Steering gear centering method, device, equipment, storage medium and program product

Abstract

The application relates to a method and device for adjusting the neutral position of a steering gear, equipment, a storage medium and a program product, and relates to the technical field of vehicle steering systems. The method is executed by a four-wheel drive-by-wire vehicle and comprises the following steps: acquiring neutral position detection information of the four-wheel drive-by-wire vehicle; in the case that the neutral position detection information meets specified conditions, marking the current position of the steering gear of the four-wheel drive-by-wire vehicle as neutral position information; the steering gear of the four-wheel drive-by-wire vehicle comprises a front-wheel steering gear and a rear-wheel steering gear; in the case that the difference angle between the current neutral position of the steering gear and the neutral position corresponding to the neutral position information meets a difference angle threshold, recalibrating the neutral position of the steering gear of the four-wheel drive-by-wire vehicle according to the neutral position information. The above scheme can improve the neutral position adjustment efficiency of the steering gear.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicle steering system, and particularly relate to a method, device, equipment, storage medium and program product for adjusting the neutral position of a steering gear. BACKGROUND

[0002] With the large-scale expansion of the vehicle market, the drive-by-wire technology is widely used in various vehicles, and the adjustment of the neutral position of the steering gear of a four-wheel drive-by-wire vehicle is particularly important.

[0003] In the related art, an engineer can drive the four-wheel drive-by-wire vehicle to a neutral positioning station, park the four-wheel drive-by-wire vehicle in the neutral positioning station in an electric state, place and fix the steering wheel in the neutral position by using a steering wheel level centering instrument, record the position of the steering wheel as zero degrees, push the steering gear of the vehicle by using a motor, obtain the left limit position and the right limit position, add the left limit position and the right limit position and divide the sum by 2 to obtain the neutral position information, and adjust the neutral position of the steering gear.

[0004] Then, the implementation scenario of the above-mentioned method for adjusting the neutral position of the steering gear is single and has no flexibility, and the efficiency of the adjustment of the neutral position of the steering gear cannot be improved in the actual application process of the four-wheel drive-by-wire vehicle. SUMMARY

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

[0006] On one hand, a method for adjusting the neutral position of a steering gear is provided, which is executed by a four-wheel drive-by-wire vehicle, and the method comprises:

[0007] obtaining neutral detection information of the four-wheel drive-by-wire vehicle, wherein the neutral detection information comprises the vehicle speed of the four-wheel drive-by-wire vehicle, the lateral acceleration of the four-wheel drive-by-wire vehicle, the longitudinal acceleration of the four-wheel drive-by-wire vehicle, the yaw angular velocity of the four-wheel drive-by-wire vehicle, the upper steering wheel angle of the four-wheel drive-by-wire vehicle, the upper steering wheel torque of the four-wheel drive-by-wire vehicle, and the upper steering wheel speed of the four-wheel drive-by-wire vehicle;

[0008] In a case where the neutral detection information meets a specified condition, mark a current position of the steering gear of the four-wheel drive-by-wire vehicle as neutral information; the steering gear of the four-wheel drive-by-wire vehicle includes a front-wheel steering gear and a rear-wheel steering gear; the specified condition includes that a vehicle speed of the four-wheel drive-by-wire vehicle meets a first threshold value, a lateral acceleration of the four-wheel drive-by-wire vehicle meets a second threshold value, a longitudinal acceleration of the four-wheel drive-by-wire vehicle meets a third threshold value, a yaw angular velocity of the four-wheel drive-by-wire vehicle meets a fourth threshold value, a steering wheel angle of the four-wheel drive-by-wire vehicle meets a fifth threshold value, a steering wheel torque of the four-wheel drive-by-wire vehicle meets a sixth threshold value, and a steering wheel rotating speed of the four-wheel drive-by-wire vehicle meets a seventh threshold value, and a duration reaches a duration threshold value;

[0009] In a case where a difference angle between the current neutral position of the steering gear and a neutral position corresponding to the neutral information meets a difference angle threshold value, re-mark the neutral position of the steering gear of the four-wheel drive-by-wire vehicle according to the neutral information.

[0010] In another aspect, a steering gear neutral adjustment device is provided, and the device includes:

[0011] a neutral detection information acquisition module configured to acquire neutral detection information of the four-wheel drive-by-wire vehicle, the neutral detection information including a vehicle speed of the four-wheel drive-by-wire vehicle, a lateral acceleration of the four-wheel drive-by-wire vehicle, a longitudinal acceleration of the four-wheel drive-by-wire vehicle, a yaw angular velocity of the four-wheel drive-by-wire vehicle, a steering wheel angle of the four-wheel drive-by-wire vehicle, a steering wheel torque of the four-wheel drive-by-wire vehicle, and a steering wheel rotating speed of the four-wheel drive-by-wire vehicle;

[0012] a neutral information marking module configured to, in a case where the neutral detection information meets a specified condition, mark a current position of the steering gear of the four-wheel drive-by-wire vehicle as neutral information; the steering gear of the four-wheel drive-by-wire vehicle includes a front-wheel steering gear and a rear-wheel steering gear; the specified condition includes that a vehicle speed of the four-wheel drive-by-wire vehicle meets a first threshold value, a lateral acceleration of the four-wheel drive-by-wire vehicle meets a second threshold value, a longitudinal acceleration of the four-wheel drive-by-wire vehicle meets a third threshold value, a yaw angular velocity of the four-wheel drive-by-wire vehicle meets a fourth threshold value, a steering wheel angle of the four-wheel drive-by-wire vehicle meets a fifth threshold value, a steering wheel torque of the four-wheel drive-by-wire vehicle meets a sixth threshold value, and a steering wheel rotating speed of the four-wheel drive-by-wire vehicle meets a seventh threshold value, and a duration reaches a duration threshold value;

[0013] a neutral position re-marking module configured to, in a case where a difference angle between the current neutral position of the steering gear and a neutral position corresponding to the neutral information meets a difference angle threshold value, re-mark the neutral position of the steering gear of the four-wheel drive-by-wire vehicle according to the neutral information.

