and the driver leaves the seat.

[0068] In an embodiment of the present invention, a plurality of conditions are comprehensively considered to determine whether the preset driver leaving vehicle conditions are met, including the current gear being P gear, the seat belt changing from a locked state to an unlocked state, the door changing from a closed state to an open state, the vehicle controller being in a non-high-voltage state, and the driver leaving the seat, to ensure that the next step is executed in the driver leaving vehicle scenario.

[0069] In an embodiment of the present invention, when the driver leaving the vehicle condition is met, it is determined that this is a driver leaving the vehicle scenario. In this scenario, it is determined that the lower high-voltage signal of the target vehicle is received, ensuring that the wheel centering control function is activated in the driver leaving the vehicle scenario. This can not only effectively improve the efficiency of the wheel centering control, but also effectively avoid the unsafe risks caused by wheel centering when the driver is still taking over or about to take over the vehicle.

[0070] In an optional manner, determining whether the driver leaves the seat includes:

[0071] When the sensor pressure value of the driver's seat drops within a preset threshold range, it is determined that the driver has left the seat.

[0072] In an embodiment of the present invention, the driver's seat is provided with a sensor, which may be a gravity sensor or a pressure sensor. At the moment the driver leaves the seat, the pressure value of the sensor changes greatly. The embodiment of the present invention can determine that the driver has left the seat by judging the change in the pressure value of the driver's seat sensor.

[0073] In an optional manner, the method further includes:

[0074] The first preset time length is set by delaying with a delay device or a delay function, so that the electric power steering system responds to the lower high-voltage signal at the end of the first preset time length to enter a dormant state.

[0075] See also Figure 2 , provides a flow chart of a delayed response of an electric power steering system to a high voltage signal. In an embodiment of the present invention, the electric power steering system has a built-in signal processing module, a power module, a sleep module, and the like.

[0076] The signal processing module in the electric power steering system receives the vehicle node signal from the CAN network to determine whether the Not Ready signal is received. Figure 2 As shown, if the electric power steering system does not perform delayed response processing on the received signal, the signal processing module sends the received Not Ready signal to the power assist module. The power assist module receives the Not Ready signal and immediately stops providing power. At this time, the sleep module controls the electric power steering system to enter sleep mode.

[0077] The electric power assist system of the embodiment of the present application performs a delayed response processing on the received Not Ready signal, such as Figure 2As shown, the signal processing in the electric power steering system starts the timer when receiving the Not Ready signal. The timer is used for the power module to provide power normally to complete the wheel return control before the timer timing duration ends. After the timing duration is received, the power module does not provide power. For example, the timing duration can be set to five seconds. Within five seconds after the timer is started, the power module receives the Not Ready signal and provides power normally; five seconds after the timer is started, the power module receives the Not Ready signal and no longer provides power. When the wheel power is completed or the timer timing duration ends, the power module responds to the Not Ready signal through the sleep module to control the electric power steering system to enter the sleep state.

[0078] The embodiment of the present invention uses the electric power steering system as a control node, uses a delay device or a delay function to set a first preset time length and uses a timer to make the sleep module of the electric power steering system respond to the lower high-voltage signal of the whole vehicle with a delay, so that the electric power steering system can delay entering the sleep state, and can provide sufficient power for the wheel return control before the timer ends, ensuring that the wheel return control can be executed, and using the electric power steering system as a control node to complete the signal delay execution and the wheel return control execution without the aid of an external controller. It can not only effectively reduce the delay of signal transmission and signal processing, effectively improve the efficiency of wheel return control, but also effectively reduce the equipment deployment cost.

[0079] In an optional manner, the wheel return activation condition includes an electric power steering system function judgment condition and a target vehicle driving demand judgment condition.

[0080] In an embodiment of the present invention, the wheel return activation conditions include conditions related to the electric power steering system and conditions related to the target vehicle. Only when these conditions are met will the wheel return control function be activated to ensure that the wheel return control function can be executed normally and the wheel return control is completed, thereby effectively improving the reliability and accuracy of the wheel return control.

[0081] The electric power steering system function judgment conditions include that the current steering torque of the steering wheel is less than or equal to a first preset value and the continuous action time is greater than or equal to a preset time, the vehicle driving assistance function is in an inactive state, and the current steering wheel angle is greater than or equal to a second preset value.

