Zero-position calibration method, device and equipment based on vehicle steering

Abstract

This application discloses a zero-position calibration method, apparatus, and device based on vehicle steering, relating to the field of vehicle steering control. The method includes: acquiring the driving speed of a first vehicle; automatically acquiring steering information of the first vehicle when the driving speed meets vehicle speed conditions, the steering information indicating the steering status of the first vehicle during driving; automatically acquiring the zero-position difference between actual zero-position information and reference zero-position information when the steering information indicates that the first vehicle meets zero-position conditions, the actual zero-position information being the 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 used to indicate that the steering wheel is in the preset position; and automatically updating the reference zero-position information based on the actual zero-position information when the zero-position difference meets calibration conditions, thereby improving zero-position calibration efficiency, improving zero-position accuracy, and thus improving vehicle steering control performance.

Description

Technical Field

[0001] This application relates to the field of vehicle steering control, and in particular to a zero-position calibration method, apparatus and equipment based on vehicle steering. Background Technology

[0002] With the development of technology, more and more models are choosing to use the electric power steering (EPS) angle as the absolute angle of vehicle driving. Currently, the setting of the absolute steering center (zero position) position is generally done by calibrating 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 calibration reference value of the vehicle, which is the absolute steering center (zero position).

[0003] In related technologies, the intermediate position is found through manual dynamic debugging or by confirming the zero position with a dedicated zero-position device, and then the zero position is calibrated using a zero-position calibration device.

[0004] However, after a period of operation, due to factors such as vehicle wear and deformation of parts, the vehicle's center position may shift, the zero-position calibration efficiency may be low, the vehicle may not be able to accurately return to the center position, resulting in problems such as vehicle deviation, unstable braking, and poor steering control performance. Summary of the Invention

[0005] This application provides a zero-position calibration method, apparatus, and device 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] Obtain the speed of the first vehicle;

[0008] When the driving speed meets the vehicle speed conditions, the steering information of the first vehicle is automatically acquired, and the steering information is used to indicate the steering status of the first vehicle during driving.

[0009] 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. 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 the preset position.

[0010] If the zero-position difference meets the calibration conditions, 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] The acquisition module is used to acquire the speed of the first vehicle;

[0013] The acquisition module is also used to automatically acquire the steering information of the first vehicle when the driving speed meets the vehicle speed conditions, and the steering information is used to indicate the steering status of the first vehicle during driving.

[0014] The acquisition module is further configured to automatically acquire the zero-position difference between the actual zero-position information and the reference zero-position information when the steering information indicates that the first vehicle meets the zero-position condition. 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 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 configured to:

[0017] If the zero-position difference reaches a preset difference threshold, the actual zero-position information is recorded as candidate zero-position information.

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

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

[0020] If the steering information of the first vehicle indicates that the steering wheel conforms to the steering angle indicated by the candidate zero position information, the validity of the candidate zero position information is determined.

[0021] If the candidate zero position information is valid, when the first vehicle starts again, the candidate zero position information will be automatically updated to the reference zero position information.

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

[0023] Displaying zero-position confirmation information, which prompts 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] The vehicle automatically acquires road images, including lane lines, using an onboard camera. Based on the lane lines, the position of the first vehicle relative to the lane lines, and the direction of travel of the first vehicle, the driving state of the first vehicle is determined. If the driving state indicates that the first vehicle is traveling in a straight line, the candidate zero position information is automatically determined to be valid.

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

[0026] When the driving speed reaches a preset speed threshold, the steering angle signal and rack position signal are automatically acquired. 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.

[0027] When the duration of the 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 obtained.

[0028] In some embodiments, the first vehicle corresponds to an electric power steering system, which is used to control the vehicle's steering.

[0029] The acquisition module is also used for:

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

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

[0032] In some embodiments, the calibration module is further configured to display zero-point calibration prompt information, which is used to prompt that the reference zero-point information has been updated.

[0033] In some embodiments, the acquisition module is further configured to acquire road surface information when the steering information indicates that the first vehicle meets the zero-position condition, the road surface information being used to indicate the road surface conditions of the first vehicle;

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

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

[0036] The acquisition module is further configured 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 conditions.