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

[0015] In some embodiments, the neutral position re-calibration module is configured to re-calibrate the neutral position of the steering gear of the four-wheel drive-by-wire vehicle according to the neutral information when the four-wheel drive-by-wire vehicle is stopped or restarted.

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

[0017] a neutral information storage module configured to store the neutral information into a memory of the four-wheel drive-by-wire vehicle before re-calibrating the neutral position of the steering wheel of the four-wheel drive-by-wire vehicle according to the neutral information; the memory is a non-volatile memory.

[0018] the neutral position re-calibration module is configured to read the neutral information from the memory when the four-wheel drive-by-wire vehicle is stopped or restarted; and re-calibrate the neutral position of the steering gear of the four-wheel drive-by-wire vehicle according to the read neutral information.

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

[0020] a first early warning information sending module configured to send a first early warning information when a difference angle between the neutral position of the steering gear of the four-wheel drive-by-wire vehicle and a neutral position corresponding to the neutral information in the memory satisfies a second difference angle threshold value before the four-wheel drive-by-wire vehicle is stopped; the first early warning information is used to remind to correct the neutral position of the steering gear of the four-wheel drive-by-wire vehicle.

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

[0022] a second early warning information sending module configured to send a second early warning information when an interval between two adjacent adjustment times of the neutral position of the steering gear of the four-wheel drive-by-wire vehicle is less than a time interval threshold value; the second early warning information is used to indicate that the steering gear of the four-wheel drive-by-wire vehicle has a risk of failure.

[0023] In another aspect, a computer device is provided, which comprises a processor and a memory, and the memory stores at least one instruction, at least one program, a code set or an instruction set, which is loaded and executed by the processor to implement the steering gear neutral adjustment method as described above.

[0024] In yet another aspect, a computer readable storage medium is provided, in which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the method for adjusting the neutral position of a steering gear as described above.

[0025] In yet another aspect, a computer program product is provided, which includes a computer program 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 to cause the computer device to perform the method for adjusting the neutral position of a steering gear provided in various optional implementation manners described above.

[0026] The technical solutions provided in the present application can include the following beneficial effects:

[0027] The four-wheel drive-by-wire vehicle can obtain the neutral detection information in real time, and obtain the neutral information under the condition that the neutral detection information meets the specified condition. Since the neutral detection information contains different kinds of information related to the four-wheel drive-by-wire vehicle, the current driving state of the four-wheel drive-by-wire vehicle can be accurately obtained through the information, and it can be effectively judged whether the four-wheel drive-by-wire vehicle is in straight driving. When the neutral detection information meets the specified condition, that is, the current four-wheel drive-by-wire vehicle is in the state of straight driving indicated by the different kinds of state information of the four-wheel drive-by-wire vehicle, the position of the steering gear of the current four-wheel drive-by-wire vehicle is obtained as the neutral information, which can ensure the accuracy of the neutral information. Further, when the difference between the neutral position of the steering gear and the above-mentioned neutral information is large during the driving of the four-wheel drive-by-wire vehicle, the neutral position of the steering gear is adjusted according to the neutral information, which realizes the scheme of dynamically adjusting the neutral position of the steering gear of the four-wheel drive-by-wire vehicle, expands the scene of the neutral adjustment of the steering gear, and improves the neutral adjustment efficiency of the steering gear.

[0028] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

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

[0030] Figure 1 is a system block diagram of a method for adjusting the neutral position of a steering gear according to an embodiment of the present application;

[0031] Figure 2 is a flowchart of a method for adjusting the neutral position of a steering gear according to 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 is a structure diagram of a four-wheel steer-by-wire provided by an embodiment of the present application;

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

[0035] Figure 6 is a structure diagram of a rear-wheel steer-by-wire system provided by an embodiment of the present application;

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

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

[0038] Figure 9 is a block diagram of a neutral adaptive device provided by an embodiment of the present application;

[0039] Figure 10 is a principle diagram of a neutral adaptive learning function provided by an embodiment of the present application;

[0040] Figure 11 is a block diagram of a steering neutral adjustment device provided by an example embodiment of the present application;

[0041] Figure 12 is a structure diagram of a computer device provided by an example embodiment of the present application. DETAILED DESCRIPTION

[0042] The example embodiments will be described in detail herein with reference to the drawings. When the following description refers to arrangements in the drawings, identical numbers on different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following example embodiments are not meant to represent all implementations consistent with the present application.

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

[0044] The present application proposes a steering neutral adjustment scheme, which improves the efficiency of steering neutral adjustment in the practical application of four-wheel steer-by-wire vehicles. In order to facilitate understanding, some concepts related to the present application are explained as follows.

[0045] 1) Four-wheel steer-by-wire vehicle refers to a vehicle that uses steer-by-wire technology to control the four wheels. Steer-by-wire technology is a technology that uses electrical signals instead of mechanical links to control vehicle components.

[0046] 2) The steering gear is an important component in the steering system of a vehicle, which 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 mid-position self-adaptation refers to allowing the steering gear to automatically adjust its position or setting according to the state of the vehicle, so that it always remains at a suitable mid-point. The purpose is to improve the accuracy and responsiveness of the steering system, while ensuring that the driver feels natural and smooth when operating.