[0082] In an embodiment of the present invention, the first preset value, the preset time and the second preset value can be set according to actual needs. For example, the current steering torque of the steering wheel is less than or equal to the first preset value and the continuous action time is greater than or equal to the preset time. It can be: the current steering torque of the steering wheel is less than or equal to 1.5Nm, and the duration reaches 100ms; the vehicle driving assistance function includes at least one of LKA (Lane Keeping Assist, lane keeping assist system), APA (Automatic Parking Assist, automatic parking assist system) and other functions; the second preset value can be ±20°.

[0083] The embodiment of the present invention combines multiple electric power steering system function judgments to meet the electric power steering system function judgment conditions, ensuring that when the electric power steering system function judgment conditions are met, the driver has not taken over the steering wheel, the wheels need to be returned to the center, and the whole vehicle is not in an assisted driving scenario, thereby accurately determining the scenarios where wheel return control is required, and improving the accuracy of the wheel return control.

[0084] The target vehicle driving demand judgment condition is that, within the ignition cycle when the lower high-voltage signal of the target vehicle is received, the vehicle speed of the target vehicle is greater than a third preset value.

[0085] In an embodiment of the present invention, the target vehicle driving demand judgment condition can determine whether the target vehicle has been driven in the current ignition cycle, so as to accurately determine whether the target vehicle has a wheel return control demand. For example, in a preset time period before receiving the target, the speed of the target vehicle is 5 km / h.

[0086] In an optional manner, the method further includes:

[0087] When the wheel return control function is activated, wheel return reminder information is displayed on the vehicle computer system of the target vehicle, and the target vehicle is controlled to start a light reminder signal and / or a sound reminder signal.

[0088] In an embodiment of the present invention, when the wheel return control function is activated, the electric power steering system sends a relevant signal to a relevant controller to generate a reminder message to remind people inside and outside the vehicle that the wheel return control function is being activated. For example, when the wheel return control function is activated, the electric power steering system sends an activation reminder signal to the vehicle's cockpit domain controller, so that the cockpit domain controller displays relevant reminder information on the vehicle-side human-machine interface to remind people inside the vehicle; and sends a reminder signal to the door control module, which can start a double flash reminder or sound reminder information to remind people outside the vehicle. After the electric power steering system exits control, it automatically exits the reminder. The driver can actively lock the car when the reminder information ends, such as when the double flash is turned off, or leave the Bluetooth range to automatically lock the car.

[0089] When the wheel return control function is activated, the embodiment of the present invention can improve the safety of the wheel return control by reminding people inside and outside the vehicle to avoid dangerous operations caused by relevant people during the activation process.

[0090] In an optional manner, driving the wheels of the target vehicle to return to the correct position includes:

[0091] The steering wheel of the target vehicle is driven to rotate at a preset angular speed, and the wheels of the target vehicle are driven to adjust from a current direction to a direction of a straight-ahead driving state through the steering wheel of the target vehicle; wherein the preset angular speed is determined based on the maximum angle of the steering wheel, and the time taken for the steering wheel to rotate from the maximum angle to the position of the straight-ahead driving state at the preset angular speed is less than the first preset duration, and the first preset duration is the timing duration of the timer.

[0092] In the embodiment of the present invention, the preset angular velocity may be determined by actual vehicle calibration, for example, 180° / s, 200° / s, etc. In the embodiment of the present invention, the preset angular velocity is 180° / s as an example, and the longest time for the steering wheel to be adjusted from the maximum angle (1.5 turns, about 540°) to the middle position is about 3 seconds, which can meet the time requirement of the driver from getting off the vehicle to locking the vehicle and leaving.

[0093] In an embodiment of the present invention, the time taken for the steering wheel to rotate from the maximum angle to the straight-ahead driving position at a preset angular velocity is less than the delayed sleep duration of the electric power steering system, thereby ensuring that the wheel return control is completed during the delayed sleep stage of the electric power steering system.

[0094] In an optional manner, after the wheels of the target vehicle are driven to return to the correct position, the method further includes:

[0095] The current angle of the steering wheel is adjusted to a preset angle, wherein the preset angle is determined by performing a steering performance test on the target vehicle.

[0096] Due to tire deformation, rubber suspension, etc., the steering wheel deforms during rotation. The stress of the elastic element causes the steering wheel to rebound, resulting in a certain deviation between the steering wheel angle and the center position after exiting the wheel return control mode.

[0097] The embodiment of the present invention determines the preset angle by performing a steering performance test on the target vehicle, and after exiting the wheel return control mode, adjusts the steering wheel angle by the preset angle to reduce the steering wheel deviation. The preset angle can be determined to be 15° by performing a steering performance test on the target vehicle.

