Zero calibration method, device and equipment based on vehicle steering

Abstract

The invention discloses a zero calibration method, device and equipment based on vehicle steering, and relates to the field of vehicle steering control. The method comprises the following steps: acquiring the driving speed of a first vehicle; under the condition that the running speed meets the vehicle speed condition, steering information of the first vehicle is automatically obtained, and the steering information is used for indicating the steering condition of the first vehicle in the running process; under the condition that the steering information indicates that the first vehicle meets the zero position condition, a zero position difference value between actual zero position information and reference zero position information is automatically obtained, and the actual zero position information is an actual steering angle when a steering wheel of the first vehicle is located at a preset position; the reference zero position information is a preset reference steering angle used for indicating that the steering wheel is located at a preset position; under the condition that the zero position difference value meets the calibration condition, the reference zero position information is automatically updated based on the actual zero position information, the zero position calibration efficiency can be improved, the zero position accuracy can be improved, and therefore the vehicle steering control performance is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle steering control, and in particular to a zero-position calibration method, device and equipment based on vehicle steering. Background Art

[0002] With the development of technology, more and more car models choose to use the angle of Electric Power Steering (EPS) as the absolute angle of vehicle driving. At present, the setting of the absolute steering middle (zero position) position is generally to calibrate the zero position of the steering angle sensor in the electric power steering system after the four-wheel alignment is completed. The calibrated steering angle position is used as the vehicle's calibration reference value, that is, the absolute steering middle (zero position).

[0003] In the related art, after finding the middle position through manual dynamic debugging or confirming the zero position through a special zero position device, the zero position is calibrated through a zero position calibration device.

[0004] However, after the vehicle has been running for a period of time, due to factors such as vehicle wear and deformation of components, the vehicle's center position will shift, the zero position calibration efficiency will be low, and the vehicle will not be able to accurately return to the center position, resulting in vehicle deviation, unstable braking, and poor steering control performance. Summary of the invention

[0005] The embodiment of the present application provides a method, device and apparatus for zero position calibration based on vehicle steering, which can improve steering control performance. The technical solution is as follows.

[0006] On the one hand, a zero position calibration method based on vehicle steering is provided, the method comprising:

[0007] Obtaining the driving speed of the first vehicle;

[0008] When the driving speed meets the vehicle speed condition, automatically obtaining the steering information of the first vehicle, wherein the steering information is used to indicate the steering condition of the first vehicle during driving;

[0009] When the steering information indicates that the first vehicle meets the zero position condition, automatically obtaining a zero position difference between actual zero position information and reference zero position information, wherein the actual zero position information is an actual steering angle when the steering wheel of the first vehicle is in a preset position, and the reference zero position information is a preset reference steering angle for indicating that the steering wheel is in the preset position;

[0010] When the zero position difference meets the calibration condition, the reference zero position information is automatically updated based on the actual zero position information.

[0011] On the other hand, a zero position calibration device based on vehicle steering is provided, the device comprising:

[0012] An acquisition module, used for acquiring the driving speed of the first vehicle;

[0013] The acquisition module is further used to automatically acquire the steering information of the first vehicle when the driving speed meets the vehicle speed condition, wherein the steering information is used to indicate the steering condition of the first vehicle during driving;

[0014] The acquisition module is further used to automatically acquire a zero position difference between actual zero position information and reference zero position information when the steering information indicates that the first vehicle meets the zero position condition, the actual zero position information being an actual steering angle when the steering wheel of the first vehicle is in a preset position, and the reference zero position information being a preset reference steering angle for indicating that the steering wheel is in the preset position;

[0015] The calibration module is used to automatically update the reference zero position information based on the actual zero position information when the zero position difference meets the calibration conditions.

[0016] In some embodiments, the calibration module is further used to:

[0017] When the zero position difference reaches a preset difference threshold, recording the actual zero position information as candidate zero position information;

[0018] When the first vehicle is started again, the candidate zero position information is automatically updated to the reference zero position information.

[0019] In some embodiments, the calibration module is further used to:

[0020] In a case where the steering information of the first vehicle indicates that the steering wheel meets the steering angle indicated by the candidate zero position information, determining the validity of the candidate zero position information;

[0021] In the case where the candidate zero position information is valid, when the first vehicle is started again, the candidate zero position information is automatically updated to the reference zero position information.

[0022] In some embodiments, the calibration module is further used to:

[0023] displaying zero position confirmation information, the zero position confirmation information being used to prompt the driver to confirm the validity of the candidate zero position information; in response to receiving a confirmation operation for the zero position confirmation information, determining that the candidate zero position information is valid; or,

[0024] Automatically collect road images through a vehicle-mounted camera device, the road images including lane lines; determine the driving state of the first vehicle based on the lane lines, the position of the first vehicle relative to the lane lines, and the driving direction of the first vehicle; and automatically determine that the candidate zero position information is valid when the driving state indicates that the first vehicle is traveling in a straight line.

[0025] In some embodiments, the acquisition module is further used to:

[0026] When the driving speed reaches a preset speed threshold, automatically obtaining a steering angle signal and a rack position signal, wherein the steering angle signal is used to indicate an actual steering angle of the steering wheel, and the rack position signal is used to indicate an actual steering angle of the wheels of the first vehicle;

[0027] When the duration of the rotation angle signal and the rack position signal reaches a preset duration, the zero position difference between the actual zero position information and the reference zero position information is automatically acquired.

[0028] In some embodiments, the first vehicle corresponds to an electric power steering system, and the electric power steering system is used to control the steering of the vehicle;

[0029] The acquisition module is further used for:

[0030] When the driving speed reaches a preset speed threshold, detecting the rotation of the steering wheel by a rotation angle sensor in the electric power steering system to obtain the rotation angle signal;

[0031] The rack position sensor in the electric power steering system detects the rotation of the wheel to obtain the rack position signal.

[0032] In some embodiments, the calibration module is further used to display zero position calibration prompt information, and the zero position calibration prompt information is used to prompt that the reference zero position information is updated.