[0038] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least one program, the code set or instruction set being loaded and executed by the processor to implement the zero-position calibration method based on vehicle steering as described in any of the embodiments of this application above.

[0039] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, code set, or instruction set is stored therein, wherein 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 the zero-position calibration method based on vehicle steering as described in any of the embodiments of this application above.

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

[0041] The beneficial effects of the technical solutions provided in this application include at least the following:

[0042] By automatically recalibrating the zero position based on the zero position difference when the vehicle meets specific conditions, the zero position can be updated in a timely manner when a deviation occurs, ensuring zero position accuracy. This automatic zero position calibration update improves zero position calibration efficiency and accuracy, and avoids problems such as vehicle wear and component deformation that could cause the vehicle to drift, fail to return to the center position accurately, or lead to vehicle deviation and unstable braking. This also improves steering control performance. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of a vehicle control system provided in an exemplary embodiment of this application;

[0045] Figure 2 This is a flowchart of a zero-position calibration method based on vehicle steering provided in an exemplary embodiment of this application;

[0046] Figure 3 This is a schematic diagram of the main components of the electric power steering system execution structure provided in an exemplary embodiment of this application;

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

[0048] Figure 5 This is a structural block diagram of a zero-position calibration device based on vehicle steering provided in an exemplary embodiment of this application;

[0049] Figure 6 This is a structural block diagram of a terminal provided in an exemplary embodiment of this application. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

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

[0052] With technological advancements, more and more vehicle models are adopting the angle of EPS (Electric Power Steering) as the absolute steering angle. Currently, the absolute steering center (zero position) is typically set after four-wheel alignment by calibrating the steering angle sensor in the electric power steering system. This calibrated angle position serves as the vehicle's calibration reference value, i.e., the absolute steering center (zero position). In related technologies, the center position is found through manual dynamic adjustments or by confirming the zero position with a dedicated zero-position device, followed by calibration using a zero-position calibration device. However, after a period of vehicle operation, factors such as vehicle wear and component deformation can cause center position deviation, resulting in low zero-position calibration efficiency. The vehicle cannot accurately return to the center position, leading to problems such as vehicle drift, unstable braking, and poor steering control performance.

[0053] The zero-position calibration method based on vehicle steering provided in this application embodiment automatically recalibrates the zero position according to the zero-position difference when the vehicle meets specific conditions. It can update the zero position in a timely manner when a deviation occurs, ensuring the accuracy of the zero position and realizing automatic zero-position calibration update. This improves the efficiency and accuracy of zero-position calibration, avoids vehicle center position deviation caused by factors such as vehicle wear and component deformation, and prevents the vehicle from accurately returning to the center position, which can lead to problems such as vehicle deviation and unstable braking. This improves steering control performance.

[0054] First, the vehicle control system of this application will be introduced. Please refer to... Figure 1 The diagram illustrates a vehicle control system provided in an exemplary embodiment of this application, which includes a terminal 10.

[0055] Terminal 10 is a terminal device used to control the vehicle. Terminal 10 can be an in-vehicle terminal device, a body controller, or an independent terminal device that is connected to the vehicle. This application embodiment does not limit this.

[0056] In some embodiments, terminal 10 acquires the moving speed of the first vehicle; when the driving speed meets the vehicle speed conditions, it automatically acquires the steering information of the first vehicle, which is used to indicate the steering status of the first vehicle during driving; when the steering information indicates that the first vehicle meets the zero-position conditions, it automatically acquires the zero-position difference between the actual zero-position information and the reference zero-position information, where 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 conditions, it automatically updates the reference zero-position information based on the actual zero-position information, which can improve the zero-position calibration efficiency and the zero-position accuracy, thereby improving the vehicle steering control performance.

[0057] Among them, the steering information is collected by the steering sensor in EPS by sensing the steering situation of the vehicle. Specifically, the steering information can include the steering angle signal and the rack position signal. 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 entire vehicle.

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

[0059] Server 20 can be the backend server of terminal 10 or a cloud server used for remote vehicle control; this application embodiment does not limit this.

