Steering wheel corner neutral position calibration method and device, storage medium and vehicle

Abstract

The invention provides a steering wheel corner neutral position calibration method and device, a storage medium and a vehicle, after a steering wheel corner neutral position calibration signal is responded, whether the actual driving direction of the vehicle is the linear direction or not is judged, and if the actual driving direction of the vehicle is the linear direction, it is indicated that the steering wheel deflection angle is the neutral position at the moment; under the situation that the front wheel deflection angle corresponds to the steering wheel middle position, the position of a road feeling simulator motor rotor at the current moment is obtained to serve as a road feeling simulator motor calibration value corresponding to the steering wheel middle position; and the position of a motor rotor of the steering actuator at the current moment is obtained to serve as a steering actuator motor calibration value corresponding to the neutral position of the steering wheel, then the road feeling simulator motor calibration value is sent to the road feeling simulator, and the steering actuator motor calibration value is sent to the steering actuator. The scheme does not need to be carried out on a vehicle production line and can be carried out at any time in the vehicle running process, vehicle machining procedures are reduced, and the vehicle production energy efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle detection technology, and in particular to a steering wheel angle mid-position calibration method, device, storage medium and vehicle. Background Art

[0002] Since the wire steering system is not restricted by the mechanical structure and can realize any steering intention in theory, it is widely used in vehicles. Because there is no mechanical connection structure between the steering wheel rotation mechanism (the steering wheel rotation mechanism includes the road feel simulator and the steering actuator) and the wheel rotation mechanism in the wire steering system, it is necessary to calibrate the steering wheel and wheel angle center before the vehicle leaves the factory to ensure that the wheel angle and the steering wheel angle can accurately match during the vehicle driving. The process of calibrating the steering wheel angle center of existing vehicles is as follows: the vehicle enters the four-wheel alignment process, and the centering equipment is used to ensure that the steering wheel is in the center and fixed. The calibration command is sent using the off-line detector of the production line. Then, the operator adjusts the four wheels to the position corresponding to the steering wheel center, determines the motor state of the road feel simulator and the steering actuator at this time, and completes the calibration. This method increases the vehicle production process and reduces the vehicle processing efficiency. Summary of the invention

[0003] The technical problem to be solved by the present application is that the existing steering wheel angle median calibration scheme needs to be performed manually on the production line, resulting in an increase in working steps that affects vehicle processing efficiency. To this end, the present application proposes a steering wheel angle median calibration method, device, storage medium and vehicle.

[0004] In a first aspect, the technical solution of the present application provides a method for calibrating a steering wheel angle mid-position, comprising:

[0005] In response to the steering wheel angle mid-position calibration signal, determining whether the actual driving direction of the vehicle is a straight line direction;

[0006] If the actual driving direction of the vehicle is a straight line, the rotor position of the road sense simulator motor at the current moment is obtained as the calibration value of the road sense simulator motor corresponding to the middle position of the steering wheel; the rotor position of the steering actuator motor at the current moment is obtained as the calibration value of the steering actuator motor corresponding to the middle position of the steering wheel; the road sense simulator motor and the steering actuator motor are used to control the rotation of the steering wheel;

[0007] The road feel simulator motor calibration value is sent to the road feel simulator, and the steering actuator motor calibration value is sent to the steering actuator.

[0008] In some embodiments, the method for calibrating the center position of the steering wheel angle, the step of determining whether the actual driving direction of the vehicle is a straight line direction comprises:

[0009] Get the front wheel speed and rear wheel speed of the vehicle;

[0010] If the difference between the front wheel speed and the rear wheel speed is less than a first threshold, it is determined that the actual driving direction of the vehicle is a straight direction.

[0011] In some embodiments, the method for calibrating the center position of the steering wheel angle, the step of obtaining the front wheel speed and the rear wheel speed of the vehicle comprises:

[0012] Obtaining an average value of the left front wheel speed and the right front wheel speed as the front wheel speed;

[0013] The average value of the left rear wheel speed and the right rear wheel speed is obtained as the rear wheel speed.

[0014] The method for calibrating the center position of a steering wheel angle described in some embodiments, before responding to the steering wheel angle center position calibration signal, comprises:

[0015] Get the steering wheel deflection angle;

[0016] Get the front wheel deflection angle;

[0017] If the difference between the steering wheel deflection angle and the front wheel deflection angle is greater than the second threshold and less than the third threshold, a steering wheel angle mid-position calibration signal is generated.