[0033] In some embodiments, the acquisition module is further used to acquire road surface information when the steering information indicates that the first vehicle meets the zero position condition, and the road surface information is used to indicate the road condition where the first vehicle is located;

[0034] The acquisition module is further used to determine the road condition type of the road condition based on the road surface information;

[0035] The acquisition module is further configured to acquire, when the road surface information indicates that the first vehicle is in a first type of road condition, first reference zero position information corresponding to the first type of road condition, wherein the first reference zero position information is a reference steering angle preset for the first type of road condition and used to indicate that the steering wheel is in the preset position;

[0036] The acquisition module is further used to acquire the zero position difference between the actual zero position information and the first reference zero position information;

[0037] The calibration module is further configured to automatically update the first reference zero position information based on the actual zero position information when the zero position difference meets the calibration condition.

[0038] On the other hand, a computer device is provided, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the vehicle steering-based zero-position calibration method as described in any of the above-mentioned embodiments of the present application.

[0039] On the other hand, a computer-readable storage medium is provided, in which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement a zero-position calibration method based on vehicle steering as described in any of the above-mentioned embodiments of the present application.

[0040] On the other hand, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes any of the vehicle steering-based zero position calibration methods described in the above embodiments.

[0041] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0042] By automatically recalibrating the zero position according to the zero position difference when the vehicle meets specific conditions, the zero position can be updated in time when the zero position deviates, ensuring the accuracy of the zero position and realizing automatic calibration and update of the zero position, thereby improving the efficiency and accuracy of the zero position calibration, avoiding the vehicle's center position offset due to factors such as vehicle wear and component deformation, and the vehicle cannot accurately return to the center position, resulting in vehicle deviation and unstable braking, thereby improving the steering control performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 is a schematic diagram of a vehicle control system provided by an exemplary embodiment of the present application;

[0045] Figure 2 is a flow chart of a zero position calibration method based on vehicle steering provided by an exemplary embodiment of the present application;

[0046] Figure 3 It is a schematic structural diagram of the main components of an electric steering system execution structure provided by an exemplary embodiment of the present application;

[0047] Figure 4 It is a schematic diagram of zero-position self-learning calibration control logic of an electric steering system provided by an exemplary embodiment of the present application;

[0048] Figure 5 is a structural block diagram of a zero position calibration device based on vehicle steering provided by an exemplary embodiment of the present application;

[0049] Figure 6 It is a structural block diagram of a terminal provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0051] It should be understood that although the terms first, second, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first parameter may also be referred to as the second parameter, and similarly, the second parameter may also be referred to as the first parameter. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0052] With the development of technology, more and more car models choose to use the angle of EPS as the absolute angle of vehicle driving. At present, the setting of the absolute steering middle (zero position) position is generally to calibrate the zero position of the angle sensor in the electric power steering system after the four-wheel alignment is completed. The calibrated angle position is used as the calibration reference value of the vehicle, that is, the absolute steering middle (zero position) position. In the related technology, the zero position is calibrated by the zero position calibration device after finding the middle position through manual dynamic debugging or confirming the zero position by specifically finding the zero position device. However, after the vehicle has been running for a period of time, due to factors such as vehicle wear and deformation of parts, the vehicle's center position will be offset, the zero position calibration efficiency is low, and the vehicle cannot accurately return to the center position, resulting in problems such as vehicle deviation and unstable braking, and poor steering control performance.

[0053] The zero position calibration method based on vehicle steering provided in the embodiment of the present application automatically recalibrates the zero position according to the zero position difference when the vehicle meets specific conditions. In the event of a zero position deviation, the zero position can be updated in time to ensure the accuracy of the zero position, and automatic calibration and update of the zero position can be achieved, thereby improving the efficiency and accuracy of the zero position calibration, avoiding the mid-position deviation of the vehicle caused by factors such as vehicle wear and deformation of parts, and the inability of the vehicle to accurately return to the mid-position, resulting in problems such as vehicle deviation and unstable braking, thereby improving the steering control performance.

[0054] First, the vehicle control system of this application is introduced. Please refer to Figure 1 , which shows a schematic diagram of a vehicle control system provided by an exemplary embodiment of the present application, and the vehicle control system includes: a terminal 10.

[0055] The terminal 10 is a terminal device for controlling the vehicle. The terminal 10 may be a vehicle-mounted terminal device, a vehicle body controller, or an independent terminal device connected to the vehicle, which is not limited in the embodiments of the present application.

[0056] In some embodiments, the terminal 10 obtains the moving speed of the first vehicle; when the driving speed meets the vehicle speed condition, the steering information of the first vehicle is automatically obtained, and the steering information is used to indicate the steering condition of the first vehicle during driving; when the steering information indicates that the first vehicle meets the zero position condition, the zero position difference between the actual zero position information and the reference zero position information is automatically obtained, and the actual zero position information is the actual steering angle when the steering wheel of the first vehicle is in a preset position, and the reference zero position information is a preset reference steering angle used to indicate that the steering wheel is in a preset position; when the zero position difference meets the calibration condition, the reference zero position information is automatically updated based on the actual zero position information, which can improve the zero position calibration efficiency, improve the zero position accuracy, and thus improve the vehicle steering control performance.

[0057] Among them, the steering information is collected by the steering sensor in the EPS by sensing the steering situation of the vehicle. Specifically, the steering information may include a steering angle signal and a rack position signal, wherein the steering angle signal is used to indicate the actual rotation angle of the steering wheel, and the rack position signal is used to indicate the actual rotation angle of the wheel. The actual rotation angle of the steering wheel can be used to indicate the driver's steering intention, and the actual rotation angle of the wheel can be used to indicate the actual steering situation of the first vehicle.

[0058] Optionally, the vehicle control system may further include a server 20, and the terminal 10 and the server 20 are connected via a communication network.

[0059] The server 20 may be a background server of the terminal 10 or a cloud server for remotely controlling the vehicle, which is not limited in the embodiment of the present application.