[0060] Indicatively, server 20 can be used to store reference zero position information. When the steering information indicates that the first vehicle meets the zero position condition, terminal 10 obtains the reference zero position information of the first vehicle from server 20. When the zero position difference between the actual zero position information and the reference zero position information meets the calibration conditions, 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 server 20.

[0061] It is worth noting that the interaction method of the above-mentioned vehicle control system is only an exemplary example, and the embodiments of this application do not limit it.

[0062] The aforementioned terminal is optional and can be a vehicle-mounted terminal, desktop computer, laptop computer, mobile phone, tablet computer, e-book reader, Moving Picture Experts Group Audio Layer III (MP3) player, Moving Picture Experts Group Audio Layer IV (MP4) player, smart TV, smart vehicle, and other terminal devices. This application embodiment does not limit the specific terminal device to these.

[0063] It is worth noting that the aforementioned servers can be independent physical servers, server clusters or distributed systems composed of multiple physical servers, or 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 communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0064] Cloud technology refers to a hosting technology that unifies a series of resources such as hardware, software, and networks within a wide area network or local area network to achieve data computing, storage, processing, and sharing.

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

[0066] It should be noted that all 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 have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant regions. For example, vehicle information and road information involved in this application were obtained with full authorization.

[0067] To further explain, this application can display a prompt interface, pop-up window, or output voice prompts before and during the collection of user-related data (e.g., vehicle information and road information involved in this application). These prompt interfaces, pop-ups, or voice prompts are used to inform the user that their relevant data is being collected. This ensures that the application only begins executing the steps related to collecting user-related data after receiving confirmation from the user regarding the prompt interface or pop-up window; otherwise (i.e., without receiving confirmation from the user), the steps to collect user-related data end, meaning no user-related data is collected. In other words, all user data collected in this application is collected with the user's consent and authorization, and the collection, use, and processing of relevant user data must comply with the relevant laws, regulations, and standards of the relevant regions.

[0068] This is illustrative; please refer to it. Figure 2 This document illustrates a flowchart of a zero-position calibration method based on vehicle steering, provided in an exemplary embodiment of this application. This method can be executed by a terminal, a server, or both simultaneously. This embodiment uses the terminal execution of the method as an example for illustration. Figure 2 As shown, the method includes the following steps:

[0069] Step 210: Obtain the speed of the first vehicle.

[0070] In some embodiments, the zero-position self-learning system needs to be activated based on the driving speed of the first vehicle, that is, when the driving speed meets the vehicle speed conditions, the zero-position automatic calibration scheme is executed.

[0071] Optionally, the vehicle speed can be calculated by detecting the rotational speed of the wheels using a vehicle speed sensor, an anti-lock braking system (ABS) wheel speed sensor, or a wheel encoder; it can also receive the real-time speed of the first vehicle through a Global Positioning System (GPS); it can obtain vehicle speed information through a vehicle bus system; it can also calculate the vehicle speed by detecting vehicle acceleration and other speed information through an Inertial Measurement Unit (IMU); or it can calculate the speed of the first vehicle relative to other objects using an optical speed sensor or a radar speed sensor.

[0072] It is worth noting that the above-mentioned method of obtaining driving speed is merely an exemplary example, and the embodiments of this application do not limit it.

[0073] Step 220: If the driving speed meets the vehicle speed requirements, automatically obtain the steering information of the first vehicle.

[0074] Steering information is used to indicate the steering status of the first vehicle during travel.

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

[0076] Optionally, the preset speed threshold is a preset vehicle speed threshold used to trigger automatic zero-position calibration. The preset speed threshold may be related to at least one of the following: driver's driving habits, vehicle model, road conditions, etc. This application embodiment does not limit this.

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

[0078] Optionally, the steering information includes an 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 rack position signal are automatically acquired.

[0080] Among them, 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 rotation of the steering wheel is detected by the angle sensor in the EPS corresponding to the first vehicle to obtain an angle signal; the rotation of the wheels is detected by the rack position sensor in the EPS to obtain a rack position signal.

[0082] EPS is used to control vehicle steering.

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

[0084] The steering rack is a key component of the steering system. It is typically a long, narrow metal piece with toothed structures that mesh with the steering pinion. When the driver turns the steering wheel, the steering pinion drives the rack to move, causing the steering wheels to turn.

