Steering gear neutral position adjusting method and device, equipment, storage medium and program product

Abstract

The invention relates to a steering gear neutral position adjusting method and device, equipment, a storage medium and a program product, and relates to the technical field of vehicle steering systems. The method is executed by the four-wheel drive-by-wire vehicle and comprises the steps that neutral position detection information of the four-wheel drive-by-wire vehicle is obtained; under the condition that the neutral position detection information meets the specified condition, the current position of a steering gear of the four-wheel drive-by-wire vehicle is marked as neutral position information; steering gears of the four-wheel drive-by-wire vehicle comprise a front wheel steering gear and a rear wheel steering gear. When the difference angle between the current neutral position of the steering gear and the neutral position corresponding to the neutral position information meets the difference angle threshold value, the neutral position of the steering gear of the four-wheel drive-by-wire vehicle is recalibrated according to the neutral position information, and the neutral position adjusting efficiency of the steering gear can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of vehicle steering systems, and in particular to a method, device, equipment, storage medium and program product for adjusting the mid-position of a steering gear. Background Art

[0002] With the large-scale expansion of the vehicle market, the wire control technology has also been widely used in various vehicles. Among them, the steering gear center position adjustment of four-wheel wire control vehicles is particularly important.

[0003] In related technologies, engineers can drive a four-wheeled wire-controlled vehicle to a neutral positioning station, park the four-wheeled wire-controlled vehicle in a powered-on state on the neutral positioning station, place the steering wheel in the neutral position and fix it using a steering wheel horizontal centering instrument, record the steering wheel position as zero degrees, push the vehicle's wheel steering gear through a motor, obtain the left and right extreme positions, add the left and right extreme positions and divide by 2 to obtain the neutral position information, and adjust the steering gear neutral position.

[0004] Then, the implementation scenario of the above-mentioned steering gear mid-position adjustment method is relatively single and lacks flexibility, and cannot improve the efficiency of steering gear mid-position adjustment in the actual application process of four-wheel wire-controlled vehicles. Summary of the invention

[0005] The embodiment of the present application provides a method, device, equipment, storage medium and program product for adjusting the center position of a steering gear, which can improve the efficiency of adjusting the center position of a steering gear. The technical solution is as follows:

[0006] In one aspect, a method for adjusting a steering gear mid-position is provided, the method being performed by a four-wheel controlled-by-wire vehicle, the method comprising:

[0007] Acquire the median detection information of the four-wheel-by-wire vehicle, the median detection information including the vehicle speed of the four-wheel-by-wire vehicle, the lateral acceleration of the four-wheel-by-wire vehicle, the longitudinal acceleration of the four-wheel-by-wire vehicle, the yaw angular velocity of the four-wheel-by-wire vehicle, the upward steering wheel angle of the four-wheel-by-wire vehicle, the upward steering wheel torque of the four-wheel-by-wire vehicle, and the upward steering wheel speed of the four-wheel-by-wire vehicle;

[0008] In the case where the median detection information meets the specified conditions, the current position of the steering gear of the four-wheel-by-wire vehicle is marked as the median information; the steering gear of the four-wheel-by-wire vehicle includes a front-wheel steering gear and a rear-wheel steering gear; the specified conditions include: the vehicle speed of the four-wheel-by-wire vehicle meets the first threshold, the lateral acceleration of the four-wheel-by-wire vehicle meets the second threshold, the longitudinal acceleration of the four-wheel-by-wire vehicle meets the third threshold, the yaw angular velocity of the four-wheel-by-wire vehicle meets the fourth threshold, the steering wheel angle of the four-wheel-by-wire vehicle meets the fifth threshold, the steering wheel torque of the four-wheel-by-wire vehicle meets the sixth threshold, and the steering wheel speed of the four-wheel-by-wire vehicle meets the seventh threshold, and the duration reaches the duration threshold;

[0009] When a difference angle between a current middle position of the steering gear and a middle position corresponding to the middle position information satisfies a difference angle threshold, the middle position of the steering gear of the four-wheel-controlled-by-wire vehicle is recalibrated according to the middle position information.

[0010] On the other hand, a device for adjusting the mid-position of a steering gear is provided, the device comprising:

[0011] a mid-position detection information acquisition module, used to acquire mid-position detection information of the four-wheel-by-wire vehicle, wherein the mid-position detection information includes the vehicle speed of the four-wheel-by-wire vehicle, the lateral acceleration of the four-wheel-by-wire vehicle, the longitudinal acceleration of the four-wheel-by-wire vehicle, the yaw angular velocity of the four-wheel-by-wire vehicle, the upward steering wheel angle of the four-wheel-by-wire vehicle, the upward steering wheel torque of the four-wheel-by-wire vehicle, and the upward steering wheel speed of the four-wheel-by-wire vehicle;

[0012] A median information marking module, used for marking the current position of the steering gear of the four-wheel-by-wire vehicle as median information when the median detection information meets specified conditions; the steering gear of the four-wheel-by-wire vehicle includes a front-wheel steering gear and a rear-wheel steering gear; the specified conditions include: the vehicle speed of the four-wheel-by-wire vehicle meets the first threshold, the lateral acceleration of the four-wheel-by-wire vehicle meets the second threshold, the longitudinal acceleration of the four-wheel-by-wire vehicle meets the third threshold, the yaw angular velocity of the four-wheel-by-wire vehicle meets the fourth threshold, the steering wheel angle of the four-wheel-by-wire vehicle meets the fifth threshold, the steering wheel torque of the four-wheel-by-wire vehicle meets the sixth threshold, and the steering wheel speed of the four-wheel-by-wire vehicle meets the seventh threshold, and the duration reaches the duration threshold;

[0013] A median position recalibration module is used to recalibrate the median position of the steering gear of the four-wheel wire-controlled vehicle according to the median information when the difference angle between the current median position of the steering gear and the median position corresponding to the median information meets the difference angle threshold.

[0014] In some embodiments, the second threshold and the third threshold are positive numbers less than 0.1.

[0015] In some embodiments, the median position recalibration module is used to recalibrate the median position of the steering gear of the four-wheel-by-wire controlled vehicle according to the median information when the four-wheel-by-wire controlled vehicle stops or restarts.

[0016] In some embodiments, the apparatus further comprises:

[0017] A median information storage module, used for storing the median information in a memory of the four-wheel-by-wire vehicle before recalibrating the steering wheel median of the four-wheel-by-wire vehicle according to the median information; the memory is a non-volatile memory;

[0018] The mid-position recalibration module is used to read the mid-position information from the memory when the four-wheel-by-wire controlled vehicle stops or restarts; and recalibrate the mid-position of the steering gear of the four-wheel-by-wire controlled vehicle according to the read mid-position information.