[0060] Illustratively, the server 20 can be used to store reference zero position information. When the turning information indicates that the first vehicle meets the zero position condition, the terminal 10 obtains the reference zero position information of the first vehicle from the server 20. When the zero position difference between the actual zero position information and the reference zero position information meets the calibration condition, the terminal 10 automatically updates the reference zero position information based on the actual zero position information, and synchronizes the updated reference zero position information to the server 20.

[0061] It is worth noting that the above-mentioned interaction method of the vehicle control system is only an illustrative example and is not limited to this in the embodiments of the present application.

[0062] The above-mentioned terminal is optional. The terminal can be a vehicle-mounted terminal, a desktop computer, a laptop computer, a mobile phone, a tablet computer, an e-book reader, a Moving Picture Experts Group Audio Layer III (MP3) player, a Moving Picture Experts Group Audio Layer IV (MP4) player, a smart TV, a smart car-mounted terminal, and other forms of terminal devices, which are not limited to the embodiments of the present application.

[0063] It is worth noting that the above-mentioned servers can be independent physical servers, or they can be server clusters or distributed systems composed of multiple physical servers. They can also be cloud servers that provide basic cloud computing services such as cloud services, cloud security, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), as well as big data and artificial intelligence platforms.

[0064] Among them, cloud technology refers to a hosting technology that unifies hardware, software, network and other resources within a wide area network or local area network to achieve data computing, storage, processing and sharing.

[0065] In some embodiments, the above server can also be implemented as a node in a blockchain system.

[0066] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant regions. For example, the vehicle information and road information involved in this application are all obtained with full authorization.

[0067] To further explain, before collecting relevant data of the user (for example, vehicle information and road surface information involved in this application, etc.) and during the process of collecting relevant data of the user, this application can display a prompt interface, pop-up window or output voice prompt information, and the prompt interface, pop-up window or voice prompt information is used to prompt the user that its relevant data is currently being collected, so that this application only starts to execute the relevant steps of obtaining relevant data of the user after obtaining the confirmation operation issued by the user to the prompt interface or pop-up window, otherwise (that is, when the confirmation operation issued by the user to the prompt interface or pop-up window is not obtained), the relevant steps of obtaining relevant data of the user are terminated, that is, the relevant data of the user is not obtained. In other words, all user data collected by this application are collected with the consent and authorization of the user, and the collection, use and processing of relevant user data need to comply with the relevant laws, regulations and standards of the relevant regions.

[0068] For illustration, please refer to Figure 2 , which shows a flowchart of a zero-position calibration method based on vehicle steering provided by an exemplary embodiment of the present application. The method can be executed by a terminal, or by a server, or by both the terminal and the server. The present application embodiment takes the method executed by a terminal as an example for explanation. Figure 2 As shown, the method comprises the following steps:

[0069] Step 210, obtaining the driving speed of the first vehicle.

[0070] In some embodiments, it is necessary to start the zero-position self-learning system according to the driving speed of the first vehicle, that is, when the driving speed meets the vehicle speed condition, the zero-position automatic calibration scheme is executed.

[0071] Optionally, the rotation speed of the wheel can be detected by a vehicle speed sensor, an anti-lock braking system (ABS) wheel speed sensor, a wheel encoder, etc. to calculate the driving speed; the real-time speed of the first vehicle can be received through a global positioning system (GPS); the vehicle speed information can be obtained through a vehicle bus system; the driving speed can also be calculated by detecting the acceleration and other speed information of the vehicle through an inertial measurement unit (IMU); the driving speed of the first vehicle relative to other objects can also be calculated through an optical speed sensor or a radar speed sensor, etc.

[0072] It is worth noting that the above-mentioned method of obtaining the driving speed is only an example and is not limited to this in the embodiments of the present application.

[0073] Step 220: When the driving speed meets the vehicle speed condition, the steering information of the first vehicle is automatically obtained.

[0074] The steering information is used to indicate the steering condition of the first vehicle during driving.

[0075] In some embodiments, the vehicle speed condition includes the driving speed reaching a preset speed threshold.

[0076] Optionally, the preset speed threshold is a preset vehicle speed threshold for triggering automatic zero position calibration. The preset speed threshold may be related to at least one of the driver's driving habits, vehicle model, driving road conditions, etc., and the embodiment of the present application is not limited to this.

[0077] When the driving speed reaches a preset speed threshold, the first vehicle is in a stable driving state, and the zero-position self-learning system is started.

[0078] Optionally, the steering information includes a steering angle signal and a rack position signal.

[0079] In some embodiments, when the driving speed reaches a preset speed threshold, the steering angle signal and the rack position signal are automatically acquired.

[0080] The steering angle signal is used to indicate the actual steering angle of the steering wheel, and the rack position signal is used to indicate the actual steering angle of the wheels in the first vehicle.

[0081] In some embodiments, when the driving speed reaches a preset speed threshold, the steering wheel rotation is detected by the steering angle sensor in the EPS corresponding to the first vehicle to obtain an angle signal; the wheel rotation is detected by the rack position sensor in the EPS to obtain a rack position signal.

[0082] Among them, EPS is used to control vehicle steering.

[0083] Specifically, the steering angle sensor is used to sense the steering direction and angle of the steering wheel; the rack position sensor is used to detect the displacement data of the steering rack, and the displacement data is used to characterize the actual steering angle of the wheel.

[0084] The steering rack is a key component in the steering gear. It is usually a long metal part with a toothed structure that meshes with the steering pinion. When the driver turns the steering wheel, the steering pinion drives the rack to move, thereby deflecting the steering wheel.

[0085] Optionally, the rack position sensor includes but is not limited to potentiometer sensors, photoelectric sensors, Hall effect sensors and other types of sensors, which are not limited in the embodiments of the present application.

[0086] Schematically, taking a potentiometer sensor as an example, the position of the steering rack is detected by a variable resistor (potentiometer). The sliding contact of the potentiometer changes position as the steering rack moves, thereby changing the resistance value. By measuring the change in resistance value, the position information of the steering rack can be obtained.

[0087] Taking photoelectric sensors as an example, light beams and photosensitive elements can be used to detect the position of the steering rack. The toothed structure on the steering rack will periodically block or reflect the light beam, and the photosensitive element determines the position of the rack based on the changes in the received light signal.