[0085] Optionally, the rack position sensor may include, but is not limited to, potentiometer-type sensors, photoelectric sensors, Hall effect sensors, etc., and the embodiments of this application do not limit this type of sensor.

[0086] To illustrate, using a potentiometer-type sensor as an example, the position of the steering rack is detected through a variable resistor (potentiometer). The sliding contact of the potentiometer changes position as the steering rack moves, thus 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, the position of the steering rack can be detected using a light beam and a photosensitive element. The toothed structure on the steering rack periodically blocks or reflects 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 position of the rack.

[0089] The method provided in this application, by acquiring steering information to participate in automatic zero-position calibration when the driving speed reaches a preset speed threshold, can ensure that the vehicle is in a stable driving state, 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 traveling at low speeds, the driver may frequently perform steering maneuvers, such as parking or obstacle avoidance. These maneuvers may cause the system to misjudge the zero position. However, at high speeds, the vehicle's state is usually more stable, which can avoid misjudging the zero position and improve the accuracy of zero-position calibration. Furthermore, when the vehicle is traveling at low speeds or stationary, the steering system may be subject to more external disturbances, such as uneven road surfaces or crosswinds. At higher speeds, the impact of these disturbances is relatively smaller, 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 the zero position difference between the actual zero position information and the reference zero position information.

[0092] 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.

[0093] Taking steering information, which includes steering angle signal and 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 the duration of the angle signal and the rack position signal reaching a preset duration.

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

[0096] Among them, the actual steering angle of the steering wheel is detected as the actual zero position information.

[0097] The aforementioned 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 rack position signal changes, it means that the driver has a steering intention. When the change in the steering angle signal and rack position signal lasts for a preset duration, 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 actual zero position information to participate in zero position calibration and improve the accuracy of zero position calibration.

[0098] The method provided in this application embodiment, when the duration of the steering angle signal and the rack position signal reaches a preset duration, uses 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. This can not only identify the driver's stable steering intention and improve the accuracy of the actual zero position information, but also use the steering angle signal and the rack position signal to cross-check each other, avoiding the problem of inaccurate zero position judgment caused by the backlash of the input shaft or other reasons.

[0099] In some embodiments, different reference zero-position information can be preset for different road conditions, and the zero-position difference can be determined by using different reference zero-position information according to the road condition type where the first vehicle is located.

[0100] Indicatively, when the steering information indicates that the first vehicle meets the zero-position condition, road surface information is acquired, which is used to indicate the road conditions where the first vehicle is located; the road condition type 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 acquired, which is a reference steering angle preset for the first type of road condition to indicate 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 acquired; when the zero-position difference meets the calibration conditions, the first reference zero-position information is automatically updated based on the actual zero-position information.

[0101] Optionally, the methods for obtaining road surface information include, but are not limited to, obtaining road surface conditions through road surface condition sensors and determining the road condition type; or obtaining vehicle positioning information through GPS and determining the road condition type based on the positioning information; or collecting environmental images within a preset range of the first vehicle through an onboard camera acquisition device, identifying the terrain where the first vehicle is located based on the environmental images, and determining the road condition type, etc. The embodiments of this application do not limit this.

[0102] In some embodiments, multiple reference zero-position information correspond to road condition type labels, and reference zero-position information corresponding to the road condition type can be determined based on the road condition type labels.

[0103] As an illustration, road condition type labels can correspond to label vector features. Based on the vector correlation between the road condition vector features corresponding to the road condition type and the label vector features, the road condition type label that matches the road condition type can be determined. This can reduce the situation where road condition type labels cannot be accurately matched due to different expression methods, and improve the accuracy and efficiency of determining reference zero information for different road condition types.

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

[0105] Step 240: If the zero-position difference meets the calibration conditions, automatically update the reference zero-position information based on the actual zero-position information.

[0106] Optionally, when updating the reference zero position information, the actual zero position information can be directly updated to the reference zero position information, or the reference zero position information can be updated based on the average turning angle of the actual zero position information and the reference zero position information. This application embodiment does not limit this.