[0048] Figure 1 is a system configuration diagram of the steering gear mid-position adjustment method involved in an embodiment of the present application. As shown in Figure 1 , the four-wheel steer-by-wire vehicle 100 includes rear wheel steering gears and front wheel steering gears, and the four-wheel steer-by-wire vehicle can have vehicle speed, lateral acceleration, longitudinal acceleration, yaw angular velocity, steering wheel angle, steering wheel torque, and steering wheel speed; and compares these information with corresponding threshold values, and in the case that all the above information meets the corresponding threshold values and the duration reaches the duration threshold value, marks the current position of the steering gear of the four-wheel steer-by-wire vehicle as mid-position information; when the difference angle between the current mid-position of the steering gear (front wheel steering gear and rear wheel steering gear) and the mid-position corresponding to the mid-position information meets the difference angle threshold value, according to the mid-position information, recalibrate the mid-position of the steering gear of the four-wheel steer-by-wire vehicle.

[0049] Figure 2 is a flowchart of a steering gear mid-position adjustment method provided by an embodiment of the present application. The steering gear mid-position adjustment method can be executed by a four-wheel steer-by-wire vehicle, such as the four-wheel steer-by-wire vehicle 100 shown in Figure 1 above. The above steering gear mid-position adjustment method can include the following steps.

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

[0051] Among them, the above-mentioned mid-position detection information is the judgment information used by the four-wheel steer-by-wire vehicle for mid-position positioning.

[0052] In the embodiments of the present application, the four-wheel drive-by-wire vehicle can monitor and record the center position detection information in real time. In some embodiments, the four-wheel drive-by-wire vehicle can obtain the center position detection information through various sensors built-in / outside the vehicle.

[0053] Optionally, the four-wheel drive-by-wire vehicle can obtain the vehicle speed of the four-wheel drive-by-wire vehicle through the wheel speed sensor of the wheel. Specifically, the four-wheel drive-by-wire vehicle can measure the speed of each wheel through the wheel speed sensor on the wheel, calculate the average speed of all wheels of the four-wheel drive-by-wire vehicle as the average speed of the whole vehicle.

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

[0055] Optionally, the four-wheel drive-by-wire vehicle can measure the speed of the vehicle rotating around the vertical axis through the yaw rate sensor, and obtain the measurement data of the yaw rate sensor as the yaw angular velocity of the four-wheel drive-by-wire vehicle.

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

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

[0058] Optionally, the four-wheel drive-by-wire vehicle can calculate the steering wheel speed of the four-wheel drive-by-wire vehicle by calculating the rate of change of the steering wheel angle.

[0059] Step 220: In the case that the center position detection information meets the specified conditions, mark the current position of the steering device of the four-wheel drive-by-wire vehicle as the center position information; the steering device of the four-wheel drive-by-wire vehicle includes the front wheel steering device and the rear wheel steering device; the specified conditions include that the vehicle speed of the four-wheel drive-by-wire vehicle meets the first threshold value, the lateral acceleration of the four-wheel drive-by-wire vehicle meets the second threshold value, the longitudinal acceleration of the four-wheel drive-by-wire vehicle meets the third threshold value, the yaw angular velocity of the four-wheel drive-by-wire vehicle meets the fourth threshold value, the steering wheel angle of the four-wheel drive-by-wire vehicle meets the fifth threshold value, the steering wheel torque of the four-wheel drive-by-wire vehicle meets the sixth threshold value, and the steering wheel speed of the four-wheel drive-by-wire vehicle meets the seventh threshold value, and the duration reaches the duration threshold value.

[0060] In the embodiments of the present application, the first threshold value, the second threshold value, the third threshold value, the fourth threshold value, the fifth threshold value, the sixth threshold value, and the seventh threshold value can be the threshold values preset by engineers.

[0061] In the embodiments of the present application, the four-wheel drive-by-wire vehicle can obtain the current position of the steering device of the four-wheel drive-by-wire vehicle through the angle sensor.

[0062] In the embodiment of the present application, the neutral detection information includes a plurality of different types of detection information (vehicle speed, lateral acceleration, longitudinal acceleration, yaw rate, steering wheel angle, steering wheel torque, and steering wheel speed), and after the four-wheel drive-by-wire vehicle obtains different types of detection information, the values corresponding to different types of detection information are compared with the threshold values corresponding to the detection information types. When the values of all different types of detection information satisfy the threshold values corresponding to the detection information types, and the time length during which the values of all different types of detection information satisfy the threshold values corresponding to the detection information types reaches a specified time length threshold, the position of the steering gear of the current four-wheel drive-by-wire vehicle is obtained, which is marked as neutral information.

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

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

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

[0066] It should be noted that in the embodiment of the present application, the steering gear of the four-wheel drive-by-wire vehicle includes a front wheel steering gear and a rear wheel steering gear, and the front wheel steering gear has a corresponding front wheel neutral position, and the rear wheel steering gear has a corresponding rear wheel neutral position. The neutral position corresponding to the neutral information includes the front wheel neutral position and the rear wheel neutral position. After the four-wheel drive-by-wire vehicle obtains the front wheel neutral position corresponding to the front wheel steering gear, the difference between the front wheel neutral position corresponding to the front wheel steering gear and the front wheel neutral position corresponding to the neutral information is calculated. When the difference angle before the front wheel neutral position corresponding to the front wheel steering gear and the front wheel neutral position corresponding to the neutral information satisfies the angle threshold, the neutral position of the front wheel steering gear of the steering gear of the four-wheel drive-by-wire vehicle is recalibrated according to the front wheel neutral position corresponding to the neutral information. After the four-wheel drive-by-wire vehicle obtains the rear wheel neutral position corresponding to the rear wheel steering gear, the difference between the rear wheel neutral position corresponding to the rear wheel steering gear and the rear wheel neutral position corresponding to the neutral information is calculated. When the difference angle after the rear wheel neutral position corresponding to the rear wheel steering gear and the rear wheel neutral position corresponding to the neutral information satisfies the angle threshold, the neutral position of the rear wheel steering gear of the steering gear of the four-wheel drive-by-wire vehicle is recalibrated according to the rear wheel neutral position corresponding to the neutral information.