[0088] Taking the Hall effect sensor as an example, the Hall effect principle can be used to detect changes in magnetic field. When the magnetic encoder on the steering rack moves, it changes the magnetic field near the sensor, thereby generating a voltage signal proportional to the rack position.

[0089] The method provided in the embodiment of the present application can ensure that the vehicle is in a stable driving state by obtaining steering information to participate in automatic zero-position calibration when the driving speed reaches a preset speed threshold, thereby making the vehicle steering system more stable and facilitating accurate zero-position detection and calibration.

[0090] On the other hand, when the vehicle is stationary or driving at low speed, the driver may frequently perform steering operations, such as parking and obstacle avoidance, which may cause the system to misjudge the zero position. However, the vehicle state is usually more stable when driving at high speed, which can avoid misjudgment of the zero position and improve the accuracy of zero position calibration. In addition, when the vehicle is driving at low speed or parking, the steering system may be subject to more external interference, such as uneven road surface and crosswind, while at high speed, the impact of these interferences is relatively small, which helps to improve the stability and reliability of the zero position self-learning system.

[0091] Step 230: When the steering information indicates that the first vehicle meets the zero position condition, automatically obtain a zero position difference between the actual zero position information and the reference zero position information.

[0092] The actual zero position information is an actual steering angle when the steering wheel of the first vehicle is at a preset position, and the reference zero position information is a preset reference steering angle for indicating that the steering wheel is at the preset position.

[0093] Taking the steering information including the steering angle signal and the rack position signal as an example, the steering angle signal is used to indicate the actual steering angle of the steering wheel, and the rack position signal is used to indicate the actual steering angle of the wheels in the first vehicle.

[0094] Optionally, the zero position condition includes that the duration of the rotation angle signal and the rack position signal reaches a preset duration.

[0095] Illustratively, when the duration of the rotation angle signal and the rack position signal reaches a preset duration, the zero position difference between the actual zero position information and the reference zero position information is automatically acquired.

[0096] The actual zero position information is obtained by detecting the current actual steering angle of the steering wheel.

[0097] The above-mentioned steering angle signal and rack position signal can be used to indicate the driver's steering intention. When the steering angle indicated by the steering angle signal and the rack position signal changes, it means that the driver has a steering intention. When the change of the steering angle signal and the rack position signal continues for a preset time, it means that the driver's steering intention is stable. The actual steering angle of the steering wheel can be obtained in a stable state as the actual zero position information, which participates in the zero position calibration and improves the accuracy of the zero position calibration.

[0098] The method provided in the embodiment of the present application can identify the driver's stable steering intention and improve the accuracy of the actual zero position information by using the current actual steering angle of the steering wheel as the actual zero position information to obtain the zero position difference between the actual zero position information and the reference zero position information for zero position calibration when the signal duration of the steering angle signal and the rack position signal reaches a preset duration. It can also verify the steering angle signal and the rack position signal with each other to avoid the problem of inaccurate zero position judgment caused by gap in the input shaft or other reasons.

[0099] In some embodiments, different reference zero position information may be preset for different road conditions, and the zero position difference value may be determined using different reference zero position information according to the type of road condition in which the first vehicle is located.

[0100] Illustratively, when steering information indicates that the first vehicle meets the zero position condition, road surface information is obtained, the road surface information is used to indicate the road condition of the first vehicle; the road condition type of the road condition is determined based on the road surface information; when the road surface information indicates that the first vehicle is in a first type of road condition, first reference zero position information corresponding to the first type of road condition is obtained, the first reference zero position information is a reference steering angle preset for the first type of road condition for indicating that the steering wheel is in a preset position; the zero position difference between the actual zero position information and the first reference zero position information is obtained; when the zero position difference meets the calibration condition, the first reference zero position information is automatically updated based on the actual zero position information.

[0101] Optionally, the method of obtaining road surface information includes but is not limited to obtaining road conditions through a road condition sensor to determine the type of road condition; or obtaining vehicle positioning information through GPS and determining the type of road condition based on the positioning information; or collecting environmental images within a preset range of the first vehicle through a vehicle-mounted camera acquisition device, identifying the terrain where the first vehicle is located based on the environmental image, and determining the type of road condition, etc. The embodiments of the present application are not limited to this.

[0102] In some embodiments, a plurality of reference zero position information respectively corresponds to a road condition type label, and the reference zero position information corresponding to the road condition type can be determined based on the road condition type label.

[0103] Schematically, a road condition type label may correspond to a label vector feature, and a road condition type label that matches the road condition type may be determined based on the vector correlation between the road condition vector feature corresponding to the road condition type and the label vector feature. This can reduce the situation where the road condition type label cannot be accurately matched due to different expressions, and improve the accuracy and efficiency of determining the reference zero position information for different road condition types.

[0104] The method provided in the embodiment of the present application can improve the accuracy of zero-position calibration for different types of road conditions, improve the efficiency of zero-position calibration, and ensure the steering control performance of the vehicle by using different reference zero-position information to determine the zero-position difference according to the type of road condition in which the vehicle is located.

[0105] Step 240: When the zero position difference meets the calibration condition, the reference zero position information is automatically updated based on the actual zero position information.

[0106] Optionally, when updating the reference zero position information, the actual zero position information may be directly updated as the reference zero position information, or the reference zero position information may be updated based on an average steering angle of the actual zero position information and the reference zero position information, which is not limited in this embodiment of the present application.

[0107] In some embodiments, the zero calibration process includes the following steps:

[0108] In the first step, when the zero-position difference reaches a preset difference threshold, the actual zero-position information is recorded as candidate zero-position information.

[0109] In some embodiments, when the zero-position difference value is less than a first preset difference threshold, the actual zero-position information is discarded, and when the zero-position difference value reaches a second preset difference threshold, the actual zero-position information is recorded as candidate zero-position information, and the first preset difference threshold is less than the second preset difference threshold.