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

[0108] The first step is to record the actual zero position information as candidate zero position information when the zero position difference reaches the preset difference threshold.

[0109] In some embodiments, if the zero-position difference is less than a first preset difference threshold, the actual zero-position information is discarded; if the zero-position difference 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 this application update the zero position when the zero position difference reaches a preset difference threshold. This avoids 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 zero position calibration efficiency.

[0111] Optionally, a single candidate zero bit information can be stored, or multiple candidate zero bit information can be stored; this application embodiment does not limit this.

[0112] To illustrate, taking the storage of a single candidate zero position information as an example, if multiple actual zero position information are generated before updating the reference zero position information, the actual zero position information with the largest zero position difference can be used as the candidate zero position information, or the average turning angle of multiple actual zero position information can be used as the candidate zero position information, etc. This application embodiment does not limit this.

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

[0114] The second step is to automatically update the candidate zero position information to the reference zero position information when the first vehicle starts again.

[0115] The method provided in this application, by performing zero-position calibration when the first vehicle restarts, avoids calibration immediately after obtaining candidate zero-position information. This ensures that the calibration process is performed under stable conditions and also avoids frequent writes affecting hardware lifespan. Furthermore, multiple data acquisitions can be performed to verify the accuracy of the zero position, improving zero-position calibration efficiency.

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

[0117] Indicatively, when the steering information of the first vehicle indicates that the steering wheel matches 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, the candidate zero position information is automatically updated to the reference zero position information when the first vehicle is restarted.

[0118] The method provided in this application improves 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 matches the candidate zero-position information.

[0119] Optionally, the validity of the candidate zero information can be confirmed by the user, or the validity of the candidate zero information can be determined automatically. This application embodiment does not limit this.

[0120] The methods for determining the validity of candidate zero information include at least the following two:

[0121] The first method involves displaying zero-position confirmation information, which prompts 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 validity of the candidate zero-position information is determined.

[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 type of operation. This application embodiment does not limit this.

[0123] As an illustration, when the steering information of the first vehicle indicates that the steering wheel matches the steering angle indicated by the candidate zero position information, a zero position confirmation message is displayed or announced by voice, allowing the driver to confirm the validity of the candidate zero position information. For example, when the steering information of the first vehicle indicates that the steering wheel matches the steering angle indicated by the candidate zero position information, the driver is asked by voice whether the steering wheel is currently in the center position. If a confirmation operation is received, the candidate zero position information is confirmed to be valid.

[0124] The second method involves automatically acquiring road images using an onboard camera, including lane lines; based on the lane lines, the position of the first vehicle relative to the lane lines, and the direction of travel of the first vehicle, the driving status of the first vehicle is determined; when the driving status indicates that the first vehicle is traveling in a straight line, the candidate zero position information is automatically determined to be valid.

[0125] When the steering information of the first vehicle indicates that the steering angle of the steering wheel matches 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 traveling in a straight line based on the steering angle.

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

[0127] It is worth noting that the above-mentioned method for automatically determining the validity of candidate zero information is merely an exemplary example, and the embodiments of this application do not limit it.

[0128] The method provided in this application, by detecting whether the vehicle is in a straight-line driving state when the actual steering angle of the steering wheel matches the candidate zero-position information, automatically determines the validity of the candidate zero-position information, which can improve the automation of identifying valid candidate zero-position information, improve the accuracy of candidate zero-position information, and thus improve the zero-position calibration efficiency.

[0129] In some embodiments, after updating the reference zero-point information, a zero-point calibration prompt message is displayed.

[0130] The zero-point calibration prompt message is used to indicate when the reference zero-point information is updated.

[0131] Optionally, the zero-point calibration prompt information can be displayed through the Instrument Cluster Module (ICM), or the zero-point calibration prompt information can be broadcast by voice, etc. This application embodiment does not limit this.

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

[0133] In some embodiments, the zero-position calibration based on vehicle steering provided in this application can be used in fleet coordination scenarios.

[0134] To illustrate, multiple vehicles in a convoy can share reference zero position information. Taking the first vehicle as the convoy leader as an example, the updated reference zero position information of the first vehicle can be synchronized to multiple vehicles in the convoy.