[0098] The embodiment of the present invention adjusts the current angle of the steering wheel by a preset angle, which can effectively reduce the deviation caused by the rebound phenomenon during the steering wheel returning to the center position, so that the steering wheel and the wheels are both in a straight-line driving state. When the vehicle is started next time, it is beneficial to improve the controllability of the vehicle direction and effectively ensure driving safety.

[0099] In an optional manner, the wheel automatic straightening method further includes:

[0100] When driving the wheels of the target vehicle to return to the center, if an abnormal situation is detected, the wheel return control function is exited, wherein the abnormal situation includes at least one of the target vehicle's speed exceeding a fourth preset value, the vehicle's gear is switched from P gear to non-P gear, the steering wheel is manually taken over, the driving assistance system is activated, an instruction to exit the wheel return control mode is received, the electric power steering system has an internal fault, the motor is abnormal, and the wheel rotation is blocked.

[0101] Among them, the fourth preset value can be set to 0.5Km / h. Such a scenario may be a scenario where the vehicle slides down a slope due to the release of the vehicle handbrake on a slope. At this time, it is necessary to exit the wheel control mode to avoid unsafe situations. During the wheel return process, the steering wheel rotates synchronously. If the steering torque of the steering wheel is detected to exceed 2.5Nm and the duration exceeds 200ms, it is judged that the steering wheel is taken over manually and the wheel return control mode is exited.

[0102] In an embodiment of the present invention, after the wheel return control function is activated, the wheels of the target vehicle are driven to return to the center. If an abnormal situation is detected during this process, the wheel return control function is exited to avoid unsafe situations caused by abnormal situations and ensure the safety of the wheel return control.

[0103] In an optional manner, if an abnormal situation is detected after the wheel centering control mode is turned on and before the wheel centering control function is activated, the wheel centering control mode is not exited, and monitoring is continued to see if there is any abnormal situation.

[0104] In an optional manner, the wheel automatic straightening method further includes:

[0105] Wheel rotation resistance is determined when at least one of the steering wheel angle change rate is lower than a fifth preset value, the motor current exceeds the maximum current for a second preset time period, and the motor operates at full load for a third preset time period.

[0106] In the embodiment of the present invention, the fifth preset value, the second preset duration and the third preset duration can be set according to actual needs, wherein the fifth preset value can be set to 28° / s, 20° / s or 22° / s, etc.

[0107] The embodiment of the present invention determines whether there is wheel rotation block from multiple aspects such as steering wheel, motor current and motor load, which can effectively improve the accuracy of wheel rotation block judgment, so that the wheel return control function can be exited in time when the wheel rotation block occurs, which is beneficial to improving the safety of wheel return control.

[0108] In an optional method, the battery management system BMS (Battery Management System) can be used to monitor the battery voltage in real time. When the battery voltage is too low, the battery is actively charged through DC-DC, thereby ensuring that the battery will not be fed back, ensuring that the electric power steering system can work stably, and improving the reliability and stability of the wheel return control.

[0109] See also Figure 3 In an optional manner, a schematic diagram of the structure of an electric power steering system controller provided by an embodiment of the present invention is provided. The controller receives relevant signals, such as vehicle signals, and performs functions such as basic assistance, friction compensation, damping compensation, active self-centering, special mode switching, automatic self-centering after power-off, automatic parking, lane keeping, etc., and sends relevant signals to the steering gear to perform corresponding operations.

[0110] The implementation of the embodiments of the present invention has the following beneficial effects:

[0111] The embodiment of the present invention uses an electric power steering system as a control node. When a lower high-voltage signal of the target vehicle is received, a timer is started to make the sleep module respond to the lower high-voltage signal of the whole vehicle with a delay, and the electric power steering system is controlled to enter sleep with a delay, so as to provide sufficient power for the wheel return. Before the timer ends, when the target vehicle meets the preset wheel return activation conditions, the wheels of the target vehicle are driven to return to the center through the power-assist module. The electric power steering system can be used as a control node to complete the signal delay execution and the wheel return control execution without the aid of an external controller. It can not only effectively reduce the delay of signal transmission and signal processing, effectively improve the efficiency of wheel return control, but also effectively reduce the equipment deployment cost.