[0110] The method provided in the embodiment of the present application updates the zero position when the zero position difference reaches a preset difference threshold, thereby avoiding zero position recalibration when the zero position difference is small, thereby avoiding frequent zero position calibration, reducing the impact of zero position calibration on the vehicle steering system, and improving the efficiency of zero position calibration.

[0111] Optionally, a single candidate zero position information may be stored, or a plurality of candidate zero position information may be stored, which is not limited in the embodiment of the present application.

[0112] Illustratively, taking the storage of a single candidate zero-position information as an example, before updating the reference zero-position information, if multiple actual zero-position information is generated, the actual zero-position information with the largest zero-position difference can be used as the candidate zero-position information, or the average steering angle of multiple actual zero-position information can be used as the candidate zero-position information, etc. The embodiments of the present application are not limited to this.

[0113] The method provided in the embodiment of the present application can facilitate problem tracking and historical data management by recording candidate zero position information, and can be used to analyze long-term performance changes of vehicle components.

[0114] In the second step, when the first vehicle is started again, the candidate zero position information is automatically updated to the reference zero position information.

[0115] The method provided in the embodiment of the present application can ensure that the calibration process is carried out under stable conditions and avoid frequent writing affecting the hardware life by performing zero-position calibration when the first vehicle is restarted, thereby avoiding calibration immediately after obtaining candidate zero-position information. On the other hand, data can be collected multiple times to verify the accuracy of the zero position, thereby improving the efficiency of zero-position calibration.

[0116] In some embodiments, before updating the reference zero position information, the validity of the candidate zero position information needs to be determined.

[0117] Illustratively, when the steering information of the first vehicle indicates that the steering wheel meets the steering angle indicated by the candidate zero position information, the validity of the candidate zero position information is determined; when the candidate zero position information is valid, when the first vehicle is started again, the candidate zero position information is automatically updated to the reference zero position information.

[0118] The method provided in the embodiment of the present application can improve the accuracy and efficiency of zero-position calibration by determining the validity of candidate zero-position information when the actual steering angle of the steering wheel conforms to the candidate zero-position information.

[0119] Optionally, the validity of the candidate zero position information may be confirmed by a user, or the validity of the candidate zero position information may be automatically determined, which is not limited in the embodiments of the present application.

[0120] The validity of candidate zero position information is determined in at least two ways:

[0121] The first is to display zero position confirmation information, where the zero position confirmation information is used to prompt the driver to confirm the validity of the candidate zero position information; in response to receiving a confirmation operation for the zero position confirmation information, the candidate zero position information is determined to be valid.

[0122] Optionally, the confirmation operation includes but is not limited to triggering operations on confirmation controls in the program interface, triggering operations on specified physical controls, gesture operations, voice operations, and any other types of operations, which are not limited in the embodiments of the present application.

[0123] Illustratively, when the steering information of the first vehicle indicates that the steering wheel meets the steering angle indicated by the candidate zero position information, the zero position confirmation information is displayed or voice broadcast, and the driver confirms the validity of the candidate zero position information. For example, when the steering information of the first vehicle indicates that the steering wheel meets the steering angle indicated by the candidate zero position information, the driver is asked by voice whether the current steering wheel is in the middle position. If a confirmation operation is received, it is determined that the candidate zero position information is valid.

[0124] The second method is to automatically collect road images including lane lines through a vehicle-mounted camera; determine the driving state of the first vehicle based on the lane lines, the position of the first vehicle relative to the lane lines, and the driving direction of the first vehicle; and automatically determine that the candidate zero position information is valid when the driving state indicates that the first vehicle is driving in a straight line.

[0125] In the case where the steering information of the first vehicle indicates that the steering wheel meets the steering angle indicated by the candidate zero position information, the validity of the candidate zero position information is automatically determined by determining whether the first vehicle is in straight driving based on the steering angle.

[0126] Schematically, when the lane line in the road image meets the straight line condition, the driving trajectory of the first vehicle relative to the lane line is determined based on the position of the first vehicle relative to the lane line and the driving direction of the first vehicle. When the driving trajectory is parallel to the lane line, it is determined that the first vehicle is in a straight line driving, and the candidate zero position information is determined to be valid.

[0127] It is worth noting that the above-mentioned method of automatically determining the validity of candidate zero-bit information is only an illustrative example and is not limited to this in the embodiments of the present application.

[0128] The method provided in the embodiment of the present application can improve the automaticity of identifying valid candidate zero position information, improve the accuracy of candidate zero position information, and thus improve the efficiency of zero position calibration by detecting whether the vehicle is in a straight-line driving state when the actual steering angle of the steering wheel conforms to the candidate zero position information.

[0129] In some embodiments, after the reference zero position information is updated, a zero position calibration prompt message is displayed.

[0130] The zero position calibration prompt information is used to prompt the update of the reference zero position information.

[0131] Optionally, the zero-position calibration prompt information may be displayed through an instrument cluster module (ICM), or the zero-position calibration prompt information may be announced by voice, etc., which is not limited in the embodiments of the present application.

[0132] The method provided in the embodiment of the present application can prompt the driver that the zero position calibration is updated during the zero position automatic calibration process by displaying the zero position calibration prompt information, so as to avoid misunderstanding of the status of the entire vehicle and improve vehicle control efficiency. At the same time, the zero position calibration information is recorded for subsequent troubleshooting when problems arise.

[0133] In some embodiments, the vehicle steering-based zero-position calibration provided by the embodiments of the present application can be used in fleet collaboration scenarios.

[0134] Illustratively, multiple vehicles in a convoy can share reference zero position information. Taking the first vehicle as the leading vehicle in the convoy as an example, the reference zero position information updated by the first vehicle can be synchronized to multiple vehicles in the convoy.

[0135] In some embodiments, during the zero-position calibration process, the zero-position information may also be determined based on the relative position relationship between the vehicle and the lead vehicle, or differences in driving directions, etc.