[0018] The method for calibrating the steering wheel angle mid-position described in some embodiments further comprises:

[0019] If the difference between the steering wheel deflection angle and the front wheel deflection angle is greater than or equal to the third threshold, a warning message is issued to indicate that the vehicle is assembled abnormally.

[0020] In some embodiments, the method for calibrating the steering wheel angle median position, the step of obtaining the steering wheel deflection angle comprises:

[0021] Get the steering wheel image taken by the vehicle camera;

[0022] The marked area on the steering wheel image is parsed, and the steering wheel deflection angle corresponding to the marked area is acquired.

[0023] The method for calibrating the center position of a steering wheel angle described in some embodiments, before responding to the steering wheel angle center position calibration signal, comprises:

[0024] The mapping relationship between different steering wheel deflection angles and front wheel deflection angles is obtained through experiments when the standard steering wheel neutral position is obtained;

[0025] Obtaining the deflection angle difference between any set of steering wheel deflection angles and front wheel deflection angles having a mapping relationship;

[0026] Each deflection angle deviation value is combined with the allowable error value to obtain a deflection angle difference range corresponding to the steering wheel deflection angle, the minimum value of the deflection angle difference range is used as the second threshold, and the maximum value of the deflection angle difference range is used as the third threshold.

[0027] In a second aspect, the technical solution of the present application provides a steering wheel angle mid-position calibration device, comprising:

[0028] The command response module is configured to respond to the steering wheel angle neutral calibration signal to determine whether the actual driving direction of the vehicle is a straight line direction;

[0029] The data acquisition module is configured to acquire the rotor position of the road sense simulator motor at the current moment as the road sense simulator motor calibration value corresponding to the steering wheel neutral position if the actual driving direction of the vehicle is a straight line; acquire the rotor position of the steering actuator motor at the current moment as the steering actuator motor calibration value corresponding to the steering wheel neutral position, the road sense simulator motor and the steering actuator motor being used to control the rotation of the steering wheel;

[0030] The calibration execution module sends the road feeling simulator motor calibration value to the road feeling simulator, and sends the steering actuator motor calibration value to the steering actuator.

[0031] In a third aspect, the technical solution of the present application provides a computer-readable storage medium, in which program information is stored. After a computer reads the program information, the computer executes the steering wheel angle median calibration method described in any one of the solutions in the first aspect.

[0032] In a fourth aspect, the technical solution of the present application provides an electronic device, comprising at least one processor and at least one memory, wherein at least one of the memories stores program information, and after reading the program information, at least one of the processors executes the steering wheel angle median calibration method described in any one of the solutions of the first aspect.

[0033] In a fifth aspect, the technical solution of the present application provides a vehicle, which is equipped with the steering wheel angle mid-position calibration device described in the second aspect or the computer-readable storage medium described in the third aspect or the electronic device described in the fourth aspect.

[0034] The above technical solution has the following beneficial effects:

[0035] The steering wheel angle median calibration method, device, storage medium and vehicle provided in the present application, in response to the steering wheel angle median calibration signal, determine whether the actual driving direction of the vehicle is a straight direction. If the actual driving direction of the vehicle is a straight direction, it means that the steering wheel deflection angle is in the median position at this time, and the front wheel deflection angle also corresponds to the situation of the steering wheel median position. In this case, the road sense simulator motor rotor position at the current moment is obtained as the road sense simulator motor calibration value corresponding to the steering wheel median position, and the steering actuator motor rotor position at the current moment is obtained as the steering actuator motor calibration value corresponding to the steering wheel median position, and then the road sense simulator motor calibration value is sent to the road sense simulator, and the steering actuator motor calibration value is sent to the steering actuator. The road sense simulator motor and the steering actuator motor are used to control the rotation of the steering wheel, so the road sense simulator motor calibration value and the steering actuator motor calibration value corresponding to the steering wheel median position are the steering wheel angle median calibration results. This solution does not need to be carried out on the vehicle production line, and can be executed at any time during the vehicle driving process, which reduces the vehicle processing procedures and improves the vehicle production energy efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flow chart of a method for calibrating the center position of a steering wheel angle in one embodiment of the present application;

[0037] Figure 2 This is a flow chart of a method for calibrating the center position of a steering wheel angle in another embodiment of the present application;

[0038] Figure 3 This is a structural block diagram of a device for calibrating the center position of a steering wheel angle in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of the hardware connection relationship of an electronic device for executing a method for calibrating a steering wheel angle mid-position in one embodiment of the present application;

[0040] Figure 5 A schematic diagram of the connection relationship of the hardware devices for executing the steering wheel angle mid-position calibration method in a vehicle described in one embodiment of the present application. DETAILED DESCRIPTION

[0041] The specific implementation of the present application is further described below with reference to the accompanying drawings.