[0067] In the embodiments of the present application, the four-wheel drive-by-wire vehicle can obtain the center detection information in real time, and obtain the center information under the condition that the center detection information meets the specified condition. Since the center detection information contains different kinds of information related to the four-wheel drive-by-wire vehicle, the current driving state of the four-wheel drive-by-wire vehicle can be accurately obtained through the information, and it can be effectively judged whether the four-wheel drive-by-wire vehicle is in straight driving. When the center detection information meets the specified condition, that is, when the different kinds of state information of the four-wheel drive-by-wire vehicle indicates that the current four-wheel drive-by-wire vehicle is in the state of straight driving, the position of the steering gear of the current four-wheel drive-by-wire vehicle is obtained as the center information, which can ensure the accuracy of the center information. Further, when the difference between the center position of the steering gear and the above-mentioned center information is large during the driving of the four-wheel drive-by-wire vehicle, the center position of the steering gear is adjusted according to the center information, which realizes the scheme of dynamically adjusting the center position of the steering gear of the four-wheel drive-by-wire vehicle, expands the scene of the center adjustment of the steering gear, and improves the center adjustment efficiency of the steering gear.

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

[0069] In the embodiments of the present application, when the current position of the steering gear of the four-wheel drive-by-wire vehicle is marked as the center information, the conditions that the lateral acceleration and the longitudinal acceleration of the four-wheel drive-by-wire vehicle need to meet are less than 0.1g.

[0070] In the embodiments of the present application, the second threshold value and the third threshold value are set to small values, which can perform center marking when the four-wheel drive-by-wire vehicle is in a state of almost static (i.e. in the case that the lateral acceleration and the longitudinal acceleration are very small), effectively avoiding the error caused by the large acceleration of the four-wheel drive-by-wire vehicle when moving, thereby improving the accuracy of the center marking.

[0071] Based on Figure 2 , please refer to Figure 3 , Figure 3 is a flowchart of a data processing method provided by an embodiment of the present application. Figure 2 Step 230 in the above embodiment can be implemented as step 230a, which is specifically as follows:

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

[0073] In some embodiments, the stop of the four-wheel drive-by-wire vehicle means that at least one of the engine of the four-wheel drive-by-wire vehicle has been turned off and the four-wheel drive-by-wire vehicle has no power input to continue moving forward.

[0074] wherein the above-mentioned four-wheel drive-by-wire vehicle restart indicates that the four-wheel drive-by-wire vehicle enters a state ready for driving from a state of being stationary or having low activity. In some embodiments, the four-wheel drive-by-wire vehicle restart indicates that the control system of the four-wheel drive-by-wire vehicle restarts or the four-wheel drive-by-wire vehicle starts driving again from a state of being completely stopped.

[0075] In the embodiments of the present application, in the two states of the four-wheel drive-by-wire vehicle being stopped and being restarted, the center position of the steering gear is recalibrated according to the center information, and the steering gear is efficiently adjusted to the center position, so that the four-wheel drive-by-wire vehicle updates the center information immediately after being stopped or restarted, drives based on the updated center information, and improves the overall experience of the driver.

[0076] Based on the scheme shown in any one or more of the above-mentioned embodiments, in some embodiments, before the step 230, the four-wheel drive-by-wire vehicle stores the center information in a memory of the four-wheel drive-by-wire vehicle; the memory is a non-volatile memory. The step 230a can be implemented as: reading the center information from the memory when the four-wheel drive-by-wire vehicle is stopped or restarted; and recalibrating the center position of the steering gear of the four-wheel drive-by-wire vehicle according to the read center information.

[0077] In the embodiments of the present application, the four-wheel drive-by-wire vehicle comprises a non-volatile memory, which can retain vehicle data after the four-wheel drive-by-wire vehicle is powered off. After obtaining the center information, the four-wheel drive-by-wire vehicle stores the center information in the memory. In some embodiments, the four-wheel drive-by-wire vehicle replaces the historical center information in the memory with the center information each time the steering gear center adjustment operation is performed, that is, after the steering gear center adjustment operation, the center information obtained by the last steering gear center adjustment operation in the memory is updated to the center information corresponding to the current steering gear center adjustment operation.

[0078] In the embodiments of the present application, when the four-wheel drive-by-wire vehicle is stopped or restarted, the four-wheel drive-by-wire vehicle reads the latest center information from the memory, and recalibrates the center position of the steering gear of the four-wheel drive-by-wire vehicle to the center position corresponding to the latest center information.

[0079] In the embodiments of the present application, the four-wheel drive-by-wire vehicle directly reads the center information from the memory, obtains the center position corresponding to the center information, and recalibrates the center position of the steering gear of the four-wheel drive-by-wire vehicle according to the read center information, which can ensure the efficiency of the steering gear center adjustment.

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

[0081] Wherein, the second difference angle threshold can be an engineering preset difference angle threshold.

[0082] In the embodiments of the present application, the four-wheel drive-by-wire vehicle can obtain the difference angle between the center position of the steering gear and the center position corresponding to the center information in the memory, compare the difference angle with the second difference angle threshold, and send the first warning information in the case that the difference angle is greater than or equal to the second difference angle threshold.