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

[0136] Schematic example, taking the first vehicle as an example, when the duration of the steering angle signal and the rack position signal reaches a preset duration, the current actual steering angle of the first vehicle's steering wheel is taken as the actual zero-position information. 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 first vehicle's steering wheel 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 lead vehicle. Specifically, when the directional angle difference between the driving directions of the first vehicle and the lead vehicle is zero, the candidate zero-position information is determined to be valid.

[0137] In summary, the method provided in this application automatically recalibrates the zero position based on the zero position difference when the vehicle meets specific conditions. This allows for timely updates to the zero position in the event of a deviation, ensuring zero position accuracy and achieving automatic zero position calibration updates. This improves zero position calibration efficiency and accuracy, and avoids issues such as vehicle wear and component deformation that could cause the vehicle to drift, fail to return to the center position accurately, or lead to vehicle deviation and unstable braking. This also improves steering control performance.

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

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

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

[0141] To illustrate, the vehicle speed is read by the vehicle speed sensor signal. If the vehicle speed exceeds the first threshold, the steering zero-position self-learning module starts working. If it does not exceed the first threshold, the steering zero-position self-learning module does not start working and remains in standby mode.

[0142] Step 200: Start the zero-position self-learning module.

[0143] Indicatively, after acquiring an enable signal indicating that the vehicle speed exceeds the first threshold, the steering zero-position self-learning module starts working. It uses the signals corresponding to the angle sensor (302) and the rack position sensor (303) to obtain the vehicle status and determine whether it needs to be recalibrated.

[0144] Step 300: Obtain the angle signal, rack position signal, and duration, and determine whether the second threshold is exceeded to determine whether there is a steering behavior.

[0145] The second threshold is a preset duration.

[0146] Indicatively, step 300 is executed by the signal analysis and control module, whereby the rotation 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 rack position are mutually verified to avoid inaccurate judgment of the intermediate position caused by backlash in the input shaft or other reasons. It features accurate mid-position judgment and high reliability.

[0148] Step 400: Compare the measured turning center zero position with the initial position to determine the comparison relationship between the difference and the third threshold.

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

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

[0151] Indicatively, the signals from the steering angle sensor (302) and the rack position sensor (303) are compared. There is no absolute center position during vehicle operation. If the difference between the actual center position and the initial 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-point pre-calibration.

[0153] For illustrative purposes, record the difference between the comparisons in step 400 and prepare for calibration. Considering that the steering system is a safety component, it is not recommended to perform calibration while the vehicle is in motion, so as not to affect the stability of the entire vehicle.

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

[0155] Based on the actual zero position recorded in step 500, the zero position recalibration of the electric power steering system is completed when the vehicle is started next time. This is done in a static state, so the zero position calibration of the steering system will not affect the stability of the vehicle and has the characteristics of high safety.

[0156] Step 700, ICM displays that zero-position calibration was successful.

[0157] The ICM display notifies the driver that the automatic calibration of the steering system has just been completed, preventing misunderstandings about the vehicle's overall status. It also records the calibration for future troubleshooting.

[0158] In summary, the method provided in this application proposes a redundant control logic for EPS center position learning and correction. This logic 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. This enables the vehicle to intelligently return to the center position, always maintaining the correct absolute steering center position to avoid veering and reduce vehicle maintenance frequency. It solves the problem of the vehicle not automatically returning to the center position, improves the stability and reliability of the steering control system, and enhances vehicle safety and handling performance.

[0159] Figure 5 This is a structural block diagram of a zero-position calibration device based on vehicle steering provided in an exemplary embodiment of this application, as shown below. Figure 5 As shown, the device includes the following parts:

[0160] The acquisition module 510 is used to acquire the 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 conditions, and the steering information is used to indicate the steering status of the first vehicle during driving.

[0162] The acquisition module 510 is further configured to automatically acquire the zero position difference between the actual zero position information and the reference zero position information when the steering information indicates that the first vehicle meets the zero position condition. 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 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] The acquisition module 510 is used to acquire the 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 conditions, and the steering information is used to indicate the steering status of the first vehicle during driving.