[0042] It is easy to understand that according to the technical solution of the present application, without changing the essential spirit of the present application, a variety of structural modes and implementation modes that can be replaced by those skilled in the art can be replaced with each other. Therefore, the following specific implementation modes and drawings are only exemplary descriptions of the technical solution of the present application, and should not be regarded as the entirety of the present application or as a limitation or restriction on the technical solution of the application.

[0043] The directional terms such as up, down, left, right, front, back, front, back, top, bottom, etc. mentioned or may be mentioned in this specification are defined relative to the structures shown in the drawings. They are relative concepts and may change accordingly according to different positions and different usage conditions. Therefore, these or other directional terms should not be interpreted as restrictive terms.

[0044] The present application provides a method for calibrating the center position of a steering wheel angle, which is applied to a vehicle controller. The vehicle controller may be a vehicle controller, an auxiliary driving controller, an automatic driving controller, etc. Figure 1 As shown, the method may include the following steps:

[0045] S10: In response to the steering wheel angle mid-position calibration signal, determining whether the actual driving direction of the vehicle is a straight line direction.

[0046] The steering wheel angle center position calibration signal may come from an existing trigger element in the vehicle. For example, the driver may manually trigger the trigger element to start the steering wheel center position calibration process while driving.

[0047] When judging the actual driving direction of the vehicle, it can be achieved through the existing sensors on the vehicle. For example, the angle of each wheel can be detected by the steering angle sensor installed on each vehicle. If the angle of each wheel is approximately zero degrees, it can be considered that the vehicle's driving direction is a straight line.

[0048] S20: If the actual driving direction of the vehicle is a straight line, the rotor position of the road feel simulator motor at the current moment is obtained as the road feel simulator motor calibration value corresponding to the steering wheel center position; the rotor position of the steering actuator motor at the current moment is obtained as the steering actuator motor calibration value corresponding to the steering wheel center position. The road feel simulator motor and the steering actuator motor are used to control the rotation of the steering wheel.

[0049] In the steer-by-wire system, the road feel simulator and the steering actuator are rotating mechanisms used to control the rotation of the steering wheel. When the vehicle is driving, the rotor position of the road feel simulator motor is a control indicator directly associated with the steering wheel deflection angle, and the rotor position of the steering actuator motor is a control indicator directly associated with the front wheel deflection angle. Therefore, in this solution, when the vehicle is in a straight-line driving situation, obtaining the rotor positions of the two motors can be used as the zero-position state values ​​of the two motors, which can be considered as calibration values ​​that meet the calibration requirements. The positions of the two rotors can be achieved by position sensors set at the rotors.

[0050] S30: sending the road feel simulator motor calibration value to the road feel simulator, and sending the steering actuator motor calibration value to the steering actuator.

[0051] The calibration value is sent to the road feel simulator and the steering actuator so that the two devices can determine the motor rotor position corresponding to the steering wheel center position in the subsequent process.

[0052] The above scheme of the present application, in response to the steering wheel angle mid-position calibration signal, determines whether the actual driving direction of the vehicle is a straight direction. If the actual driving direction of the vehicle is a straight direction, it means that the steering wheel deflection angle is in the middle position at this time, and the front wheel deflection angle also corresponds to the situation of the steering wheel mid-position. In this case, the road sense simulator motor rotor position at the current moment is obtained as the road sense simulator motor calibration value corresponding to the steering wheel mid-position, and the steering actuator motor rotor position at the current moment is obtained as the steering actuator motor calibration value corresponding to the steering wheel mid-position. Then, the road sense simulator motor calibration value is sent to the road sense simulator, and the steering actuator motor calibration value is sent to the steering actuator. The road sense simulator motor and the steering actuator motor are used to control the rotation of the steering wheel. Therefore, the road sense simulator motor calibration value and the steering actuator motor calibration value corresponding to the steering wheel mid-position are the steering wheel angle mid-position calibration results. This scheme does not need to be carried out on the vehicle production line, and can be executed at any time during the vehicle driving process, which reduces the vehicle processing procedures and improves the vehicle production energy efficiency.