[0112] Furthermore, the embodiment of the present invention adjusts the current angle of the steering wheel by a preset angle, which can effectively reduce the deviation caused by the rebound phenomenon during the steering wheel returning to the center position, so that the steering wheel and the wheels are both in a straight-line driving state. When the vehicle is started next time, it is beneficial to improve the controllability of the vehicle's direction and can effectively ensure driving safety.

[0113] Figure 4 FIG. 2 shows a schematic diagram of the structure of an electric power steering system provided by an embodiment of the present invention. Figure 4As shown, the electric power steering system 400 includes: a signal processing module 410, a power module 420 and a sleep module 430, wherein:

[0114] The signal processing module 410 is used to start a timer when receiving a down high voltage signal from the target vehicle;

[0115] The power assist module 420 is used to activate the wheel return control function and drive the wheel of the target vehicle to return to the center position if the target vehicle meets the preset wheel return activation condition before the timer ends;

[0116] The sleep module 430 is used to respond to the lower high voltage signal when the timer ends to control the EPS to enter a sleep state.

[0117] In an optional manner, the signal processing module 410 further includes:

[0118] A vehicle node signal acquisition unit, used to enable preset configuration parameters of the electric power steering system, and acquire corresponding vehicle node signals according to the preset configuration parameters, wherein the vehicle node signals include gear position signals, seat belt status signals, door status signals, vehicle controller status and seat sensor signals;

[0119] The lower high-voltage signal receiving unit is used to determine whether the lower high-voltage signal of the target vehicle is received according to the whole vehicle node signal.

[0120] In an optional manner, the lower high voltage signal receiving unit is further used for:

[0121] When it is determined according to the vehicle node signal that the preset driver leaving vehicle conditions are met, it is determined that the power-off high-voltage signal of the target vehicle is received, and the preset driver leaving vehicle conditions include that the current gear position of the target vehicle is P gear, the seat belt jumps from a locked state to an unlocked state, the door jumps from a closed state to an open state, the vehicle controller is in a non-high-voltage state, and the driver leaves the seat.

[0122] In an optional manner, the lower high voltage signal receiving unit is further used for:

[0123] When the sensor pressure value of the driver's seat drops within a preset threshold range, it is determined that the driver has left the seat.

[0124] In an optional manner, the wheel return activation condition includes an EPS function judgment condition and a target vehicle driving demand judgment condition;

[0125] The electric power steering system function judgment conditions include that the current steering wheel steering torque is less than or equal to a first preset value and the continuous action time is greater than or equal to a preset time, the vehicle driving assistance function is in an inactive state, and the current steering wheel angle is greater than or equal to a second preset value;

[0126] The target vehicle driving demand judgment condition is that, within the ignition cycle when the lower high-voltage signal of the target vehicle is received, the vehicle speed of the target vehicle is greater than a third preset value.

[0127] In an optional manner, the boost module 420 is further used for:

[0128] The steering wheel of the target vehicle is driven to rotate at a preset angular speed, and the wheels of the target vehicle are driven to adjust from a current direction to a direction of a straight-ahead driving state through the steering wheel of the target vehicle; wherein the preset angular speed is determined based on the maximum angle of the steering wheel, and the time taken for the steering wheel to rotate from the maximum angle to the position of the straight-ahead driving state at the preset angular speed is less than the first preset time length.

[0129] In an optional manner, the EPS further includes an angle overshoot module, configured to:

[0130] The current angle of the steering wheel is adjusted to a preset angle, wherein the preset angle is determined by performing a steering performance test on the target vehicle.

[0131] In an optional manner, the boost module 420 is further used for:

[0132] When driving the wheels of the target vehicle to return to the center, if an abnormal situation is detected, the wheel return control function is exited, wherein the abnormal situation includes at least one of the target vehicle's speed exceeding a fourth preset value, the vehicle's gear is switched from P gear to non-P gear, the steering wheel is manually taken over, the driving assistance system is activated, an instruction to exit the wheel return control mode is received, the electric power steering system has an internal fault, the motor is abnormal, and the wheel rotation is blocked.

[0133] In an optional manner, the boost module 420 is further used for:

[0134] Wheel rotation resistance is determined when at least one of the steering wheel angle change rate is lower than a fifth preset value, the motor current exceeds the maximum current for a second preset time period, and the motor operates at full load for a third preset time period.