[0083] Wherein, the first warning information can be at least one of voice, light, and graphic mode. Optionally, in the case that the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the second difference angle threshold and the angle exceeding the second difference angle threshold belongs to different angle intervals, the first warning information can be reminded by at least one of different forms of voice, light, and graphic mode.

[0084] In some embodiments, in the case that the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the second difference angle threshold and the angle exceeding the second difference angle threshold belongs to different angle intervals, the first warning information is reminded by different forms of voice.

[0085] For example, in the case that the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the second difference angle threshold and the angle exceeding the second difference angle threshold is between 0° and 2°, the four-wheel drive-by-wire vehicle sends a “beep” prompt sound, indicating that the current center position of the steering gear is slightly offset; in the case that the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the second difference angle threshold and the angle exceeding the second difference angle threshold is between 3° and 10°, the four-wheel drive-by-wire vehicle sends a voice “center position offset, please adjust!”, indicating that the current center position of the steering gear is moderately offset and needs to be adjusted; in the case that the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the second difference angle threshold and the angle exceeding the second difference angle threshold is greater than 10°, the four-wheel drive-by-wire vehicle sends a voice “center position is seriously offset, please adjust immediately!”, indicating that the current center position of the steering gear is seriously offset and needs to be adjusted.

[0086] In some embodiments, the first warning information is in the form of a light. For example, when the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the first difference angle threshold, the four-wheel drive-by-wire vehicle emits a yellow light, indicating that the current center position of the steering gear is slightly offset; when the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the second difference angle threshold, the four-wheel drive-by-wire vehicle emits an orange light, indicating that the current center position of the 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 drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the third difference angle threshold, the four-wheel drive-by-wire vehicle emits a red light, indicating that the current center position of the steering gear is severely offset and needs to be adjusted.

[0087] For example, when the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the first difference angle threshold, the four-wheel drive-by-wire vehicle emits a yellow light, indicating that the current center position of the steering gear is slightly offset; when the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the second difference angle threshold, the four-wheel drive-by-wire vehicle emits an orange light, indicating that the current center position of the 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 drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the third difference angle threshold, the four-wheel drive-by-wire vehicle emits a red light, indicating that the current center position of the steering gear is severely offset and needs to be adjusted.

[0088] In some embodiments, the first warning information is in the form of a light. For example, when the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the first difference angle threshold, the four-wheel drive-by-wire vehicle emits a yellow light, indicating that the current center position of the steering gear is slightly offset; when the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the second difference angle threshold, the four-wheel drive-by-wire vehicle emits an orange light, indicating that the current center position of the 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 drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the third difference angle threshold, the four-wheel drive-by-wire vehicle emits a red light, indicating that the current center position of the steering gear is severely offset and needs to be adjusted.

[0089] For example, when the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the first difference angle threshold, the four-wheel drive-by-wire vehicle emits a yellow light, indicating that the current center position of the steering gear is slightly offset; when the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the second difference angle threshold, the four-wheel drive-by-wire vehicle emits an orange light, indicating that the current center position of the 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 drive-by-wire vehicle and the center position corresponding to the center information in the memory exceeds the third difference angle threshold, the four-wheel drive-by-wire vehicle emits a red light, indicating that the current center position of the steering gear is severely offset and needs to be adjusted.

[0090] In the embodiments of the present application, when the center position of the steering gear of the four-wheel drive-by-wire vehicle deviates, the four-wheel drive-by-wire vehicle can issue a first early warning information to remind the driver to adjust the center position of the steering gear of the four-wheel drive-by-wire vehicle, so as to facilitate the driver to timely adjust the steering gear in a timely manner, improve the timeliness and efficiency of the center position adjustment of the steering gear, and ensure the safety of the driver.

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

[0092] The above-mentioned time interval threshold can be a time threshold preset by an engineer.

[0093] In the embodiments of the present application, the four-wheel drive-by-wire vehicle can monitor and record the center position adjustment operation of the steering gear and the specific time of each center position adjustment operation in real time, and when it is monitored that the time interval between the present center position adjustment operation of the steering gear and the last center position adjustment operation of the steering gear is less than a specified time threshold, the second early warning information is issued.

[0094] The above-mentioned second early warning information can be at least one of voice, light, and graphic methods for prompting. Optionally, when the difference angle between the center position of the steering gear of the four-wheel drive-by-wire vehicle and the center position corresponding to the center position information in the memory exceeds a second difference angle threshold and the exceeded angle belongs to different angle intervals, the second early warning information can be prompted in at least one of different forms of voice, light, and graphic methods.

[0095] For example, when the interval between the adjacent two adjustment times of the center position of the steering gear of the four-wheel drive-by-wire vehicle is less than the time interval threshold, the four-wheel drive-by-wire vehicle issues a prompt voice “current steering gear has a risk of failure!”; for another example, when the interval between the adjacent two adjustment times of the center position of the steering gear of the four-wheel drive-by-wire vehicle is less than the time interval threshold, the four-wheel drive-by-wire vehicle issues a red light; for another example, when the interval between the adjacent two adjustment times of the center position of the steering gear of the four-wheel drive-by-wire vehicle is less than the time interval threshold, the instrument panel of the four-wheel drive-by-wire vehicle displays a red exclamation mark and displays the text information “current steering gear has a risk of failure! Please check!”.

[0096] In the embodiments of the present application, when the four-wheel drive-by-wire vehicle detects that the adjustment of the steering gear at the center position is too frequent and the time interval between the two adjustments is less than the time interval threshold, the second early warning information is issued to prevent potential failure risks of the four-wheel drive-by-wire vehicle.