[0166] The acquisition module 510 is further configured to automatically acquire the zero position difference between the actual zero position information and the reference zero position information when the steering information indicates that the first vehicle meets the zero position condition. 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 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 configured to:

[0169] If the zero-position difference reaches a preset difference threshold, the actual zero-position information is recorded as candidate zero-position information.

[0170] When the first vehicle starts 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 configured to:

[0172] If the steering information of the first vehicle indicates that the steering wheel conforms to the steering angle indicated by the candidate zero position information, the validity of the candidate zero position information is determined.

[0173] If the candidate zero position information is valid, when the first vehicle starts again, the candidate zero position information will be automatically updated to the reference zero position information.

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

[0175] Displaying zero-position confirmation information, which prompts 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] The vehicle automatically acquires road images, including lane lines, using an onboard camera. Based on the lane lines, the position of the first vehicle relative to the lane lines, and the direction of travel of the first vehicle, the driving state of the first vehicle is determined. If the driving state indicates that the first vehicle is traveling in a straight line, the candidate zero position information is automatically determined to be valid.

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

[0178] When the driving speed reaches a preset speed threshold, the steering angle signal and rack position signal are automatically acquired. 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.

[0179] When the duration of the 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 obtained.

[0180] In some embodiments, the first vehicle corresponds to an electric power steering system, which is used to control the vehicle's steering.

[0181] The acquisition module 510 is further configured to:

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

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

[0184] In some embodiments, the calibration module 520 is further configured to display zero-point calibration prompt information, which is used to prompt that the reference zero-point information has been updated.

[0185] In some embodiments, the acquisition module 510 is further configured to acquire road surface information when the steering information indicates that the first vehicle meets the zero-position condition, the road surface information being used to indicate the road surface condition of the first vehicle.

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

[0187] The acquisition module 510 is further configured to acquire first reference zero position information corresponding to the first type of road condition when the road information indicates that the first vehicle is in the first type of road condition. The first reference zero position information is a reference steering angle preset for the first type of road condition 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 conditions.

[0190] In summary, the device provided in this application automatically recalibrates the zero position based on the zero position difference when the vehicle meets specific conditions. It can update the zero position in a timely manner when a deviation occurs, ensuring zero position accuracy and realizing automatic zero position calibration update. This improves zero position calibration efficiency and accuracy, avoids vehicle center position deviation caused by factors such as vehicle wear and component deformation, and prevents the vehicle from accurately returning to the center position, which can lead to problems such as vehicle deviation and unstable braking. This improves steering control performance.

[0191] It should be noted that the zero-position calibration device based on vehicle steering provided in the above embodiments is only an example of 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 device can be divided into different functional modules to complete all or part of the functions described above.

[0192] Figure 6 This illustration shows a structural block diagram of a terminal 600 provided in an exemplary embodiment of this application. The terminal 600 may be a smartphone, tablet computer, MP3 player, MP4 player, laptop computer, or desktop computer. The terminal 600 may also be referred to as user equipment, portable terminal, laptop terminal, desktop terminal, or other names.

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

[0194] Processor 601 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 601 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). Processor 601 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 601 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 601 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

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

[0196] In some embodiments, the terminal 600 also includes other components 603, as those skilled in the art will understand. Figure 6 The structure shown does not constitute a limitation on terminal 600, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0197] Embodiments of this application also provide a computer device that can be implemented as follows: Figure 1 The terminal or server shown. The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set, or instruction set, wherein 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 in the above-described method embodiments.

[0198] The embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the zero-position calibration method based on vehicle steering provided in the above-described method embodiments.

[0199] Embodiments of this application also provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the zero-position calibration method based on vehicle steering provided in the above-described method embodiments.