[0136] Schematically, taking the first vehicle as an example, when the duration of the turning angle signal and the rack position signal reaches a preset duration, the current actual steering angle of the steering wheel of the first vehicle is used as the actual zero position information, and when the zero position difference between the actual zero position information and the reference zero position information reaches a preset difference threshold, the actual zero position information is determined as the candidate zero position information of the first vehicle. When the actual steering angle of the steering wheel of the first vehicle matches the candidate zero position information, the validity of the candidate zero position information is determined based on the driving directions of the first vehicle and the leading vehicle, wherein when the direction angle difference between the driving directions of the first vehicle and the leading vehicle is zero, the candidate zero position information is determined to be valid.

[0137] To sum up, the method provided in the embodiment of the present application can automatically recalibrate the zero position according to the zero position difference when the vehicle meets specific conditions. In the event of a zero position deviation, the zero position can be updated in time to ensure the accuracy of the zero position, and automatic calibration and update of the zero position can be achieved, thereby improving the efficiency and accuracy of the zero position calibration, avoiding the mid-position offset of the vehicle caused by factors such as vehicle wear and deformation of parts, and the inability of the vehicle to accurately return to the mid-position, resulting in vehicle deviation, unstable braking and other problems, thereby improving the steering control performance.

[0138] In some embodiments, the electric steering system executes the zero-position self-learning calibration control logic, and the main components of the electric steering system execution structure are as follows: Figure 3 As shown, it includes a steering column with an intermediate shaft assembly 301, a steering angle sensor 302, a steering gear rack position sensor 303, a steering system control module 304, and a rack steering tie rod assembly 305. For schematic illustration, please refer to Figure 4 , Figure 4 : is a schematic diagram of the zero-position self-learning calibration control logic of an electric steering system provided by an exemplary embodiment of the present application, such as Figure 4 As shown, the zero position self-learning calibration control process includes the following steps:

[0139] Step 100: The vehicle starts and the vehicle speed reaches a first threshold.

[0140] The first threshold is a preset speed threshold.

[0141] In schematic form, the vehicle speed is read by the vehicle speed sensor signal. If the vehicle speed exceeds a first threshold, the steering zero position self-learning module starts working. If the vehicle speed does not exceed the first threshold, the steering zero position self-learning module does not start working and is in a standby state.

[0142] Step 200, turning to the zero position self-learning module to start working.

[0143] In schematic form, after obtaining an enabling signal indicating that the vehicle speed exceeds a first threshold, the steering zero position self-learning module starts to work, and obtains the vehicle state through the corresponding signals of the steering angle sensor (302) and the rack position sensor (303) to determine whether re-zero position calibration is required.

[0144] Step 300, obtaining the turning angle signal, the rack position signal and the duration, and determining whether they exceed a second threshold to determine whether there is a turning behavior.

[0145] The second threshold is a preset duration.

[0146] Illustratively, step 300 is executed by the signal analysis and control module, the steering angle signal is read by the steering angle sensor (302) arranged on the input shaft, and the rack position sensor (303) signal is read by the position signal arranged on the housing.

[0147] In this mode, the steering angle position and the rack position are checked against each other to avoid inaccurate judgment of the middle position due to gap in the input shaft or other reasons. It has the characteristics of accurate middle position judgment and high reliability.

[0148] Step 400: compare the measured steering intermediate zero position with the initial position to determine a comparison relationship between the difference and a third threshold value.

[0149] If the difference reaches the third threshold, step 500 is executed, otherwise the zero position self-learning is not started.

[0150] The third threshold is a preset difference threshold.

[0151] Indicatively, by comparing the signals of the steering angle sensor (302) and the rack position sensor (303), there is no absolute center position during vehicle driving. If the difference between the actual center position and the initially set center position is less than the third threshold, there is no need to perform center position calibration again. If center position calibration is performed frequently, it may have a certain impact on software stability.

[0152] Step 500, record the difference and perform zero position pre-calibration.

[0153] Indicatively, the difference compared in step 400 is recorded, and preparations for calibration are performed. Considering that the steering system is a safety component, it is not recommended to calibrate while the vehicle is driving, so as to avoid affecting the stability of the entire vehicle.

[0154] Step 600: The next time the vehicle is started, the zero position calibration module reads the difference recorded last time and performs zero position calibration.

[0155] According to the actual zero position recorded in step 500, the zero position recalibration of the electric steering system is completed when the vehicle is started next time. In this way, the zero position calibration of the steering system is completed in a static state, which will not have any impact on the stability of the entire vehicle and has the characteristic of high safety.

[0156] Step 700, the ICM displays that the zero calibration is successful.

[0157] The ICM display reminds the driver that the steering system mid-position automatic calibration has just been completed to avoid misunderstanding of the vehicle status. The calibration is also recorded to facilitate subsequent troubleshooting of problems.

[0158] In summary, the method provided in the embodiment of the present application proposes a redundant control logic for EPS middle position learning and correction, which can detect and compare the difference with the calibrated reference value in real time. When a difference occurs and the correction condition is met, the calibrated reference value is corrected and rewritten, which can realize the intelligent return of the vehicle to the middle position, always maintain the correct absolute steering middle position, avoid deviation, and reduce the number of vehicle maintenance. It solves the problem that the vehicle cannot automatically return to the middle position, improves the stability and reliability of the steering control system, and improves the vehicle safety and handling performance.

[0159] Figure 5 is a structural block diagram of a zero position calibration device based on vehicle steering provided by an exemplary embodiment of the present application, such as Figure 5 As shown, the device includes the following parts:

[0160] An acquisition module 510 is used to acquire the driving speed of the first vehicle;

[0161] The acquisition module 510 is further configured to automatically acquire the steering information of the first vehicle when the driving speed meets the vehicle speed condition, wherein the steering information is used to indicate the steering condition of the first vehicle during driving;

[0162] The acquisition module 510 is further configured to automatically acquire a zero position difference between actual zero position information and reference zero position information when the steering information indicates that the first vehicle meets a zero position condition, wherein the actual zero position information is an actual steering angle when the steering wheel of the first vehicle is at a preset position, and the reference zero position information is a preset reference steering angle for indicating that the steering wheel is at the preset position;

[0163] The calibration module 520 is used to automatically update the reference zero position information based on the actual zero position information when the zero position difference meets the calibration conditions.