[0097] Based on the steps in the above embodiments Figure 2 and Figure 3 The embodiments of the present application show a four-wheel steer-by-wire four-wheel alignment and mid-position adaptive learning method and device.

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

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

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

[0101] For example, refer to Figure 5 , Figure 5 is a steer-by-wire system structure diagram provided by an embodiment of the present application. The steer-by-wire system is provided with a steering wheel 1, a TAS (torque and angle sensor) 2, an upper turning road feel feedback controller 3, an upper turning road feel feedback motor 4, a worm and screw reduction mechanism 5, a private CAN 6, a vehicle CAN bus 7, a pinion shaft with an angle sensor 8, a lower turning execution controller 9, a lower turning execution motor 10, a belt drive 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 adjusting column, and is used to detect the input shaft rotation angle and the torque between the input shaft and the output shaft.

[0103] The upper turning road feel feedback controller and the upper turning road feel feedback motor are integrated PowerPack.

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

[0105] The private CAN is a private communication between the upper turning road feel feedback system and the lower turning execution system.

[0106] Through the vehicle CAN bus, signal interaction is performed with other systems of the vehicle.

[0107] The pinion shaft is engaged with the rack bar. When the steering gear moves, it drives the pinion shaft to rotate. The 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 down turning execution controller and the down turning execution motor are integrated as a PowerPack.

[0109] The belt transmission mechanism amplifies the rotation torque output by the motor to the rack ball screw large nut.

[0110] The ball screw mechanism converts the rotation motion transmitted by the motor into the rack transverse displacement.

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

[0112] The linear displacement sensor installs a metal block on the rack. With the movement of the rack, the position of the metal block can be measured through the eddy current effect, so as to measure the rack position.

[0113] For example, refer to Figure 7 , Figure 7 is an embodiment of the application provides a four-wheel alignment flow chart.

[0114] Step 701, the vehicle is opened to the four-wheel alignment station, the whole vehicle is kept on, and the stress inside the tire and the steering system is released.

[0115] When the vehicle is offline for four-wheel alignment, it is first opened to the four-wheel alignment station. At this time, the whole vehicle is kept on, and the stress inside the tire and the steering system is released.

[0116] Step 702, turn the steering wheel to the center, and fix the steering wheel through the clamp.

[0117] Then place the steering wheel in the center and fix it through the steering wheel horizontal centering instrument.

[0118] Step 703, connect the diagnostic instrument, and send the steering system center calibration signal, and record the steering wheel as 0° at this moment.

[0119] Then connect the diagnostic instrument through the OBD diagnostic port, and send the steering system center calibration signal through the diagnostic service, and record the steering wheel as 0° at this moment.

[0120] Step 704, the front wheel execution system automatically rotates to the limit position first to the left, then to the limit position to the right, records the total stroke of the front wheel steering gear, and saves the stroke midpoint as zero, which is stored in the EEPROM, and then automatically returns to zero.

[0121] Please refer to Figure 8 , Figure 8 is a front wheel steering midpoint calibration flowchart provided by an embodiment of the present application. The downward execution system starts to decouple from the upward road feeling simulation system, and drives the steering gear to move to the left at a fixed speed. The motor torque and current are monitored at all times during the process.

[0122] For example, when the motor torque > 3Nm and the speed < 10RPM, and the duration > 500ms are detected, it is determined that the steering gear has reached the left limit position LmtLeftPos_mm, at which time the rack position is stored in the EEPROM; next, the steering gear is driven to move 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 the motor torque > 3Nm and the speed < 10RPM, and the duration > 500ms are detected, it is determined that the steering gear has reached the right limit position LmtRightPos_mm, at which time the rack position is stored in the EEPROM; after completion, the left and right limit positions are added and divided by 2 to obtain the rack midpoint RackMidPos_mm, at which time the rack midpoint is stored in the EEPROM, and after completion, the steering gear is automatically returned to the midpoint.

[0124] Step 705, the rear wheel execution system automatically rotates to the limit position first to the left, then to the limit position to the right, records the total stroke of the rear wheel steering gear, and saves the stroke midpoint as zero, which is stored in the EEPROM, and then automatically returns to zero.

[0125] The rear wheel zero position calibration is performed at the same time as the front wheel zero position calibration, and the rear wheel zero position calibration method is the same as the front wheel, which will not be described again.

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

[0127] After the front and rear wheel midpoint calibration is completed, the four-wheel alignment instrument drives the wheels to rotate, releasing the internal stress of the tire and the steering system, at which time the steering wheel is still kept at 0° angle.

[0128] Step 707, adjust the front and rear wheel pull rods so that the front and rear wheel toe, camber, and roll angles are within the design range, ensuring that the vehicle body and the tire are parallel.

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

[0130] Step 708, after the four-wheel alignment is completed, the vehicle is driven out of the four-wheel alignment station.

[0131] After the four-wheel alignment is completed, the vehicle is driven out of the four-wheel alignment station.

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

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

[0134] For example, refer to Figure 9 , Figure 9 is a block diagram of a mid-position 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 mid-position adaptive module 903.

[0135] For example, refer to Figure 10 , Figure 10 is a functional schematic diagram of a mid-position adaptive learning function provided by an embodiment of the present application. As shown in Figure 9 and Figure 10 , the signal acquisition module 901 includes a whole vehicle signal acquisition system and a steering wheel signal acquisition system. The whole vehicle signal acquisition system is used to acquire signals such as the whole vehicle speed, lateral acceleration, longitudinal acceleration, and yaw angular velocity. The steering wheel signal acquisition system is used to acquire signals such as the steering wheel angle, steering wheel torque, and steering wheel speed. These signals are processed by corresponding analysis and filtering, etc. The state judgment module 902 is used to determine the mid-position working condition of the vehicle during straight driving, for example, the judgment conditions are as follows:

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

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

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

[0139] S4, the yaw angular velocity of the vehicle < 0.01 rad / s;

[0140] S5, the steering wheel angle < 10°;

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

[0142] S7, the 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 center position and stored in the EEPROM. Since the sudden change of the center position may cause subjective changes in the driver, the current ignition cycle will not be updated. The stored center position will be called in the next ignition cycle.