[0053] In some embodiments of the steering wheel angle mid-position calibration method, in step S10, whether the actual driving direction of the vehicle is a straight line direction is determined by the following method:

[0054] S101: Obtain the front wheel speed and rear wheel speed of the vehicle.

[0055] At present, the four wheels in the vehicle are all equipped with speed sensors, so the vehicle controller can directly obtain the wheel speeds of the four wheels detected by the speed sensors. It can be understood that in the specific implementation, the vehicle is in a normal driving situation and has a normal driving speed.

[0056] S102: If the difference between the front wheel speed and the rear wheel speed is less than a first threshold, it is determined that the actual driving direction of the vehicle is a straight line.

[0057] The difference between the front wheel speed and the rear wheel speed can be obtained by subtracting the front wheel speed from the rear wheel speed.

[0058] The first threshold is pre-written into the vehicle controller as a fixed value and can be determined based on experience or preliminary tests, with the test value of the difference between the front wheel speed and the rear wheel speed under the test condition that the vehicle maintains straight driving as the determination basis.

[0059] If the vehicle is turning, the distances traveled by wheels in different positions in the same period of time will be different, so the wheel speeds of different wheels will be different (for example, when turning left, the distances traveled by the left front wheel and the right rear wheel in the same period of time are obviously different, the left front wheel has the smallest speed, and the right rear wheel has the largest speed).

[0060] In this solution, whether the vehicle is going straight is determined by the difference between the front wheel speed and the rear wheel speed of the vehicle. The judgment logic is simple, the amount of calculation is small and the accuracy is high.

[0061] In some embodiments, the obtaining of the front wheel speed and the rear wheel speed of the vehicle includes: obtaining the average of the left front wheel speed and the right front wheel speed as the front wheel speed; obtaining the average of the left rear wheel speed and the right rear wheel speed as the rear wheel speed. LF_wheel 、V RF_wheel 、V LR_wheel 、V RR_wheel According to the acquired four wheel speeds, calculate the average front wheel speed VF_axle = (V LF_wheel +V RF_wheel ) / 2, calculate the average rear wheel speed VR_axle = (V LR_wheel +V RR_wheel ) / 2. Through this method, two values ​​can be directly compared, which simplifies the comparison operation process.

[0062] In some schemes, such as Figure 2 As shown, the steering wheel angle mid-position calibration method is characterized in that, before responding to the steering wheel angle mid-position calibration signal, it includes:

[0063] S1A: Get the steering wheel deflection angle.

[0064] The steering wheel deflection angle can be obtained by a steering angle sensor arranged on the vehicle steering wheel.

[0065] S1B: Get the front wheel deflection angle.

[0066] The front wheel deflection angle can be obtained by using the steering angle sensors provided on the left front wheel and the right front wheel, and the average value of the two front wheel deflection angles can be used as the front wheel deflection angle.

[0067] S1C: If the difference between the steering wheel deflection angle and the front wheel deflection angle is greater than the second threshold and less than the third threshold, a steering wheel angle mid-position calibration signal is generated.

[0068] The standard result of the difference between the steering wheel deflection angle and the front wheel deflection angle can be determined in advance by means of experiments or empirical value selection. In the most ideal case, the difference is zero. In specific implementation, a certain deviation range can be set for it. When it is within this range, it is considered that the steering wheel center does not need to be recalibrated. This range is less than or equal to the second threshold range. When it is within another range, it can be considered that the standard result can be obtained by recalibrating the steering wheel center. This range is the range defined by the second threshold and the third threshold. In some embodiments of the present application, when the standard steering wheel center is obtained by experiment, the mapping relationship between different steering wheel deflection angles and front wheel deflection angles; the deflection angle difference between any group of steering wheel deflection angles and front wheel deflection angles with a mapping relationship is obtained; each deflection angle deviation value is combined with the allowable error value to obtain the deflection angle difference range corresponding to the steering wheel deflection angle, the minimum value of the deflection angle difference range is used as the second threshold, and the maximum value of the deflection angle difference range is used as the third threshold. In specific implementation, the second threshold and the third threshold can be obtained by simulation combined with real vehicle testing.