[0164] An acquisition module 510 is used to acquire the driving speed of the first vehicle;

[0165] The acquisition module 510 is further configured to automatically acquire the steering information of the first vehicle when the driving speed meets the vehicle speed condition, wherein the steering information is used to indicate the steering condition of the first vehicle during driving;

[0166] The acquisition module 510 is further configured to automatically acquire a zero position difference between actual zero position information and reference zero position information when the steering information indicates that the first vehicle meets a zero position condition, wherein the actual zero position information is an actual steering angle when the steering wheel of the first vehicle is at a preset position, and the reference zero position information is a preset reference steering angle for indicating that the steering wheel is at the preset position;

[0167] The calibration module 520 is used to automatically update the reference zero position information based on the actual zero position information when the zero position difference meets the calibration conditions.

[0168] In some embodiments, the calibration module 520 is further used to:

[0169] When the zero position difference reaches a preset difference threshold, recording the actual zero position information as candidate zero position information;

[0170] When the first vehicle is started again, the candidate zero position information is automatically updated to the reference zero position information.

[0171] In some embodiments, the calibration module 520 is further used to:

[0172] In a case where the steering information of the first vehicle indicates that the steering wheel meets the steering angle indicated by the candidate zero position information, determining the validity of the candidate zero position information;

[0173] In the case where the candidate zero position information is valid, when the first vehicle is started again, the candidate zero position information is automatically updated to the reference zero position information.

[0174] In some embodiments, the calibration module 520 is further used to:

[0175] displaying zero position confirmation information, the zero position confirmation information being used to prompt the driver to confirm the validity of the candidate zero position information; in response to receiving a confirmation operation for the zero position confirmation information, determining that the candidate zero position information is valid; or,

[0176] Automatically collect road images through a vehicle-mounted camera device, the road images including lane lines; determine the driving state of the first vehicle based on the lane lines, the position of the first vehicle relative to the lane lines, and the driving direction of the first vehicle; and automatically determine that the candidate zero position information is valid when the driving state indicates that the first vehicle is traveling in a straight line.

[0177] In some embodiments, the acquisition module 510 is further used to:

[0178] When the driving speed reaches a preset speed threshold, automatically obtaining a steering angle signal and a rack position signal, wherein the steering angle signal is used to indicate an actual steering angle of the steering wheel, and the rack position signal is used to indicate an actual steering angle of the wheels of the first vehicle;

[0179] When the duration of the rotation angle signal and the rack position signal reaches a preset duration, the zero position difference between the actual zero position information and the reference zero position information is automatically acquired.

[0180] In some embodiments, the first vehicle corresponds to an electric power steering system, and the electric power steering system is used to control the steering of the vehicle;

[0181] The acquisition module 510 is further used for:

[0182] When the driving speed reaches a preset speed threshold, detecting the rotation of the steering wheel by a rotation angle sensor in the electric power steering system to obtain the rotation angle signal;

[0183] The rack position sensor in the electric power steering system detects the rotation of the wheel to obtain the rack position signal.

[0184] In some embodiments, the calibration module 520 is further used to display zero position calibration prompt information, and the zero position calibration prompt information is used to prompt that the reference zero position information is updated.

[0185] In some embodiments, the acquisition module 510 is further used to acquire road surface information when the steering information indicates that the first vehicle meets the zero position condition, and the road surface information is used to indicate the road condition where the first vehicle is located;

[0186] The acquisition module 510 is further configured to determine the road condition type of the road condition based on the road surface information;

[0187] The acquisition module 510 is further configured to acquire, when the road surface information indicates that the first vehicle is in a first type of road condition, first reference zero position information corresponding to the first type of road condition, wherein the first reference zero position information is a reference steering angle preset for the first type of road condition and used to indicate that the steering wheel is in the preset position;

[0188] The acquisition module 510 is further configured to acquire the zero position difference between the actual zero position information and the first reference zero position information;

[0189] The calibration module 520 is further configured to automatically update the first reference zero position information based on the actual zero position information when the zero position difference meets the calibration condition.

[0190] To sum up, the device provided in the embodiment of the present application can automatically recalibrate the zero position according to the zero position difference when the vehicle meets specific conditions. In the event of a deviation in the zero position, the zero position can be updated in time to ensure the accuracy of the zero position, and automatic calibration and update of the zero position can be achieved, thereby improving the efficiency and accuracy of the zero position calibration, avoiding the mid-position deviation of the vehicle caused by factors such as vehicle wear and deformation of parts, and the inability of the vehicle to accurately return to the mid-position, resulting in vehicle deviation, unstable braking and other problems, thereby improving the steering control performance.

[0191] It should be noted that the zero-position calibration device based on vehicle steering provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the equipment can be divided into different functional modules to complete all or part of the functions described above.

[0192] Figure 6 The structure block diagram of a terminal 600 provided by an exemplary embodiment of the present application is shown. The terminal 600 may be: a smart phone, a tablet computer, an MP3 player, an MP4 player, a notebook computer or a desktop computer. The terminal 600 may also be called a user equipment, a portable terminal, a laptop terminal, a desktop terminal or other names.

[0193] Typically, the terminal 600 includes a processor 601 and a memory 602 .

[0194] The processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 601 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 601 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 601 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 601 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0195] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 602 is used to store at least one instruction, which is used to be executed by the processor 601 to implement the zero-position calibration method based on vehicle steering provided in the method embodiment of the present application.

[0196] In some embodiments, the terminal 600 further includes other components 603, which can be understood by those skilled in the art. Figure 6 The structure shown in the figure does not constitute a limitation on the terminal 600, and the terminal 600 may include more or less components than those shown in the figure, or combine some components, or adopt a different component arrangement.

[0197] The embodiment of the present application also provides a computer device, which can be implemented as follows: Figure 1 The computer device includes a processor and a memory, wherein at least one instruction, at least one program, code set or instruction set is stored in the memory, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the zero position calibration method based on vehicle steering provided by the above-mentioned method embodiments.