[0144] The above is merely one embodiment of this application and should not be considered as a limitation thereof. Those skilled in the art will understand that various modifications and variations can be made to the embodiments to adapt to different application requirements. Therefore, the scope of this application should be defined by the claims appended to the claims.

[0145] Please refer to Figure 11 The diagram illustrates a block diagram of a steering gear centering adjustment device provided in an exemplary embodiment of this application. This steering gear centering adjustment device can be implemented as all or part of a computer device through hardware or a combination of hardware and software, to achieve the above-described... Figure 2 and Figure 3 All or part of the steps in the illustrated embodiments. For example... Figure 11 As shown, the steering gear center position adjustment device includes:

[0146] The center detection information acquisition module 1101 is used to acquire the center detection information of the four-wheel drive vehicle. The center detection information includes the vehicle speed, lateral acceleration, longitudinal acceleration, yaw rate, steering wheel angle, steering wheel torque, and steering wheel speed of the four-wheel drive vehicle.

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

[0148] The center position recalibration module 1103 is used to recalibrate the center position of the steering gear of a four-wheel drive vehicle based on the center position information when the difference angle between the current center position of the steering gear and the center position corresponding to the center position information meets the difference angle threshold.

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

[0150] In some embodiments, the neutral position re-calibration module 1103 is configured to re-calibrate the neutral position of the steering gear of the four-wheel drive-by-wire vehicle according to the neutral information when the four-wheel drive-by-wire vehicle is stopped or restarted.

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

[0152] a neutral information storage module configured to store the neutral information into a memory of the four-wheel drive-by-wire vehicle before re-calibrating the neutral position of the steering wheel according to the neutral information; the memory is a non-volatile memory.

[0153] the neutral position re-calibration module 1103 is configured to read the neutral information from the memory when the four-wheel drive-by-wire vehicle is stopped or restarted; and re-calibrate the neutral position of the steering gear of the four-wheel drive-by-wire vehicle according to the read neutral information.

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

[0155] a first warning information sending module configured to send a first warning information when the difference angle between the neutral position of the steering gear of the four-wheel drive-by-wire vehicle and the neutral position corresponding to the neutral information in the memory satisfies a second difference angle threshold value before the four-wheel drive-by-wire vehicle is stopped; the first warning information is used to remind to correct the neutral position of the steering gear of the four-wheel drive-by-wire vehicle.

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

[0157] a second warning information sending module configured to send a second warning information when the interval between the adjacent two adjustment times of the neutral position of the steering gear of the four-wheel drive-by-wire vehicle is less than a time interval threshold value; the second warning information is used to indicate that the steering gear of the four-wheel drive-by-wire vehicle has a risk of failure.

[0158] Please refer to Figure 12 , Figure 12Figure 1 is a structural schematic diagram of a computer device provided by an example 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 that couples the system memory 1204 to the central processing unit 1201. The computer device 1200 also includes a basic input / output system (I / O system) 1206 that helps transfer information between various devices within the computer, and a mass 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 input devices 1209 such as a mouse, keyboard, and the like for inputting information by a user. The display 1208 and input devices 1209 are connected to the central processing unit 1201 through an input / output controller 1210 that is connected to the system bus 1205. The basic input / output system 1206 can also include the input / output controller 1210 for receiving and processing input from a number of other devices, such as a keyboard, mouse, or electronic stylus. Similarly, the input / output controller 1210 provides output to a display screen, printer, or other type of output device.

[0160] The mass storage device 1207 is connected to the central processing unit 1201 through a mass storage controller (not shown) that is connected to the system bus 1205. The mass storage device 1207 and its associated computer-readable media provide non-volatile storage for the computer device 1200. That is, the mass storage device 1207 can 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 can include computer storage medium and communication medium. The computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. The computer storage medium includes 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 memory technology, CD-ROM, DVD (Digital Video Disc), or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art can know that the computer storage medium is not limited to the above several. The system memory 1204 and the mass storage device 1207 described above can be collectively referred to as memory.

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

[0163] The memory further includes one or more programs stored in the memory, and the central processing unit 1201 implements Figures 2 to 6 all or part of the steps of the method shown in the embodiments.

[0164] In the exemplary embodiments, a chip is also provided, which includes programmable logic circuit and / or program instructions, when the chip is running on a computer device, for implementing all or part of the steps of the method shown in the embodiments of the present application.

[0165] In the exemplary embodiments, a computer program product is also provided, which includes computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor 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 embodiments of the present application.

[0166] In the example embodiments, a computer readable storage medium is also provided, and the computer readable storage medium stores a computer program, which is loaded and executed by a processor to implement all or part of the steps of the method shown in the above embodiments.

[0167] A person of ordinary skill in the art can understand that all or part of the steps of the above embodiments can be completed by hardware, or by program instructing related hardware, and the program can be stored in a computer readable storage medium, and the storage medium can be a read-only memory, a magnetic disk or an optical disk, etc.