[0135] The embodiment of the present invention uses an electric power steering system as a control node. When a lower high-voltage signal of the target vehicle is received, a timer is started to make the sleep module respond to the lower high-voltage signal of the whole vehicle with a delay, and the electric power steering system is controlled to enter sleep with a delay, so as to provide sufficient power for the wheel return. Before the timer ends, when the target vehicle meets the preset wheel return activation conditions, the wheels of the target vehicle are driven to return to the center through the power-assist module. The electric power steering system can be used as a control node to complete the signal delay execution and the wheel return control execution without the aid of an external controller. It can not only effectively reduce the delay of signal transmission and signal processing, effectively improve the efficiency of wheel return control, but also effectively reduce the equipment deployment cost.

[0136] Furthermore, the embodiment of the present invention adjusts the current angle of the steering wheel by a preset angle, which can effectively reduce the deviation caused by the rebound phenomenon during the steering wheel returning to the center position, so that the steering wheel and the wheels are both in a straight-line driving state. When the vehicle is started next time, it is beneficial to improve the controllability of the vehicle's direction and can effectively ensure driving safety.

[0137] Figure 5 The schematic structural diagram of an embodiment of the automatic wheel straightening device of the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the automatic wheel straightening device.

[0138] like Figure 5 As shown, the wheel automatic straightening device may include: a processor (processor) 502, a communication interface (Communications Interface) 504, a memory (memory) 506, and a communication bus 508.

[0139] The processor 502, the communication interface 504, and the memory 506 communicate with each other via the communication bus 508. The communication interface 504 is used to communicate with other devices such as a client or other server network elements. The processor 502 is used to execute the program 510, which can specifically execute the relevant steps in the above-mentioned embodiment of the method for automatic wheel alignment.

[0140] Specifically, the program 510 may include program code including computer-executable instructions.

[0141] The processor 502 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the wheel automatic straightening device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0142] The memory 506 is used to store the program 510. The memory 506 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0143] Program 510 can be specifically called by processor 502 to enable the wheel automatic straightening device to perform the following operations:

[0144] When receiving the down high voltage signal from the target vehicle, starting a timer;

[0145] The power assist module activates the wheel return control function to drive the wheel of the target vehicle to return to the center position if the target vehicle meets the preset wheel return activation condition before the timer ends;

[0146] When the timer ends, the sleep module responds to the lower high voltage signal to control the EPS to enter a sleep state.

[0147] In an optional manner, the program 510 may be called by the processor 502 to enable the wheel automatic straightening device to perform the following operations:

[0148] Turning on the preset configuration parameters of the EPS, and acquiring corresponding vehicle node signals according to the preset configuration parameters, wherein the vehicle node signals include a gear position signal, a seat belt status signal, a door status signal, a vehicle controller status, and a seat sensor signal;

[0149] The receiving of the lower high-voltage signal of the target vehicle is determined according to the whole vehicle node signal.

[0150] In an optional manner, the program 510 may be called by the processor 502 to enable the wheel automatic straightening device to perform the following operations:

[0151] When it is determined according to the vehicle node signal that the preset driver leaving vehicle conditions are met, it is determined that the power-off high-voltage signal of the target vehicle is received, and the preset driver leaving vehicle conditions include that the current gear position of the target vehicle is P gear, the seat belt jumps from a locked state to an unlocked state, the door jumps from a closed state to an open state, the vehicle controller is in a non-high-voltage state, and the driver leaves the seat.

[0152] In an optional manner, the program 510 may be called by the processor 502 to enable the wheel automatic straightening device to perform the following operations:

[0153] When the sensor pressure value of the driver's seat drops within a preset threshold range, it is determined that the driver has left the seat.

[0154] In an optional manner, the program 510 may be called by the processor 502 to enable the wheel automatic straightening device to perform the following operations:

[0155] The first preset time length is set by delaying with a delay device or a delay function, so that the electric power steering system responds to the lower high-voltage signal at the end of the first preset time length to enter a dormant state.

[0156] In an optional manner, the program 510 may be called by the processor 502 to cause the wheel automatic straightening device to perform the following operations.

[0157] The EPS function judgment condition includes that the current steering wheel steering torque is less than or equal to a first preset value and the continuous action time is greater than or equal to a preset time, the vehicle driving assistance function is in an inactive state, and the current steering wheel angle is greater than or equal to a second preset value;

[0158] The target vehicle driving demand judgment condition is that, within the ignition cycle when the lower high-voltage signal of the target vehicle is received, the vehicle speed of the target vehicle is greater than a third preset value.