[0069] Furthermore, if Figure 2 As shown, the method also includes:

[0070] S40: If the difference between the steering wheel deflection angle and the front wheel deflection angle is greater than or equal to the third threshold, a warning message is issued to indicate that the vehicle is assembled abnormally.

[0071] If the difference between the steering wheel deflection angle and the front wheel deflection angle is greater than or equal to the third threshold, it can be considered that the steering wheel center position cannot be obtained by recalibration. At this time, the steering wheel or wheel needs to be reassembled to solve the problem, and a warning message is issued to indicate that the vehicle assembly is abnormal.

[0072] In the above scheme, the obtaining of the steering wheel deflection angle includes: obtaining a steering wheel image taken by a vehicle-mounted camera; parsing the identification area on the steering wheel image, and obtaining the steering wheel deflection angle corresponding to the identification area. The vehicle-mounted camera is a high-definition camera in the cabin. A mark can be set on the steering wheel. When the position and direction of the mark can be identified after shooting, the steering wheel deflection angle can be determined. Preferably, a picture when the steering wheel is in the middle position can be pre-stored as a reference image, and the steering wheel image can be directly compared with the reference image to determine the position change of the mark in the two images. The deflection angle can be determined by combining the change. Using a high-definition camera in the cabin to obtain the steering wheel deflection angle can reduce the number of sensors and make the vehicle more integrated.

[0073] The present application provides a device for calibrating the center position of a steering wheel angle. Figure 3 As shown, including:

[0074] The command response module 10 is configured to respond to the steering wheel angle mid-position calibration signal to determine whether the actual driving direction of the vehicle is a straight line. The steering wheel angle mid-position calibration signal can come from an existing trigger element in the vehicle. For example, the driver can start the steering wheel mid-position calibration process by manually triggering the trigger element during driving. When judging the actual driving direction of the vehicle, it can be achieved through the existing sensors on the vehicle. For example, the angle of each wheel can be detected by the angle sensor set on each vehicle. If the angle of each wheel is approximately zero, it can be considered that the driving direction of the vehicle is a straight line.

[0075] The data acquisition module 20 is configured to obtain the rotor position of the road sense simulator motor at the current moment as the calibration value of the road sense simulator motor corresponding to the center position of the steering wheel if the actual driving direction of the vehicle is a straight line; obtain the rotor position of the steering actuator motor at the current moment as the calibration value of the steering actuator motor corresponding to the center position of the steering wheel, and the road sense simulator motor and the steering actuator motor are used to control the rotation of the steering wheel. In the wire-controlled steering system, the road sense simulator and the steering actuator are rotating mechanisms used to control the rotation of the steering wheel. When the vehicle is driving, the rotor position of the road sense simulator motor is a control indicator directly associated with the steering wheel deflection angle, and the rotor position of the steering actuator motor is a control indicator directly associated with the front wheel deflection angle. Therefore, in this solution, when the vehicle is in a straight-line driving situation, obtaining the rotor positions of the two motors can be used as the zero-position state values ​​of the two motors, which can be considered as calibration values ​​that meet the calibration requirements.

[0076] The calibration execution module 30 sends the road sense simulator motor calibration value to the road sense simulator, and sends the steering actuator motor calibration value to the steering actuator, that is, sends the calibration value to the road sense simulator and the steering actuator, so that the two devices can determine the motor rotor position corresponding to the steering wheel neutral position in the subsequent process.

[0077] The above scheme of the present application, in response to the steering wheel angle mid-position calibration signal, determines whether the actual driving direction of the vehicle is a straight direction. If the actual driving direction of the vehicle is a straight direction, it means that the steering wheel deflection angle is in the middle position at this time, and the front wheel deflection angle also corresponds to the situation of the steering wheel mid-position. In this case, the current road sense simulator motor rotor position is obtained as the road sense simulator motor calibration value corresponding to the steering wheel mid-position, and the current steering actuator motor rotor position is obtained as the steering actuator motor calibration value corresponding to the steering wheel mid-position. Then, the road sense simulator motor calibration value is sent to the road sense simulator, and the steering actuator motor calibration value is sent to the steering actuator. This scheme does not need to be carried out on the vehicle production line, and can be executed at any time during the vehicle driving process, which reduces the vehicle processing procedures and improves the vehicle production energy efficiency.