[0168] Those skilled in the art should realize that, in the above one or more examples, the functions described in the embodiments of the present application can be implemented by hardware, software, firmware or any combination thereof. When implemented by software, the functions can be stored in a computer readable medium or transmitted as one or more instructions or codes on a computer readable medium. The computer readable medium includes a computer storage medium and a communication medium, and the communication medium includes any medium that facilitates the transfer of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0169] The above description is only optional embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of centering a steering gear, comprising: The method is performed by a four-wheel drive-by-wire vehicle, and the method comprises: obtaining mid-position detection information of the four-wheel drive-by-wire vehicle, the mid-position detection information comprising a vehicle speed of the four-wheel drive-by-wire vehicle, a lateral acceleration of the four-wheel drive-by-wire vehicle, a longitudinal acceleration of the four-wheel drive-by-wire vehicle, a yaw angular velocity of the four-wheel drive-by-wire vehicle, an upper turning steering wheel angle of the four-wheel drive-by-wire vehicle, an upper turning steering wheel torque of the four-wheel drive-by-wire vehicle, and an upper turning steering wheel rotating speed of the four-wheel drive-by-wire vehicle; in a case where the mid-position detection information satisfies a specified condition, marking a current position of a steering device of the four-wheel drive-by-wire vehicle as mid-position information; the steering device of the four-wheel drive-by-wire vehicle comprises a front-wheel steering device and a rear-wheel steering device; the specified condition comprises that the vehicle speed of the four-wheel drive-by-wire vehicle satisfies a first threshold value, the lateral acceleration of the four-wheel drive-by-wire vehicle satisfies a second threshold value, the longitudinal acceleration of the four-wheel drive-by-wire vehicle satisfies a third threshold value, the yaw angular velocity of the four-wheel drive-by-wire vehicle satisfies a fourth threshold value, the upper turning steering wheel angle of the four-wheel drive-by-wire vehicle satisfies a fifth threshold value, the upper turning steering wheel torque of the four-wheel drive-by-wire vehicle satisfies a sixth threshold value, the upper turning steering wheel rotating speed of the four-wheel drive-by-wire vehicle satisfies a seventh threshold value, and a duration reaches a duration threshold value; in a case where a difference angle between a current mid-position of the steering device and a mid-position corresponding to the mid-position information satisfies a difference angle threshold value, recalibrating the mid-position of the steering device of the four-wheel drive-by-wire vehicle according to the mid-position information.

2. The method of claim 1, wherein, The second threshold value and the third threshold value are positive numbers less than 0.

1.

3. The method according to claim 1 or 2, characterized in that, The recalibrating the mid-position of the steering device of the four-wheel drive-by-wire vehicle according to the mid-position information comprises: recalibrating the mid-position of the steering device of the four-wheel drive-by-wire vehicle according to the mid-position information when the four-wheel drive-by-wire vehicle stops or restarts.

4. The method of claim 3, wherein, The recalibrating the mid-position of the steering device of the four-wheel drive-by-wire vehicle according to the mid-position information further comprises: storing the mid-position information into a memory of the four-wheel drive-by-wire vehicle; the memory is a non-volatile memory; The recalibrating the mid-position of the steering device of the four-wheel drive-by-wire vehicle according to the mid-position information when the four-wheel drive-by-wire vehicle stops or restarts comprises: reading the mid-position information from the memory when the four-wheel drive-by-wire vehicle stops or restarts; recalibrating the mid-position of the steering device of the four-wheel drive-by-wire vehicle according to the read mid-position information.

5. The method of claim 4, wherein, The method further comprises: when a difference angle between the mid-position of the steering device of the four-wheel drive-by-wire vehicle and the mid-position corresponding to the mid-position information in the memory satisfies a second difference angle threshold value before the four-wheel drive-by-wire vehicle stops, issuing a first early warning information; the first early warning information is used to remind to correct the mid-position of the steering device of the four-wheel drive-by-wire vehicle.

6. The method of claim 1 or 2, wherein, The method further comprises: When the interval between two consecutive adjustments of the steering gear at the center position of the four-wheel drive vehicle is less than a time interval threshold, a second warning message is issued; the second warning message is used to indicate that there is a risk of steering gear failure in the four-wheel drive vehicle.

7. A centering device for a steering gear, characterized in that The device includes: The center position detection information acquisition module is used to acquire the center position detection information of the four-wheel drive vehicle. The center position detection information includes the vehicle speed, lateral acceleration, longitudinal acceleration, yaw rate, steering wheel angle, steering torque, and rotational speed of the steering wheel. The center position information marking module is used to mark the current position of the steering gear of the four-wheel drive vehicle as center position information when the center position detection information meets specified conditions; the steering gear of the four-wheel drive vehicle includes a front wheel steering gear and a rear wheel steering gear; the specified conditions include: the overall speed of the four-wheel drive vehicle meets a first threshold, the lateral acceleration of the four-wheel drive vehicle meets a second threshold, the longitudinal acceleration of the four-wheel drive vehicle meets a third threshold, the yaw rate of the four-wheel drive vehicle meets a fourth threshold, the upward steering wheel angle of the four-wheel drive vehicle meets a fifth threshold, the upward steering wheel torque of the four-wheel drive vehicle meets a sixth threshold, and the upward steering wheel speed of the four-wheel drive vehicle meets a seventh threshold, and the duration reaches a duration threshold; The center position recalibration module is used to recalibrate the center position of the steering gear of the four-wheel drive vehicle according to the center position information when the difference angle between the current center position of the steering gear and the center position corresponding to the center position information meets the difference angle threshold.

8. A computer device, comprising: The computer device includes a processor and a memory, the memory storing instructions which are executed by the processor to implement the steering gear centering 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 that are executed by a processor of a computer device to implement the steering gear centering adjustment method as described in any one of claims 1 to 6.

10. A computer program product, characterised in that, The computer program product includes computer instructions 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 centering adjustment method as described in any one of claims 1 to 6.

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