[0159] In an optional manner, the program 510 may be called by the processor 502 to enable the wheel automatic straightening device to perform the following operations:

[0160] When the wheel return control function is activated, wheel return reminder information is displayed on the vehicle computer system of the target vehicle, and the target vehicle is controlled to start a light reminder signal and / or a sound reminder signal.

[0161] In an optional manner, the program 510 may be called by the processor 502 to enable the wheel automatic straightening device to perform the following operations:

[0162] The steering wheel of the target vehicle is driven to rotate at a preset angular speed, and the wheels of the target vehicle are driven to adjust from a current direction to a direction of a straight-ahead driving state through the steering wheel of the target vehicle; wherein the preset angular speed is determined based on the maximum angle of the steering wheel, and the time taken for the steering wheel to rotate from the maximum angle to the position of the straight-ahead driving state at the preset angular speed is less than the first preset time length.

[0163] In an optional manner, the program 510 may be called by the processor 502 to enable the wheel automatic straightening device to perform the following operations:

[0164] The current angle of the steering wheel is adjusted to a preset angle, wherein the preset angle is determined by performing a steering performance test on the target vehicle.

[0165] In an optional manner, the program 510 may be called by the processor 502 to enable the wheel automatic straightening device to perform the following operations:

[0166] When driving the wheels of the target vehicle to return to the center, if an abnormal situation is detected, the wheel return control function is exited, wherein the abnormal situation includes at least one of the target vehicle's speed exceeding a fourth preset value, the vehicle's gear is switched from P gear to non-P gear, the steering wheel is manually taken over, the driving assistance system is activated, an instruction to exit the wheel return control mode is received, the electric power steering system has an internal fault, the motor is abnormal, and the wheel rotation is blocked.

[0167] In an optional manner, the program 510 may be called by the processor 502 to enable the wheel automatic straightening device to perform the following operations:

[0168] Wheel rotation resistance is determined when at least one of the steering wheel angle change rate is lower than a fifth preset value, the motor current exceeds the maximum current for a second preset time period, and the motor operates at full load for a third preset time period.

[0169] The embodiment of the present invention uses an electric power steering system as a control node. When a lower high-voltage signal of the target vehicle is received, a timer is started to make the sleep module respond to the lower high-voltage signal of the whole vehicle with a delay, and the electric power steering system is controlled to enter sleep with a delay, so as to provide sufficient power for the wheel return. Before the timer ends, when the target vehicle meets the preset wheel return activation conditions, the wheels of the target vehicle are driven to return to the center through the power-assist module. The electric power steering system can be used as a control node to complete the signal delay execution and the wheel return control execution without the aid of an external controller. It can not only effectively reduce the delay of signal transmission and signal processing, effectively improve the efficiency of wheel return control, but also effectively reduce the equipment deployment cost.

[0170] Furthermore, the embodiment of the present invention adjusts the current angle of the steering wheel by a preset angle, which can effectively reduce the deviation caused by the rebound phenomenon during the steering wheel returning to the center position, so that the steering wheel and the wheels are both in a straight-line driving state. When the vehicle is started next time, it is beneficial to improve the controllability of the vehicle's direction and can effectively ensure driving safety.

[0171] An embodiment of the present invention provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction runs on an automatic wheel straightening device / electric power steering system, the automatic wheel straightening device / electric power steering system executes the automatic wheel straightening method in any of the above method embodiments.

[0172] The executable instructions can be specifically used to enable the wheel automatic return device / electric power steering system to perform the following operations:

[0173] When receiving the down high voltage signal from the target vehicle, starting a timer;

[0174] The power assist module activates the wheel return control function to drive the wheel of the target vehicle to return to the center position if the target vehicle meets the preset wheel return activation condition before the timer ends;

[0175] When the timer ends, the sleep module responds to the lower high voltage signal to control the EPS to enter a sleep state.

[0176] In an optional manner, the executable instructions may be used to enable the wheel automatic return device / electric power steering system to perform the following operations:

[0177] Turning on the preset configuration parameters of the EPS, and acquiring corresponding vehicle node signals according to the preset configuration parameters, wherein the vehicle node signals include a gear position signal, a seat belt status signal, a door status signal, a vehicle controller status, and a seat sensor signal;

[0178] The receiving of the lower high-voltage signal of the target vehicle is determined according to the whole vehicle node signal.