[0200] Optionally, the computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), solid-state drives (SSDs), or optical discs, etc. The random access memory may include resistive random access memory (ReRAM) and dynamic random access memory (DRAM). The sequence numbers of the embodiments in this application are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0201] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

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

Claims

1. A zero-position calibration method based on vehicle steering, characterized in that, The method includes: Obtain the speed of the first vehicle; When the driving speed meets the vehicle speed conditions, the steering information of the first vehicle is automatically acquired, and the steering information is used to indicate the steering status 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. 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 the preset position. If the zero-position difference reaches a preset difference threshold, the actual zero-position information is recorded as candidate zero-position information. When the steering information of the first vehicle indicates that the steering wheel conforms to the steering angle indicated by the candidate zero-position information, the validity of the candidate zero-position information is determined; wherein, zero-position confirmation information is displayed, 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, the validity of the candidate zero-position information is determined; or, when the driving status of the first vehicle indicates that the first vehicle is traveling in a straight line, the validity of the candidate zero-position information is automatically determined; If the candidate zero position information is valid, when the first vehicle starts again, the candidate zero position information will be automatically updated to the reference zero position information.

2. The method according to claim 1, characterized in that, Before automatically determining the validity of the candidate zero-position information when the driving status of the first vehicle indicates that the first vehicle is traveling in a straight line, the method further includes: The road image, including lane lines, is automatically acquired by an onboard camera device. Based on the lane lines, the position of the first vehicle relative to the lane lines, and the driving direction of the first vehicle, the driving state of the first vehicle is determined.

3. The method according to claim 1 or 2, characterized in that, When the driving speed meets the vehicle speed conditions, automatically acquiring the steering information of the first vehicle includes: When the driving speed reaches a preset speed threshold, the steering angle signal and rack position signal are automatically acquired. 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. When the steering information indicates that the first vehicle meets the steering conditions, automatically acquiring the zero-position difference between the actual zero-position information and the reference zero-position information includes: When the first duration of the 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 obtained, and the first duration is used to indicate the angle signal.

4. The method according to claim 3, characterized in that, The first vehicle is equipped with an electric power steering system, which is used to control the vehicle's steering. When the driving speed reaches a preset speed threshold, the steering angle signal and rack position signal are automatically acquired, including: When the driving speed reaches a preset speed threshold, the rotation of the steering wheel is detected by the angle sensor in the electric power steering system to obtain the angle signal; The rotation of the wheel is detected by the rack position sensor in the electric power steering system to obtain the rack position signal.

5. The method according to claim 1 or 2, characterized in that, After automatically updating the candidate zero-position information to the reference zero-position information when the first vehicle starts again, the method further includes: Display zero-point calibration prompt information, which is used to indicate that the reference zero-point information has been updated.

6. The method according to claim 1 or 2, characterized in that, When the steering information indicates that the first vehicle meets the zero-position condition, automatically acquiring 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, road surface information is acquired, which is used to indicate the road conditions on which the first vehicle is located. The road condition type 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, the 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 to indicate that the steering wheel is in the preset position. Obtain 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 conditions, automatically updating the reference zero-position information based on the actual zero-position information includes: If the zero-position difference meets the calibration conditions, the first reference zero-position information is automatically updated based on the actual zero-position information.

7. A zero-position calibration device based on vehicle steering, characterized in that, The device includes: The acquisition module is used to acquire the speed of the first vehicle; The acquisition module is also used to automatically acquire the steering information of the first vehicle when the driving speed meets the vehicle speed conditions, and the steering information is used to indicate the steering status of the first vehicle during driving. The acquisition module is further configured to automatically acquire the zero-position difference between the actual zero-position information and the reference zero-position information when the steering information indicates that the first vehicle meets the zero-position condition. 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 the preset position. The calibration module is configured to: record the actual zero-position information as candidate zero-position information when the zero-position difference reaches a preset difference threshold; determine the validity of the candidate zero-position information when the steering information of the first vehicle indicates that the steering wheel conforms to the steering angle indicated by the candidate zero-position information; display zero-position confirmation information, which is used to prompt the driver to confirm the validity of the candidate zero-position information; determine the validity of the candidate zero-position information in response to receiving a confirmation operation for the zero-position confirmation information; or, automatically determine the validity of the candidate zero-position information when the driving status of the first vehicle indicates that the first vehicle is driving in a straight line; and automatically update the candidate zero-position information to the reference zero-position information when the first vehicle restarts if the candidate zero-position information is valid.

8. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one computer program, which is loaded and executed by the processor to implement the zero-position calibration method based on vehicle steering as described in any one of claims 1 to 6.

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