[0078] In some schemes, the command response module 10 determines whether the actual driving direction of the vehicle is a straight direction by the following method: obtaining the front wheel speed and the rear wheel speed of the vehicle. If the difference between the front wheel speed and the rear wheel speed is less than the first threshold, the actual driving direction of the vehicle is determined to be a straight direction. The wheel speeds of the four wheels detected by the speed sensor can be directly obtained. It can be understood that in the specific implementation, the vehicle is in a normal driving situation and has a normal driving speed. The difference between the front wheel speed and the rear wheel speed can be obtained by subtracting the front wheel speed from the rear wheel speed. The first threshold is pre-written into the vehicle controller as a fixed value, which can be determined based on experience or pre-tests, and the difference test value of the front wheel speed and the rear wheel speed under the test condition that the vehicle maintains straight driving is used as a determination benchmark. If the vehicle is in a turning state, since the distances traveled by wheels at different positions in the same time will be deviated, the wheel speeds of different wheels will be different (for example, when turning left, the travel distances of the left front wheel and the right rear wheel in the same time are obviously different, the wheel speed of the left front wheel is the smallest, and the wheel speed of the right rear wheel is the largest). In this solution, whether the vehicle is going straight is determined by the difference between the front wheel speed and the rear wheel speed of the vehicle. The judgment logic is simple, the amount of calculation is small and the accuracy is high.

[0079] In some embodiments, the command response module 10 obtains the average of the left front wheel speed and the right front wheel speed as the front wheel speed; obtains the average of the left rear wheel speed and the right rear wheel speed as the rear wheel speed. LF_wheel 、V RF_wheel 、V LR_wheel 、V RR_wheel According to the acquired four wheel speeds, calculate the average front wheel speed VF_axle = (V LF_wheel +V RF_wheel ) / 2, calculate the average rear wheel speed VR_axle = (V LR_wheel +V RR_wheel ) / 2. Through this method, two values ​​can be directly compared, which simplifies the comparison operation process.

[0080] In some schemes, the device further includes a trigger module, which obtains a steering wheel deflection angle; obtains a front wheel deflection angle; and generates a steering wheel angle median calibration signal if the difference between the steering wheel deflection angle and the front wheel deflection angle is greater than a second threshold value and less than a third threshold value. The steering wheel deflection angle can be obtained by an angle sensor disposed on the vehicle steering wheel. The front wheel deflection angle can be obtained by an angle sensor disposed on the left front wheel and the right front wheel, and the average value of the two front wheel deflection angles can be used as the front wheel deflection angle. The standard result of the difference between the steering wheel deflection angle and the front wheel deflection angle can be determined in advance by means of an experiment or by means of selecting an empirical value. In the most ideal case, the difference is zero. In specific implementation, a certain deviation range can be set for it. When within this range, it is considered that the steering wheel median does not need to be recalibrated, and this range is less than or equal to the second threshold range. When within another range, it can be considered that the standard result can also be obtained by recalibrating the steering wheel median, and this range is the range defined between the second threshold value and the third threshold value.

[0081] In some embodiments of the present application, the trigger module obtains the mapping relationship between different steering wheel deflection angles and front wheel deflection angles when the standard steering wheel is in the neutral position through experiments; obtains the deflection angle difference between any set of steering wheel deflection angles and front wheel deflection angles with a mapping relationship; combines each of the deflection angle deviation values ​​with the allowable error value to obtain a deflection angle difference range corresponding to the steering wheel deflection angle, and the minimum value of the deflection angle difference range is used as the second threshold value, and the maximum value of the deflection angle difference range is used as the third threshold value. In specific implementation, the second threshold value and the third threshold value can be obtained by combining simulation with actual vehicle testing.

[0082] Furthermore, the device further comprises an alarm module, and if the difference between the steering wheel deflection angle and the front wheel deflection angle is greater than or equal to the third threshold, a warning message is issued to indicate that the vehicle is abnormally assembled. If the difference between the steering wheel deflection angle and the front wheel deflection angle is greater than or equal to the third threshold, it can be considered that the steering wheel neutral position cannot be obtained by recalibration, and the steering wheel or wheel needs to be reassembled to solve the problem, and a warning message is issued to indicate that the vehicle is abnormally assembled.