[0179] In an optional manner, the executable instructions may be used to enable the wheel automatic return device / electric power steering system to perform the following operations:

[0180] When it is determined according to the vehicle node signal that the preset driver leaving vehicle conditions are met, it is determined that the power-off high-voltage signal of the target vehicle is received, and the preset driver leaving vehicle conditions include that the current gear position of the target vehicle is P gear, the seat belt jumps from a locked state to an unlocked state, the door jumps from a closed state to an open state, the vehicle controller is in a non-high-voltage state, and the driver leaves the seat.

[0181] In an optional manner, the executable instructions may be used to enable the wheel automatic return device / electric power steering system to perform the following operations:

[0182] When the sensor pressure value of the driver's seat drops within a preset threshold range, it is determined that the driver has left the seat.

[0183] In an optional manner, the executable instructions may be used to enable the wheel automatic return device / electric power steering system to perform the following operations:

[0184] The first preset time length is set by delaying with a delay device or a delay function, so that the electric power steering system responds to the lower high-voltage signal at the end of the first preset time length to enter a dormant state.

[0185] In an optional manner, the executable instructions may be used to enable the wheel automatic return device / electric power steering system to perform the following operations:

[0186] The wheel return activation condition includes an electric power steering system function judgment condition and a target vehicle driving demand judgment condition;

[0187] The electric power steering system function judgment conditions include that the current steering wheel steering torque is less than or equal to a first preset value and the continuous action time is greater than or equal to a preset time, the vehicle driving assistance function is in an inactive state, and the current steering wheel angle is greater than or equal to a second preset value;

[0188] The target vehicle driving demand judgment condition is that, within the ignition cycle when the lower high-voltage signal of the target vehicle is received, the vehicle speed of the target vehicle is greater than a third preset value.

[0189] In an optional manner, the executable instructions may be used to enable the wheel automatic return device / electric power steering system to perform the following operations:

[0190] When the wheel return control function is activated, wheel return reminder information is displayed on the vehicle computer system of the target vehicle, and the target vehicle is controlled to start a light reminder signal and / or a sound reminder signal.

[0191] In an optional manner, the executable instructions may be used to enable the wheel automatic return device / electric power steering system to perform the following operations:

[0192] The steering wheel of the target vehicle is driven to rotate at a preset angular speed, and the wheels of the target vehicle are driven to adjust from a current direction to a direction of a straight-ahead driving state through the steering wheel of the target vehicle; wherein the preset angular speed is determined based on the maximum angle of the steering wheel, and the time taken for the steering wheel to rotate from the maximum angle to the position of the straight-ahead driving state at the preset angular speed is less than the first preset time length.

[0193] In an optional manner, the executable instructions may be used to enable the wheel automatic return device / electric power steering system to perform the following operations:

[0194] The current angle of the steering wheel is adjusted to a preset angle, wherein the preset angle is determined by performing a steering performance test on the target vehicle.

[0195] In an optional manner, the executable instructions may be used to enable the wheel automatic return device / electric power steering system to perform the following operations:

[0196] When driving the wheels of the target vehicle to return to the center, if an abnormal situation is detected, the wheel return control function is exited, wherein the abnormal situation includes at least one of the target vehicle's speed exceeding a fourth preset value, the vehicle's gear is switched from P gear to non-P gear, the steering wheel is manually taken over, the driving assistance system is activated, an instruction to exit the wheel return control mode is received, the electric power steering system has an internal fault, the motor is abnormal, and the wheel rotation is blocked.

[0197] In an optional manner, the executable instructions may be used to enable the wheel automatic return device / electric power steering system to perform the following operations:

[0198] Wheel rotation resistance is determined when at least one of the steering wheel angle change rate is lower than a fifth preset value, the motor current exceeds the maximum current for a second preset time period, and the motor operates at full load for a third preset time period.

[0199] The embodiment of the present invention uses an electric power steering system as a control node. When a lower high-voltage signal of the target vehicle is received, a timer is started to make the sleep module respond to the lower high-voltage signal of the whole vehicle with a delay, and the electric power steering system is controlled to enter sleep with a delay, so as to provide sufficient power for the wheel return. Before the timer ends, when the target vehicle meets the preset wheel return activation conditions, the wheels of the target vehicle are driven to return to the center through the power-assist module. The electric power steering system can be used as a control node to complete the signal delay execution and the wheel return control execution without the aid of an external controller. It can not only effectively reduce the delay of signal transmission and signal processing, effectively improve the efficiency of wheel return control, but also effectively reduce the equipment deployment cost.