[0198] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the vehicle steering-based zero-position calibration method provided in the above-mentioned method embodiments.

[0199] The embodiments of the present application also provide a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the zero-position calibration method based on vehicle steering provided by the above-mentioned method embodiments.

[0200] Optionally, the computer readable storage medium may include: Read Only Memory (ROM), Random Access Memory (RAM), Solid State Drives (SSD) or optical disks, etc. Among them, the random access memory may include resistance random access memory (ReRAM) and dynamic random access memory (DRAM). The serial numbers of the above embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0201] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0202] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A zero position calibration method based on vehicle steering, characterized in that: The method comprises: Obtaining the driving speed of the first vehicle; When the driving speed meets the vehicle speed condition, automatically obtaining the steering information of the first vehicle, wherein the steering information is used to indicate the steering condition of the first vehicle during driving; When the steering information indicates that the first vehicle meets the zero position condition, automatically obtaining a zero position difference between actual zero position information and reference zero position information, wherein the actual zero position information is an actual steering angle when the steering wheel of the first vehicle is in a preset position, and the reference zero position information is a preset reference steering angle for indicating that the steering wheel is in the preset position; When the zero position difference meets the calibration condition, the reference zero position information is automatically updated based on the actual zero position information.

2. The method according to claim 1, characterized in that When the zero position difference meets the calibration condition, automatically updating the reference zero position information based on the actual zero position information includes: When the zero position difference reaches a preset difference threshold, recording the actual zero position information as candidate zero position information; When the first vehicle is started again, the candidate zero position information is automatically updated to the reference zero position information.

3. The method according to claim 2, characterized in that Before automatically updating the candidate zero position information to the reference zero position information when the first vehicle is started again, the method further includes: In a case where the steering information of the first vehicle indicates that the steering wheel meets the steering angle indicated by the candidate zero position information, determining the validity of the candidate zero position information; When the first vehicle is started again, automatically updating the candidate zero position information to the reference zero position information includes: In the case where the candidate zero position information is valid, when the first vehicle is started again, the candidate zero position information is automatically updated to the reference zero position information.

4. The method according to claim 3, characterized in that The determining the validity of the candidate zero position information comprises: displaying zero position confirmation information, the zero position confirmation information being used to prompt the driver to confirm the validity of the candidate zero position information; in response to receiving a confirmation operation for the zero position confirmation information, determining that the candidate zero position information is valid; or, Automatically collect road images through a vehicle-mounted camera device, the road images including lane lines; determine the driving state of the first vehicle based on the lane lines, the position of the first vehicle relative to the lane lines, and the driving direction of the first vehicle; and automatically determine that the candidate zero position information is valid when the driving state indicates that the first vehicle is traveling in a straight line.

5. The method according to any one of claims 1 to 4, characterized in that: When the driving speed meets the vehicle speed condition, automatically obtaining the steering information of the first vehicle includes: When the driving speed reaches a preset speed threshold, automatically acquiring a steering angle signal and a rack position signal, wherein the steering angle signal is used to indicate an actual steering angle of the steering wheel, and the rack position signal is used to indicate an actual steering angle of the wheels of the first vehicle; When the steering information indicates that the first vehicle meets the steering condition, automatically obtaining the zero position difference between the actual zero position information and the reference zero position information includes: When the first duration of the rotation angle signal and the rack position signal reaches a preset duration, the zero position difference between the actual zero position information and the reference zero position information is automatically acquired, and the first duration is used to indicate the rotation angle signal.

6. The method according to claim 5, characterized in that The first vehicle corresponds to an electric power steering system, and the electric power steering system is used to control the steering of the vehicle; When the driving speed reaches a preset speed threshold, the turning angle signal and the rack position signal are automatically obtained, including: When the driving speed reaches a preset speed threshold, detecting the rotation of the steering wheel by a rotation angle sensor in the electric power steering system to obtain the rotation angle signal; The rack position sensor in the electric power steering system detects the rotation of the wheel to obtain the rack position signal.

7. The method according to claim 2, characterized in that: After the candidate zero position information is automatically updated to the reference zero position information when the first vehicle is started again, the method further includes: The zero position calibration prompt information is displayed, and the zero position calibration prompt information is used to prompt that the reference zero position information is updated.

8. The method according to any one of claims 1 to 7, characterized in that: When the steering information indicates that the first vehicle meets the zero position condition, automatically obtaining the zero position difference between the actual zero position information and the reference zero position information includes: When the steering information indicates that the first vehicle meets the zero position condition, obtaining road surface information, where the road surface information is used to indicate a road condition where the first vehicle is located; Determining a road condition type of the road condition based on the road surface information; When the road surface information indicates that the first vehicle is in a first type of road condition, obtaining first reference zero position information corresponding to the first type of road condition, wherein the first reference zero position information is a reference steering angle preset for the first type of road condition and used to indicate that the steering wheel is in the preset position; Acquire the zero position difference between the actual zero position information and the first reference zero position information; When the zero position difference meets the calibration condition, automatically updating the reference zero position information based on the actual zero position information includes: When the zero position difference meets the calibration condition, the first reference zero position information is automatically updated based on the actual zero position information.

9. A zero position calibration device based on vehicle steering, characterized in that: The device comprises: An acquisition module, used for acquiring the driving speed of the first vehicle; The acquisition module is further used to automatically acquire the steering information of the first vehicle when the driving speed meets the vehicle speed condition, wherein the steering information is used to indicate the steering condition of the first vehicle during driving; The acquisition module is further used to automatically acquire a zero position difference between actual zero position information and reference zero position information when the steering information indicates that the first vehicle meets the zero position condition, the actual zero position information being an actual steering angle when the steering wheel of the first vehicle is in a preset position, and the reference zero position information being a preset reference steering angle for indicating that the steering wheel is in the preset position; The calibration module is used to automatically update the reference zero position information based on the actual zero position information when the zero position difference meets the calibration conditions.

10. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor to implement the vehicle steering-based zero-position calibration method as described in any one of claims 1 to 8.

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