[0019] In some embodiments, the apparatus further comprises:

[0020] The first warning information issuing module is used to issue a first warning message before the four-wheel-by-wire-controlled vehicle stops when the difference angle between the median position of the steering gear of the four-wheel-by-wire-controlled vehicle and the median position corresponding to the median information in the memory meets a second difference angle threshold; the first warning message is used to remind the correction of the median position of the steering gear of the four-wheel-by-wire-controlled vehicle.

[0021] In some embodiments, the apparatus further comprises:

[0022] The second warning information issuing module is used to issue a second warning information when the interval between two adjacent adjustment times of the mid-position of the steering gear of the four-wheel wire-controlled vehicle is less than the time interval threshold; the second warning information is used to indicate that there is a risk of failure of the steering gear of the four-wheel wire-controlled vehicle.

[0023] 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 steering gear mid-position adjustment method as described above.

[0024] 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 in the storage medium, 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 steering gear mid-position adjustment method as described above.

[0025] In another aspect, a computer program product is provided, the computer program product comprising a computer program, the computer program being stored in a computer-readable storage medium. A processor of a computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the steering gear mid-position adjustment method provided in the above-mentioned various optional implementations.

[0026] The technical solution provided by this application may have the following beneficial effects:

[0027] The four-wheel-by-wire vehicle can obtain the median detection information in real time, and obtain the median information when the median detection information meets the specified conditions. Since the median detection information contains different types of information related to the four-wheel-by-wire vehicle, the current driving state of the four-wheel-by-wire vehicle can be accurately obtained through this information, and it is effectively judged whether the four-wheel-by-wire vehicle is in a straight-line driving state. When the median detection information meets the specified conditions, that is, when the status information of different types of four-wheel-by-wire vehicles indicates that the current four-wheel-by-wire vehicle is in a straight-line driving state, the so-called position of the steering gear of the current four-wheel-by-wire vehicle is obtained as the median information, which can ensure the accuracy of the median information. Further, during the driving process of the four-wheel-by-wire vehicle, when the gap between the median position of the steering gear and the above-mentioned median information is large, the steering gear is adjusted to the median position according to the median information, thereby realizing a scheme for dynamically adjusting the median position of the steering gear of the four-wheel-by-wire vehicle, expanding the scenario of the median adjustment of the steering gear, and improving the efficiency of the median adjustment of the steering gear.

[0028] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0030] Figure 1 is a system configuration diagram of a steering gear mid-position adjustment method according to an embodiment of the present application;

[0031] Figure 2 is a flow chart of a method for adjusting the mid-position of a steering gear provided by an embodiment of the present application;

[0032] Figure 3is a flow chart of a data processing method provided by an embodiment of the present application;

[0033] Figure 4 This is a structural diagram of a four-wheel steering-by-wire system provided by an embodiment of the present application;

[0034] Figure 5 is a structural diagram of a wire-controlled steering system provided by an embodiment of the present application;

[0035] Figure 6 is a structural diagram of a rear wheel steering system provided by an embodiment of the present application;

[0036] Figure 7 This is a four-wheel alignment flow chart provided by an embodiment of the present application;

[0037] Figure 8 It is a front wheel steering center position calibration flow chart provided by an embodiment of the present application;

[0038] Fig. 9 is a block diagram of a median adaptive device provided by an embodiment of the present application;

[0039] Fig.10 This is a schematic diagram of a median adaptive learning function provided by an embodiment of the present application;

[0040] Fig.11 is a block diagram of a steering gear mid-position adjustment device provided by an exemplary embodiment of the present application;

[0041] Fig.12 It is a structural diagram of a computer device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0042] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0043] Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as recited in the appended claims.

[0044] The present application proposes a steering gear mid-position adjustment scheme, which improves the efficiency of steering gear mid-position adjustment in actual application of four-wheel wire-controlled vehicles. For ease of understanding, some concepts involved in the present application are explained below.

[0045] 1) A four-wheel drive-by-wire vehicle is a vehicle that uses drive-by-wire technology to control the four wheels. Drive-by-wire technology is a technology that uses electrical signals rather than mechanical links to control vehicle components.

[0046] 2) The steering gear is an important component in the vehicle steering system. It is responsible for converting the rotation applied by the driver on the steering wheel into the rotation of the wheels, so that the vehicle can change direction according to the driver's intention.

[0047] 3) Vehicle neutral adaptation means allowing the steering gear to automatically adjust its position or setting according to the vehicle's status so that it always remains at a suitable neutral position. The purpose is to improve the accuracy and responsiveness of the steering system while ensuring that the driver feels natural and smooth during operation.

[0048] Figure 1 1 is a system diagram of a method for adjusting the mid-position of a steering gear according to an embodiment of the present application. Figure 1 As shown, the four-wheel-by-wire vehicle 100 includes a rear-wheel steering gear and a front-wheel steering gear. The four-wheel-by-wire vehicle can detect vehicle speed, lateral acceleration, longitudinal acceleration, yaw angular velocity, steering wheel angle, steering wheel torque and steering wheel speed; and compare these information with corresponding thresholds. When all the above information meets the corresponding thresholds and the duration reaches the duration threshold, the current position of the steering gear of the four-wheel-by-wire vehicle is marked as the median information; when the difference angle between the current median position of the steering gear (front-wheel steering gear and rear-wheel steering gear) and the median position corresponding to the median information meets the difference angle threshold, the median position of the steering gear of the four-wheel-by-wire vehicle is recalibrated according to the median information.

[0049] Figure 2 : is a flow chart of a method for adjusting the center position of a steering gear provided by an embodiment of the present application. The method for adjusting the center position of a steering gear can be executed by a four-wheeled wire-controlled vehicle, for example, the four-wheeled wire-controlled vehicle can be the above-mentioned Figure 1 The four-wheeled wire-controlled vehicle 100 is shown. The above-mentioned steering gear mid-position adjustment method may include the following steps.

[0050] Step 210: Acquire the median detection information of the four-wheel-by-wire vehicle, the median detection information includes the vehicle speed of the four-wheel-by-wire vehicle, the lateral acceleration of the four-wheel-by-wire vehicle, the longitudinal acceleration of the four-wheel-by-wire vehicle, the yaw angular velocity of the four-wheel-by-wire vehicle, the steering wheel angle of the four-wheel-by-wire vehicle, the steering wheel torque of the four-wheel-by-wire vehicle and the steering wheel speed of the four-wheel-by-wire vehicle.

[0051] Among them, the above-mentioned median detection information is the judgment information used by the four-wheel wire-controlled vehicle to perform median positioning.

[0052] In the embodiment of the present application, the four-wheeled wire-controlled vehicle can monitor and record the median detection information in real time. In some embodiments, the four-wheeled wire-controlled vehicle can obtain the median detection information through various sensors built into / outside the vehicle.