[0200] Furthermore, the embodiment of the present invention adjusts the current angle of the steering wheel by a preset angle, which can effectively reduce the deviation caused by the rebound phenomenon during the steering wheel returning to the center position, so that the steering wheel and the wheels are both in a straight-line driving state. When the vehicle is started next time, it is beneficial to improve the controllability of the vehicle's direction and can effectively ensure driving safety.

[0201] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0202] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself is a separate embodiment of the present invention.

[0203] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0204] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A method for automatically returning a wheel to its proper position, characterized in that: An electric power steering system EPS applicable to a target vehicle, the EPS comprising a power assist module and a dormant module, the method comprising: When receiving the down high voltage signal from the target vehicle, starting a timer; The power assist module activates the wheel return control function to drive the wheel of the target vehicle to return to the center position if the target vehicle meets the preset wheel return activation condition before the timer ends; When the timer ends, the sleep module responds to the lower high voltage signal to control the EPS to enter a sleep state.

2. The wheel automatic straightening method according to claim 1, characterized in that: Also includes: Turning on the preset configuration parameters of the EPS, and acquiring corresponding vehicle node signals according to the preset configuration parameters, wherein the vehicle node signals include a gear position signal, a seat belt status signal, a door status signal, a vehicle controller status, and a seat sensor signal; The receiving of the lower high-voltage signal of the target vehicle is determined according to the whole vehicle node signal.

3. The wheel automatic straightening method according to claim 2, characterized in that: The step of determining, according to the vehicle node signal, that a lower high-voltage signal of the target vehicle is received also includes: When it is determined according to the vehicle node signal that the preset driver leaving vehicle conditions are met, it is determined that the power-off high-voltage signal of the target vehicle is received, and the preset driver leaving vehicle conditions include that the current gear position of the target vehicle is P gear, the seat belt jumps from a locked state to an unlocked state, the door jumps from a closed state to an open state, the vehicle controller is in a non-high-voltage state, and the driver leaves the seat.

4. The wheel automatic straightening method according to claim 3, characterized in that: Also includes: When the sensor pressure value of the driver's seat drops within a preset threshold range, it is determined that the driver has left the seat.

5. The wheel automatic straightening method according to claim 1, characterized in that: The wheel return activation condition includes an EPS function judgment condition and a target vehicle driving demand judgment condition; The EPS function judgment condition includes that the current steering wheel steering torque is less than or equal to a first preset value and the continuous action time is greater than or equal to a preset time, the vehicle driving assistance function is in an inactive state, and the current steering wheel angle is greater than or equal to a second preset value; The target vehicle driving demand judgment condition is that, within the ignition cycle when the lower high-voltage signal of the target vehicle is received, the vehicle speed of the target vehicle is greater than a third preset value.

6. The wheel automatic straightening method according to claim 1, characterized in that: The driving of the wheels of the target vehicle to return to the correct position comprises: The steering wheel of the target vehicle is driven to rotate at a preset angular speed, and the wheels of the target vehicle are driven to adjust from a current direction to a direction of a straight-ahead driving state through the steering wheel of the target vehicle; wherein the preset angular speed is determined based on the maximum angle of the steering wheel, and the time taken for the steering wheel to rotate from the maximum angle to the position of the straight-ahead driving state at the preset angular speed is less than the first preset duration, and the first preset duration is the timing duration of the timer.

7. The wheel automatic straightening method according to any one of claims 1 to 6, characterized in that: After the wheels of the target vehicle are driven to return to the correct position, the method further comprises: The current angle of the steering wheel is adjusted to a preset angle, wherein the preset angle is determined by performing a steering performance test on the target vehicle.

8. The wheel automatic straightening method according to any one of claims 1 to 6, characterized in that: Also includes: When driving the wheels of the target vehicle to return to the center, if an abnormal situation is detected, the wheel return control function is exited, wherein the abnormal situation includes at least one of the target vehicle's speed exceeding a fourth preset value, the vehicle's gear is switched from P gear to non-P gear, the steering wheel is manually taken over, the driving assistance system is activated, an instruction to exit the vehicle's wheel return control function is received, EPS has an internal fault, the motor is abnormal, and the wheel rotation is blocked.

9. The wheel automatic straightening method according to claim 8, characterized in that: Also includes: Wheel rotation resistance is determined when at least one of the steering wheel angle change rate is lower than a fifth preset value, the motor current exceeds the maximum current for a second preset time period, and the motor operates at full load for a third preset time period.

10. A wheel automatic straightening device, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the wheel automatic straightening method as described in any one of claims 1-9.

Images