[0053] Optionally, the four-wheel-by-wire controlled vehicle can obtain the vehicle speed of the whole vehicle through the wheel speed sensors of the wheels. Specifically, the four-wheel-by-wire controlled vehicle can measure the speed of each wheel through the wheel speed sensors on the wheels, and calculate the commented speed of the speeds of all the wheels in the four-wheel-by-wire controlled vehicle as the average speed of the whole vehicle.

[0054] Optionally, the four-wheel controlled-by-wire vehicle may obtain the lateral acceleration and longitudinal acceleration of the four-wheel controlled-by-wire vehicle through a three-axis accelerometer.

[0055] Optionally, the four-wheel controlled-by-wire vehicle may measure the speed at which the vehicle rotates around a vertical axis through a yaw rate sensor, and obtain measurement data of the yaw rate sensor as the yaw angular velocity of the four-wheel controlled-by-wire vehicle.

[0056] Optionally, the four-wheel-by-wire vehicle can obtain the upward steering wheel angle of the four-wheel-by-wire vehicle through an angle sensor on the steering column.

[0057] Optionally, the four-wheel drive-by-wire vehicle can measure the torque applied by the driver to the steering wheel through a torque sensor as the upward steering wheel torque of the four-wheel drive-by-wire vehicle.

[0058] Optionally, the four-wheel-by-wire controlled vehicle can obtain the upward steering wheel rotation speed of the four-wheel-by-wire controlled vehicle by calculating the rate of change of the steering wheel angle.

[0059] Step 220: When the median detection information meets the specified conditions, the current position of the steering gear of the four-wheel-by-wire vehicle is marked as the median information; the steering gear of the four-wheel-by-wire vehicle includes a front-wheel steering gear and a rear-wheel steering gear; the specified conditions include: the vehicle speed of the four-wheel-by-wire vehicle meets the first threshold, the lateral acceleration of the four-wheel-by-wire vehicle meets the second threshold, the longitudinal acceleration of the four-wheel-by-wire vehicle meets the third threshold, the yaw angular velocity of the four-wheel-by-wire vehicle meets the fourth threshold, the steering wheel angle of the four-wheel-by-wire vehicle meets the fifth threshold, the steering wheel torque of the four-wheel-by-wire vehicle meets the sixth threshold, and the steering wheel speed of the four-wheel-by-wire vehicle meets the seventh threshold, and the duration reaches the duration threshold.

[0060] In the embodiment of the present application, the first threshold, the second threshold, the third threshold, the fourth threshold, the fifth threshold, the sixth threshold and the seventh threshold may be thresholds preset by an engineer.

[0061] In an embodiment of the present application, the four-wheel-by-wire controlled vehicle can obtain the current position of the steering gear of the four-wheel-by-wire controlled vehicle through an angle sensor.

[0062] In an embodiment of the present application, the median detection information includes multiple different types of detection information (vehicle speed, lateral acceleration, longitudinal acceleration, yaw angular velocity, steering wheel angle, steering wheel torque and steering wheel speed). After the four-wheel control-by-wire vehicle obtains different types of detection information, the numerical values ​​corresponding to the different types of detection information are compared with the threshold values ​​corresponding to the detection information type. After the numerical values ​​of all different types of detection information meet the threshold values ​​corresponding to the detection information type, and the time duration for which the numerical values ​​of all different types of detection information meet the threshold values ​​corresponding to the detection information type reaches a specified time duration threshold, the position of the steering gear of the current four-wheel control-by-wire vehicle is obtained and marked as the median information.

[0063] Step 230: When the difference angle between the current middle position of the steering gear and the middle position corresponding to the middle position information meets the difference angle threshold, the middle position of the steering gear of the four-wheel wire-controlled vehicle is recalibrated according to the middle position information.

[0064] The above difference angle threshold may be an angle threshold preset by an engineer.

[0065] In an embodiment of the present application, the four-wheel-by-wire controlled vehicle monitors and records the median position of the steering gear in real time, and makes a difference between the median position of the steering gear and the median position corresponding to the median information. When the difference angle satisfies the difference angle threshold, the median position of the steering gear of the current four-wheel-by-wire controlled vehicle is calibrated as the center position corresponding to the median information.

[0066] It should be noted that in the embodiment of the present application, the steering gear of the four-wheel wire-controlled vehicle includes a front wheel steering gear and a rear wheel steering gear, the front wheel steering gear has a corresponding front wheel median position, and the rear wheel steering gear has a corresponding rear wheel median position; the median position corresponding to the median information includes the front wheel median position and the rear wheel median position. After the four-wheel-by-wire vehicle obtains the front wheel median position corresponding to the front wheel steering gear, the front wheel median position corresponding to the front wheel steering gear is subtracted from the front wheel median position corresponding to the median information. When the difference angle between the front wheel median position corresponding to the front wheel steering gear and the front wheel median position corresponding to the median information meets the angle threshold, the median position of the front wheel steering gear of the steering gear of the four-wheel-by-wire vehicle is recalibrated according to the front wheel median position corresponding to the median information; after the four-wheel-by-wire vehicle obtains the rear wheel median position corresponding to the rear wheel steering gear, the rear wheel median position corresponding to the rear wheel steering gear is subtracted from the rear wheel median position corresponding to the median information. When the difference angle between the rear wheel median position corresponding to the rear wheel steering gear and the rear wheel median position corresponding to the median information meets the angle threshold, the median position of the rear wheel steering gear of the steering gear of the four-wheel-by-wire vehicle is recalibrated according to the rear wheel median position corresponding to the median information.

[0067] In an embodiment of the present application, the four-wheel-by-wire vehicle can obtain median detection information in real time, and obtain median information when the median detection information meets specified conditions. Since the median detection information contains different types of information related to the four-wheel-by-wire vehicle, the current driving state of the four-wheel-by-wire vehicle can be accurately obtained through this information, and it is effectively judged whether the four-wheel-by-wire vehicle is in a straight-line driving state. When the median detection information meets the specified conditions, that is, when the status information of different types of four-wheel-by-wire vehicles indicates that the current four-wheel-by-wire vehicle is in a straight-line driving state, the so-called position of the steering gear of the current four-wheel-by-wire vehicle is obtained as the median information, which can ensure the accuracy of the median information. Further, during the driving process of the four-wheel-by-wire vehicle, when the difference between the median position of the steering gear and the above-mentioned median information is large, the steering gear is adjusted to the median position according to the median information, thereby realizing a scheme for dynamically adjusting the median position of the steering gear of the four-wheel-by-wire vehicle, expanding the scenario of the median adjustment of the steering gear, and improving the efficiency of the median adjustment of the steering gear.

[0068] Based on the solutions shown in any one or more of the above embodiments, in some embodiments, the second threshold and the third threshold are positive numbers less than 0.1.

[0069] In the embodiment of the present application, when the current position of the steering gear of the four-wheel-by-wire controlled vehicle is marked as the neutral position information, the lateral acceleration and longitudinal acceleration of the four-wheel-by-wire controlled vehicle need to meet the condition of being less than 0.1g.

[0070] In the embodiment of the present application, the above-mentioned second threshold and third threshold are set to smaller values, which can perform median marking when the four-wheel-by-wire controlled vehicle is in an almost stationary state (that is, when the lateral acceleration and longitudinal acceleration are very small), effectively avoiding the error caused by the large acceleration of the four-wheel-by-wire controlled vehicle during movement that affects straight-line driving, thereby improving the accuracy of the median marking.

[0071] based on Figure 2 , please refer to Figure 3 , Figure 3 It is a flow chart of a data processing method provided by an embodiment of the present application. Figure 2 Step 230 in the embodiment may be implemented as step 230a, as follows:

[0072] Step 230a: When the four-wheel-by-wire controlled vehicle stops or restarts, the mid-position of the steering gear of the four-wheel-by-wire controlled vehicle is recalibrated according to the mid-position information.

[0073] Wherein, the above-mentioned four-wheel-by-wire vehicle stops indicating that the speed of the four-wheel-by-wire vehicle drops to zero and no longer moves. In some embodiments, the four-wheel-by-wire vehicle stops indicating at least one of the engine of the four-wheel-by-wire vehicle is turned off and the four-wheel-by-wire vehicle has no power input to continue moving forward.

[0074] The above-mentioned four-wheel-by-wire vehicle restart means that the four-wheel-by-wire vehicle enters a state ready to travel from a stationary or low-activity state. In some embodiments, the four-wheel-by-wire vehicle restart means that the control system of the four-wheel-by-wire vehicle is restarted or the four-wheel-by-wire vehicle starts to travel again from a completely stopped state.

[0075] In an embodiment of the present application, when the four-wheel-by-wire controlled vehicle is stopped and restarted, the center position of the steering gear is recalibrated according to the center position information, and the steering gear can be efficiently adjusted in the center position, so that the four-wheel-by-wire controlled vehicle can update the center position information immediately after stopping or restarting, and drive based on the updated center information, thereby improving the overall driver experience.

[0076] Based on the solutions shown in any one or more of the above embodiments, in some embodiments, before the above step 230, the four-wheel-by-wire vehicle stores the median information in the memory of the four-wheel-by-wire vehicle; the memory is a non-volatile memory. The above step 230a can be implemented as follows: when the four-wheel-by-wire vehicle stops or restarts, the median information is read from the memory; and the median position of the steering gear of the four-wheel-by-wire vehicle is recalibrated according to the read median information.

[0077] In an embodiment of the present application, the four-wheel-by-wire vehicle includes a non-volatile memory, and the non-volatile memory can retain vehicle data after the four-wheel-by-wire vehicle is powered off. After obtaining the median information, the four-wheel-by-wire vehicle stores the median information in the memory. In some embodiments, each time the four-wheel-by-wire vehicle performs a steering gear median adjustment operation, the median information replaces the historical median information in the memory, that is, after this steering gear median adjustment operation, the median information obtained in the previous steering gear median adjustment operation in the memory is updated to the median information corresponding to this steering gear median adjustment operation.

[0078] In an embodiment of the present application, when the four-wheel-by-wire controlled vehicle stops or restarts, the four-wheel-by-wire controlled vehicle reads the latest median information from the memory and recalibrates the median position of the steering gear of the four-wheel-by-wire controlled vehicle to the median position corresponding to the latest median information.

[0079] In an embodiment of the present application, the four-wheel wire-controlled vehicle directly reads the median information from the memory, obtains the median position corresponding to the median information, and recalibrates the median position of the steering gear of the four-wheel wire-controlled vehicle based on the read median information, thereby ensuring the efficiency of the steering gear median adjustment.

[0080] Based on the schemes shown in any one or more of the above-mentioned embodiments, in some embodiments, before the four-wheel-by-wire controlled vehicle stops, when the difference angle between the median position of the steering gear of the four-wheel-by-wire controlled vehicle and the median position corresponding to the median information in the memory meets the second difference angle threshold, the four-wheel-by-wire controlled vehicle issues a first warning message; the first warning message is used to remind to correct the median position of the steering gear of the four-wheel-by-wire controlled vehicle.

[0081] The second difference angle threshold may be a difference angle threshold preset by an engineer.

[0082] In an embodiment of the present application, a four-wheel wire-controlled vehicle can obtain the difference angle between the median position of the steering gear and the median position corresponding to the median information in the memory, compare the difference angle with a second difference angle threshold, and issue a first warning message when the difference angle is greater than or equal to the second difference angle threshold.

[0083] The first warning information may be prompted by at least one of voice, light, and text and graphics. Optionally, when the difference angle between the median position of the steering gear of the four-wheeled wire-controlled vehicle and the median position corresponding to the median information in the memory exceeds the second difference angle threshold and the exceeded angle belongs to a different angle interval, the first warning information may be prompted by at least one of different forms of voice, light, and text and graphics.

[0084] In some embodiments, when the difference angle between the median position of the steering gear of the four-wheel wire-controlled vehicle and the median position corresponding to the median information in the memory exceeds the second difference angle threshold and the angles belong to different angle intervals, the first warning information is reminded in different forms of voice.

[0085] For example, when the difference angle between the median position of the steering gear of the four-wheel-by-wire vehicle and the median position corresponding to the median information in the memory exceeds the second difference angle threshold of 0° to 2°, the four-wheel-by-wire vehicle emits a "beep" prompt sound, indicating that the current median position of the steering gear is slightly offset; when the difference angle between the median position of the steering gear of the four-wheel-by-wire vehicle and the median position corresponding to the median information in the memory exceeds the second difference angle threshold of 3° to 10°, the four-wheel-by-wire vehicle emits a voice "Median offset, adjustment recommended!", indicating that the current median position of the steering gear is moderately offset and needs to be adjusted; when the difference angle between the median position of the steering gear of the four-wheel-by-wire vehicle and the median position corresponding to the median information in the memory exceeds the second difference angle threshold of more than 10°, the four-wheel-by-wire vehicle emits a voice "Median serious offset, adjust immediately!", indicating that the current median position of the steering gear is seriously offset and needs to be adjusted.

[0086] In other embodiments, when the difference angle between the median position of the steering gear of the four-wheel wire-controlled vehicle and the median position corresponding to the median information in the memory exceeds the second difference angle threshold and the angles belong to different angle intervals, the first warning information is warned with lights of different colors.

[0087] For example, when the difference angle between the median position of the steering gear of a four-wheel-by-wire vehicle and the median position corresponding to the median information in the memory exceeds the second difference angle threshold of 0° to 2°, the four-wheel-by-wire vehicle emits a yellow light, indicating that the current median position of the steering gear is slightly offset; when the difference angle between the median position of the steering gear of the four-wheel-by-wire vehicle and the median position corresponding to the median information in the memory exceeds the second difference angle threshold of 3° to 10°, the four-wheel-by-wire vehicle emits an orange light, indicating that the current median position of the steering gear is moderately offset and needs to be adjusted; when the difference angle between the median position of the steering gear of the four-wheel-by-wire vehicle and the median position corresponding to the median information in the memory exceeds the second difference angle threshold of more than 10°, the four-wheel-by-wire vehicle emits a red light, indicating that the current median position of the steering gear is severely offset and needs to be adjusted.

[0088] In other embodiments, when the difference angle between the median position of the steering gear of the four-wheel wire-controlled vehicle and the median position corresponding to the median information in the memory exceeds the second difference angle threshold and the angles belong to different angle intervals, the first warning information is used for reminders in different graphic forms.

[0089] For example, when the difference angle between the median position of the steering gear of the four-wheel wire-controlled vehicle and the median position corresponding to the median information in the memory exceeds the second difference angle threshold angle between 0° and 2°, a yellow warning icon is displayed on the dashboard of the four-wheel wire-controlled vehicle, for example, a circular icon with an exclamation mark. At the same time, a text message "The center position of the steering gear is offset, please check!" is displayed, indicating that the center position of the current steering gear is slightly offset; when the difference angle between the center position of the steering gear of the four-wheel wire-controlled vehicle and the center position corresponding to the center information in the memory exceeds the second difference angle threshold by 3° to 10°, an orange warning icon is displayed on the dial of the four-wheel wire-controlled vehicle instrument, for example, a triangular icon with an exclamation mark, and a text message "The center position of the steering gear is moderately offset, please adjust!" is displayed, indicating that the center position of the current steering gear is moderately offset and needs to be adjusted; when the difference angle between the center position of the steering gear of the four-wheel wire-controlled vehicle and the center position corresponding to the center information in the memory exceeds the second difference angle threshold by more than 10°, a red warning icon is displayed on the instrument panel of the four-wheel wire-controlled vehicle, for example, a circular icon with a cross, and a text message "The center position of the steering gear is seriously offset, please stop and check immediately!" is displayed, indicating that the center position of the current steering gear is seriously offset and needs to be adjusted.

[0090] In an embodiment of the present application, when the mid-position of the steering gear of a four-wheel-by-wire vehicle deviates, the four-wheel-by-wire vehicle can issue a first warning message to remind the driver to adjust the mid-position of the steering gear of the four-wheel-by-wire vehicle. The instant warning helps the driver to adjust the steering gear in time, thereby improving the timeliness and efficiency of the mid-position adjustment of the steering gear and ensuring the driver's vehicle safety.

[0091] Based on the scheme shown in any one or more of the above-mentioned embodiments, in some embodiments, when the interval between two adjacent adjustment times of the mid-position of the steering gear of the four-wheel-by-wire controlled vehicle is less than the time interval threshold, the four-wheel-by-wire controlled vehicle issues a second warning message; the second warning message is used to indicate that there is a risk of failure of the steering gear of the four-wheel-by-wire controlled vehicle.

[0092] The above time interval threshold may be a time threshold preset by an engineer.

[0093] In an embodiment of the present application, the four-wheel wire-controlled vehicle can monitor and record the steering gear's center adjustment operation and the specific time of each center adjustment operation in real time, and issue a second warning message when it is detected that the time interval between the current steering gear's center adjustment operation and the previous steering gear's center adjustment operation is less than a specified time threshold.

[0094] The second warning information may be prompted by at least one of voice, light, and text and graphics. Optionally, when the difference angle between the median position of the steering gear of the four-wheeled wire-controlled vehicle and the median position corresponding to the median information in the memory exceeds the second difference angle threshold and the exceeded angle belongs to a different angle interval, the second warning information may be prompted by at least one of different forms of voice, light, and text and graphics.

[0095] For example, when the interval between two adjacent adjustment times of the mid-position of the steering gear of a four-wheel-by-wire vehicle is less than the time interval threshold, the four-wheel-by-wire vehicle issues a prompt voice "The current steering gear has a risk of failure!"; for another example, when the interval between two adjacent adjustment times of the mid-position of the steering gear of a four-wheel-by-wire vehicle is less than the time interval threshold, the four-wheel-by-wire vehicle emits a red light; for another example, when the interval between two adjacent adjustment times of the mid-position of the steering gear of a four-wheel-by-wire vehicle is less than the time interval threshold, the dashboard of the four-wheel-by-wire vehicle displays a red exclamation mark and a text message "The current steering gear has a risk of failure! Please check!".

[0096] In an embodiment of the present application, when the four-wheel-by-wire controlled vehicle detects that the steering gear is adjusted too frequently in the neutral position and the time interval between two adjustments is less than the time interval threshold, issuing a second warning message can prevent potential failure risks of the four-wheel-by-wire controlled vehicle.

[0097] Based on the above Figure 2 and Figure 3 The steps in the embodiments of the present application illustrate a four-wheel steer-by-wire, four-wheel positioning and median adaptive learning method and device.

[0098] For example, please refer to Figure 4 , Figure 4 This is a diagram of a four-wheel steering-by-wire structure provided by an embodiment of the present application. Figure 4 As shown, the vehicle is provided with a steer-by-wire upward turn road sense feedback system 1, a steer-by-wire downward turn execution system 2, a wheel speed sensor 3, an IMU (inertial sensor) 4, and a rear wheel steering system 5.

[0099] Four wheel speed sensors are arranged on four wheels respectively. The brake system analyzes the pulse signal to calculate the four-wheel speed, and then calculates the vehicle speed and sends it to the CAN bus.

[0100] The IMU (inertial sensor) is arranged near the center of mass of the vehicle to measure dynamic variables such as lateral acceleration, longitudinal acceleration, yaw rate, etc. and send them to the CAN bus.

[0101] For example, please refer to Figure 5 , Figure 5 This is a structural diagram of a wire-controlled steering system provided by an embodiment of the present application. The wire-controlled steering system is arranged with a steering wheel 1, a TAS (torque and angle sensor) 2, an upper turn road sense feedback controller 3, an upper turn road sense feedback motor 4, a worm gear reduction mechanism 5, a private CAN 6, a vehicle CAN bus 7, a pinion shaft with an angle sensor 8, a lower turn execution controller 9, a lower turn execution motor 10, a belt transmission mechanism 11, a ball screw mechanism 12, a rack 13, and a steering tie rod 14.

[0102] The TAS (torque and angle sensor) is arranged in the electric adjustment column to detect the rotation angle of the input shaft and the torque between the input shaft and the output shaft.

[0103] The upper turn road sense feedback controller and the upper turn road sense feedback motor are an integrated PowerPack.

[0104] The worm gear reduction mechanism is used to reduce the speed and increase the torque output by the motor.

[0105] Private CAN is the private communication between the upper turn road sense feedback system and the lower turn execution system.

[0106] Signals are exchanged with other vehicle systems through the vehicle CAN bus.

[0107] The pinion shaft meshes with the steering gear rack. When the steering gear moves, it drives the pinion shaft to rotate. A rotation angle sensor is installed on the pinion shaft. The rack position can be calculated by measuring the rotation angle on the pinion shaft.

[0108] The downward rotation execution controller and the downward rotation execution motor are an integrated PowerPack.

[0109] The belt drive mechanism amplifies the rotational torque output by the motor to the large nut of the rack ball screw.

[0110] The ball screw mechanism converts the rotational motion transmitted by the motor into lateral displacement of the rack.

[0111] For example, please refer to Figure 6 , Figure 6 The rear wheel steering system is provided in an embodiment of the present application. The rear wheel steering system is provided with a CAN bus 1, a linear displacement sensor 2, a rear wheel steering controller 3, a rear wheel steering motor 4, a belt transmission mechanism 5, a trapezoidal screw mechanism 6, a rack 7, and a steering tie rod 8.

[0112] The linear displacement sensor installs a metal block on the rack. As the rack moves, the position of the metal block can be measured through the eddy current effect, thereby measuring the position of the rack.

[0113] For example, please refer to Figure 7 , Figure 7 A four-wheel alignment flow chart provided by an embodiment of the present application.

[0114] Step 701: Drive the vehicle to a four-wheel alignment station, keep the vehicle powered on, and release the internal stress of the tires and steering system.

[0115] When the vehicle is off the production line for four-wheel alignment, it is first driven to the four-wheel alignment station. At this time, the vehicle is kept powered on to release the stress inside the tires and steering system.

[0116] Step 702, turn the steering wheel to the middle position and fix the steering wheel with a clamp.

[0117] Then use the steering wheel horizontal alignment instrument to place the steering wheel in the middle position and secure it.

[0118] Step 703, connect the diagnostic instrument and send a steering system mid-position calibration signal to record that the steering wheel is 0° at this moment.

[0119] Then connect the diagnostic instrument through the OBD diagnostic port, and send the steering system mid-point calibration signal through the diagnostic service, recording that the steering wheel is 0° at this moment.

[0120] Step 704, the front wheel execution system automatically turns left to the extreme position first, then turns right to the extreme position, records the total stroke of the front wheel steering gear, and saves the middle position of the stroke as zero position, stores it in EEPROM, and then automatically returns to zero position.

[0121] Please refer to Figure 8 , Figure 8 This is a flow chart of front wheel steering center position calibration provided by an embodiment of the present application. The down-turn execution system begins to decouple from the up-turn road sense simulation system and pushes the steering gear to move left at a fixed speed, and the motor torque and current are monitored at all times during the process.

[0122] For example, when it is detected that the motor torque is greater than 3Nm and the speed is less than 10RPM, and the duration is greater than 500ms, it is determined that the steering gear has reached the left limit position LmtLeftPos_mm, and the rack position is stored in the EEPROM; then the steering gear is pushed to the right at a fixed speed, and the motor torque and current are monitored at all times during the process.

[0123] For example, when it is detected that the motor torque is greater than 3Nm and the speed is less than 10RPM, and the duration is greater than 500ms, it is determined that the steering gear has reached the right limit position LmtRightPos_mm, and the rack position is stored in the EEPROM; after completion, the rack center position RackMidPos_mm is obtained by adding the recorded left and right limit positions and dividing by 2. At this time, the rack center position is stored in the EEPROM, and after completion, the steering gear automatically returns to the center position.

[0124] Step 705, the rear wheel execution system automatically turns left to the extreme position first, then turns right to the extreme position, records the total stroke of the rear wheel steering gear, and saves the middle position of the stroke as zero position, stores it in EEPROM, and then automatically returns to zero position.

[0125] The rear wheel zero position calibration is carried out at the same time as the front wheel zero position calibration. The rear wheel zero position calibration method is the same as that of the front wheel and will not be repeated here.

[0126] Step 706, the center position calibration is successful, the tire is rotated, the stress in the tire and the steering system is released, and the steering wheel angle is kept at 0°.

[0127] After the front and rear wheel center position calibration is completed, the four-wheel aligner drives the wheels to rotate to release the internal stress of the tires and steering system, while the steering wheel is still kept at a 0° angle.

[0128] Step 707, adjust the front and rear wheel tie rods so that the toe-in, camber angle and roll angle of the front and rear wheels are within the design range to ensure that the vehicle body is parallel to the tires.

[0129] Next, the relative positions of the front and rear wheels are measured by a laser instrument, and the front and rear steering rods are adjusted to ensure that the toe, camber angle, roll angle, etc. meet the design tolerance range requirements.

[0130] Step 708, complete the four-wheel alignment and drive the vehicle out of the four-wheel alignment station.

[0131] After completing the four-wheel alignment, drive the vehicle out of the four-wheel alignment station.

[0132] Compared with the prior art, this embodiment provides a four-wheel steer-by-wire four-wheel alignment method, which can be applied to a vehicle equipped with a four-wheel steer-by-wire system.

[0133] Next, a four-wheel steer-by-wire mid-position adaptive learning device proposed according to an embodiment of the present application is described with reference to the accompanying drawings.

[0134] For example, please refer to Fig. 9 , Fig. 9 1 is a block diagram of a median adaptive device provided by an embodiment of the present application. The device includes a signal acquisition module 901, a state judgment module 902, and a median adaptive module 903.

[0135] For example, please refer to Fig.10 , Fig.10 1 is a schematic diagram of a median adaptive learning function provided by an embodiment of the present application. Fig. 9 and Fig.10 As shown, the signal acquisition module 901 includes a vehicle signal acquisition system and a steering wheel signal acquisition system. The vehicle signal acquisition system is used to acquire signals such as vehicle speed, lateral acceleration, longitudinal acceleration, and yaw angular velocity; the steering wheel signal acquisition system is used to acquire signals such as steering wheel angle, steering wheel torque, and steering wheel speed. The above signals are analyzed and filtered accordingly; the state judgment module 902 is used to determine the vehicle's mid-position condition when driving in a straight line. For example, the judgment conditions are as follows:

[0136] S1, vehicle speed>60km / h;

[0137] S2, vehicle lateral acceleration < 0.1g;

[0138] S3, vehicle longitudinal acceleration < 0.1g;

[0139] S4, vehicle yaw rate < 0.01 rad / s;

[0140] S5, the upward steering wheel angle is less than 10°;

[0141] S6, upward steering wheel torque <0.5Nm;

[0142] S7, upward steering wheel speed <5° / s;

[0143] If all the above conditions are met and the duration is greater than 5000ms, the vehicle is determined to be in a straight-line driving state. At this time, the position of the steering gear is marked as the middle position and stored in the EEPROM. At the same time, since the sudden change of the middle position may cause subjective changes in the driver, the current ignition cycle will not be updated, and the stored middle position will be called in the next ignition cycle.

[0144] The above is only an embodiment of the present application and should not be regarded as limiting the present application. Professionals should understand that various deformations and modifications can be made to the embodiments to adapt to different application requirements. Therefore, the scope of the present application should be limited by the claims attached to the claims.

[0145] Please refer to Fig.11 , which shows a block diagram of a steering gear mid-position adjustment device provided by an exemplary embodiment of the present application. The steering gear mid-position adjustment device can be implemented as all or part of a computer device by hardware or a combination of hardware and software to achieve the above Figure 2 and Figure 3 All or part of the steps in the embodiments shown. Fig.11 As shown, the steering gear mid-position adjustment device comprises:

[0146] The median detection information acquisition module 1101 is used to acquire the median detection information of the four-wheel-by-wire vehicle, wherein the median detection information includes the vehicle speed of the four-wheel-by-wire vehicle, the lateral acceleration of the four-wheel-by-wire vehicle, the longitudinal acceleration of the four-wheel-by-wire vehicle, the yaw angular velocity of the four-wheel-by-wire vehicle, the upward steering wheel angle of the four-wheel-by-wire vehicle, the upward steering wheel torque of the four-wheel-by-wire vehicle, and the upward steering wheel speed of the four-wheel-by-wire vehicle;

[0147] The median information marking module 1102 is used to mark the current position of the steering gear of the four-wheel-by-wire vehicle as the median information when the median detection information meets the specified conditions; the steering gear of the four-wheel-by-wire vehicle includes a front-wheel steering gear and a rear-wheel steering gear; the specified conditions include: the vehicle speed of the four-wheel-by-wire vehicle meets the first threshold, the lateral acceleration of the four-wheel-by-wire vehicle meets the second threshold, the longitudinal acceleration of the four-wheel-by-wire vehicle meets the third threshold, the yaw angular velocity of the four-wheel-by-wire vehicle meets the fourth threshold, the steering wheel angle of the four-wheel-by-wire vehicle meets the fifth threshold, the steering wheel torque of the four-wheel-by-wire vehicle meets the sixth threshold, and the steering wheel speed of the four-wheel-by-wire vehicle meets the seventh threshold, and the duration reaches the duration threshold;

[0148] The median position recalibration module 1103 is used to recalibrate the median position of the steering gear of the four-wheel wire-controlled vehicle according to the median information when the difference angle between the current median position of the steering gear and the median position corresponding to the median information meets the difference angle threshold.

[0149] In some embodiments, the second threshold and the third threshold are positive numbers less than 0.1.

[0150] In some embodiments, the median position recalibration module 1103 is used to recalibrate the median position of the steering gear of the four-wheel-by-wire vehicle according to the median information when the four-wheel-by-wire vehicle stops or restarts.

[0151] In some embodiments, the apparatus further comprises:

[0152] A median information storage module is used to store the median information in a memory of the four-wheel-by-wire vehicle before recalibrating the steering wheel median of the four-wheel-by-wire vehicle based on the median information; the memory is a non-volatile memory;

[0153] The mid-position recalibration module 1103 is used to read mid-position information from the memory when the four-wheel-by-wire controlled vehicle stops or restarts; and recalibrate the mid-position of the steering gear of the four-wheel-by-wire controlled vehicle according to the read mid-position information.

[0154] In some embodiments, the apparatus further comprises:

[0155] The first warning information issuing module is used to issue a first warning message before the four-wheel-by-wire-controlled vehicle stops when the difference angle between the median position of the steering gear of the four-wheel-by-wire-controlled vehicle and the median position corresponding to the median information in the memory meets the second difference angle threshold; the first warning message is used to remind to correct the median position of the steering gear of the four-wheel-by-wire-controlled vehicle.

[0156] In some embodiments, the apparatus further comprises:

[0157] The second warning information issuing module is used to issue a second warning message when the interval between two adjacent adjustment times of the mid-position of the steering gear of the four-wheel wire-controlled vehicle is less than the time interval threshold; the second warning message is used to indicate that there is a risk of failure of the steering gear of the four-wheel wire-controlled vehicle.

[0158] Please refer to Fig.12 , Fig.121 is a schematic diagram of the structure of a computer device provided by an exemplary embodiment of the present application. The computer device 1200 includes a central processing unit (CPU) 1201, a system memory 1204 including a random access memory (RAM) 1202 and a read-only memory (ROM) 1203, and a system bus 1205 connecting the system memory 1204 and the central processing unit 1201. The computer device 1200 also includes a basic input / output system (I / O system) 1206 that helps transmit information between various devices in the computer, and a large-capacity storage device 1207 for storing an operating system 1213, application programs 1214 and other program modules 1215.

[0159] The basic input / output system 1206 includes a display 1208 for displaying information and an input device 1209 such as a mouse and a keyboard for user inputting information. The display 1208 and the input device 1209 are connected to the central processing unit 1201 through an input / output controller 1210 connected to the system bus 1205. The basic input / output system 1206 may also include an input / output controller 1210 for receiving and processing inputs from a plurality of other devices such as a keyboard, a mouse, or an electronic stylus. Similarly, the input / output controller 1210 also provides output to a display screen, a printer, or other types of output devices.

[0160] The mass storage device 1207 is connected to the central processing unit 1201 through a mass storage controller (not shown) connected to the system bus 1205. The mass storage device 1207 and its associated computer readable medium provide non-volatile storage for the computer device 1200. That is, the mass storage device 1207 may include a computer readable medium (not shown) such as a hard disk or a CD-ROM (Compact Disc Read-Only Memory) drive.

[0161] Without loss of generality, the computer-readable medium may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented by any method or technology for storing information such as computer-readable instructions, data structures, program modules or other data. Computer storage media include RAM (Random Access Memory), ROM (Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory or other solid-state storage technologies, CD-ROM, DVD (Digital Video Disc) or other optical storage, cassettes, tapes, disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that the computer storage media is not limited to the above. The above-mentioned system memory 1204 and mass storage device 1207 can be collectively referred to as memory.

[0162] The computer device 1200 can be connected to the Internet or other network devices through a network interface unit 1211 connected to the system bus 1205 .

[0163] The memory also includes one or more programs, which are stored in the memory. The central processing unit 1201 implements the one or more programs by executing the one or more programs. Figures 2 to 6 All or part of the steps in the method shown.

[0164] In an exemplary embodiment, a chip is also provided, which includes a programmable logic circuit and / or program instructions. When the chip runs on a computer device, it is used to implement all or part of the steps of the method shown in the above embodiments of the present application.

[0165] In an exemplary embodiment, a computer program product is also provided, the computer program product includes computer instructions, the computer instructions are 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 reads and executes the computer instructions from the computer-readable storage medium to implement all or part of the steps of the method shown in the above-mentioned various embodiments of the present application.

[0166] In an exemplary embodiment, a computer-readable storage medium is further provided, in which a computer program is stored. The computer program is loaded and executed by a processor to implement all or part of the steps of the method shown in the above-mentioned embodiments of the present application.

[0167] 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.

[0168] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented with hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that a general or special-purpose computer can access.

[0169] 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 method for adjusting the mid-position of a steering gear, characterized in that: The method is performed by a four-wheel controlled-by-wire vehicle, and the method comprises: Acquire the median detection information of the four-wheel-by-wire vehicle, the median detection information including the vehicle speed of the four-wheel-by-wire vehicle, the lateral acceleration of the four-wheel-by-wire vehicle, the longitudinal acceleration of the four-wheel-by-wire vehicle, the yaw angular velocity of the four-wheel-by-wire vehicle, the upward steering wheel angle of the four-wheel-by-wire vehicle, the upward steering wheel torque of the four-wheel-by-wire vehicle, and the upward steering wheel speed of the four-wheel-by-wire vehicle; In the case where the median detection information meets the specified conditions, the current position of the steering gear of the four-wheel-by-wire vehicle is marked as the median information; the steering gear of the four-wheel-by-wire vehicle includes a front-wheel steering gear and a rear-wheel steering gear; the specified conditions include: the vehicle speed of the four-wheel-by-wire vehicle meets the first threshold, the lateral acceleration of the four-wheel-by-wire vehicle meets the second threshold, the longitudinal acceleration of the four-wheel-by-wire vehicle meets the third threshold, the yaw angular velocity of the four-wheel-by-wire vehicle meets the fourth threshold, the steering wheel angle of the four-wheel-by-wire vehicle meets the fifth threshold, the steering wheel torque of the four-wheel-by-wire vehicle meets the sixth threshold, and the steering wheel speed of the four-wheel-by-wire vehicle meets the seventh threshold, and the duration reaches the duration threshold; When a difference angle between a current middle position of the steering gear and a middle position corresponding to the middle position information satisfies a difference angle threshold, the middle position of the steering gear of the four-wheel-controlled-by-wire vehicle is recalibrated according to the middle position information.

2. The method according to claim 1, characterized in that The second threshold and the third threshold are positive numbers less than 0.

1.

3. The method according to claim 1 or 2, characterized in that: Recalibrating the steering wheel center position of the four-wheel-controlled-by-wire vehicle according to the center position information includes: When the four-wheel-by-wire controlled vehicle stops or restarts, the mid-position of the steering gear of the four-wheel-by-wire controlled vehicle is recalibrated according to the mid-position information.

4. The method according to claim 3, characterized in that: Before recalibrating the steering wheel center position of the four-wheel-controlled-by-wire vehicle according to the center position information, the method further includes: The median position information is stored in a memory of the four-wheeled wire-controlled vehicle; the memory is a non-volatile memory; When the four-wheel-by-wire controlled vehicle stops or restarts, recalibrating the middle position of the steering gear of the four-wheel-by-wire controlled vehicle according to the middle position information comprises: When the four-wheel controlled-by-wire vehicle stops or restarts, reading the median information from the memory; The mid-position of the steering gear of the four-wheel controlled-by-wire vehicle is recalibrated according to the mid-position information read.

5. The method according to claim 4, characterized in that The method further comprises: Before the four-wheel-by-wire vehicle stops, a first warning message is issued when the difference angle between the median position of the steering gear of the four-wheel-by-wire vehicle and the median position corresponding to the median information in the memory meets a second difference angle threshold; the first warning message is used to remind to correct the median position of the steering gear of the four-wheel-by-wire vehicle.

6. The method according to claim 1 or 2, characterized in that: The method further comprises: When the interval between two adjacent adjustment times of the mid-position of the steering gear of the four-wheel-by-wire vehicle is less than the time interval threshold, a second warning message is issued; the second warning message is used to indicate that there is a risk of failure of the steering gear of the four-wheel-by-wire vehicle.

7. A steering gear mid-position adjustment device, characterized in that: The device comprises: a mid-position detection information acquisition module, used to acquire mid-position detection information of the four-wheel-by-wire vehicle, wherein the mid-position detection information includes the vehicle speed of the four-wheel-by-wire vehicle, the lateral acceleration of the four-wheel-by-wire vehicle, the longitudinal acceleration of the four-wheel-by-wire vehicle, the yaw angular velocity of the four-wheel-by-wire vehicle, the upward steering wheel angle of the four-wheel-by-wire vehicle, the upward steering wheel torque of the four-wheel-by-wire vehicle, and the upward steering wheel speed of the four-wheel-by-wire vehicle; A median information marking module, used for marking the current position of the steering gear of the four-wheel-by-wire vehicle as median information when the median detection information meets specified conditions; the steering gear of the four-wheel-by-wire vehicle includes a front-wheel steering gear and a rear-wheel steering gear; the specified conditions include: the vehicle speed of the four-wheel-by-wire vehicle meets the first threshold, the lateral acceleration of the four-wheel-by-wire vehicle meets the second threshold, the longitudinal acceleration of the four-wheel-by-wire vehicle meets the third threshold, the yaw angular velocity of the four-wheel-by-wire vehicle meets the fourth threshold, the steering wheel angle of the four-wheel-by-wire vehicle meets the fifth threshold, the steering wheel torque of the four-wheel-by-wire vehicle meets the sixth threshold, and the steering wheel speed of the four-wheel-by-wire vehicle meets the seventh threshold, and the duration reaches the duration threshold; A median position recalibration module is used to recalibrate the median position of the steering gear of the four-wheel wire-controlled vehicle according to the median information when the difference angle between the current median position of the steering gear and the median position corresponding to the median information meets the difference angle threshold.

8. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory stores instructions, and the instructions are executed by the processor to implement the steering gear mid-position adjustment method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The storage medium stores instructions, and the instructions are executed by a processor of a computer device to implement the steering gear mid-position adjustment method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium; the computer instructions are read and executed by a processor of a computer device to implement the steering gear mid-position adjustment method as described in any one of claims 1 to 6.

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