[0083] Furthermore, the device also includes an image processing module, which obtains the steering wheel image taken by the vehicle-mounted camera; analyzes the identification area on the steering wheel image, and obtains the steering wheel deflection angle corresponding to the identification area. The vehicle-mounted camera is a high-definition camera in the cabin, and a mark can be set on the steering wheel. When the position and direction of the mark can be identified after shooting, the steering wheel deflection angle can be determined. Preferably, a picture when the steering wheel is in the middle position can be pre-stored as a reference image, and the steering wheel image can be directly compared with the reference image to determine the position change of the mark in the two images. The deflection angle can be determined by combining the change. Using a high-definition camera in the cabin to obtain the steering wheel deflection angle can reduce the number of sensors and make the vehicle more integrated.

[0084] In some embodiments, a computer-readable storage medium is provided, in which program information is stored. After a computer reads the program information, the computer executes the steering wheel angle mid-position calibration method described in any scheme in the method embodiment.

[0085] The present application also provides an electronic device, such as Figure 4As shown, the electronic device includes at least one processor 41 and at least one memory 42, at least one of the memories 42 stores program information, and at least one of the processors 41 reads the program information and executes the steering wheel angle center calibration method described in any one of the above method embodiments. The device may also include: an input device 43 and an output device 44. The processor 41, the memory 42, the input device 43 and the output device 44 can be connected in communication. The memory 42, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The processor 41 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 42, that is, the steering wheel angle center calibration method provided by any of the above schemes is implemented. The memory 42 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created according to the use of the steering wheel angle center calibration method, etc. In addition, the memory 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 42 may optionally include a memory remotely arranged relative to the processor 41, and these remote memories may be connected to a device for executing the steering wheel angle center calibration method via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof. The input device 43 may receive input user clicks, and generate signal inputs related to user settings and function controls of the steering wheel angle center calibration method. The output device 44 may include a display device such as a display screen. The one or more modules are stored in the memory 42, and when they are run by the one or more processors 41, the steering wheel angle center calibration method in any of the above-mentioned method embodiments is executed.

[0086] The embodiments of the present application also provide a vehicle, in which the steering wheel angle median calibration device or computer-readable storage medium or electronic device described in the above embodiments is configured. With the rapid development of automobile intelligence and networking, more and more sensors are applied to automobiles, including high-definition cameras, angle sensors, speed sensors and other devices. These sensing devices are the basis for realizing highly integrated control of intelligent chassis and provide necessary information input for smart cars. The vehicle steering wheel angle median calibration method proposed in the embodiments of the present application based on the wire-controlled steering system uses the vehicle sensors to identify the vehicle status and environmental parameters, ensure that the vehicle is in a safe state, execute the calibration process, and complete the self-calibration of the steering wheel angle median. Figure 5 As shown, the electronic device in the present application can be directly connected to each sensor, a road sense simulator and a steering actuator controller.

[0087] As needed, the above technical solutions can be combined to achieve the best technical effect.

[0088] The above are only the principles and preferred embodiments of the present application. It should be noted that, for ordinary technicians in this field, on the basis of the principles of the present application, several other modifications can be made, which should also be considered as the protection scope of the present application.

Claims

1. A method for calibrating the mid-position of a steering wheel angle, characterized in that: include: In response to the steering wheel angle mid-position calibration signal, determining whether the actual driving direction of the vehicle is a straight line direction; If the actual driving direction of the vehicle is a straight line, the rotor position of the road sense simulator motor at the current moment is obtained as the calibration value of the road sense simulator motor corresponding to the middle position of the steering wheel; the rotor position of the steering actuator motor at the current moment is obtained as the calibration value of the steering actuator motor corresponding to the middle position of the steering wheel, and the road sense simulator motor and the steering actuator motor are used to control the rotation of the steering wheel; The road feel simulator motor calibration value is sent to the road feel simulator, and the steering actuator motor calibration value is sent to the steering actuator.

2. The method for calibrating the steering wheel angle center position according to claim 1, characterized in that: The determining whether the actual driving direction of the vehicle is a straight line direction includes: Get the front wheel speed and rear wheel speed of the vehicle; If the difference between the front wheel speed and the rear wheel speed is less than a first threshold, it is determined that the actual driving direction of the vehicle is a straight direction.

3. The method for calibrating the steering wheel angle center position according to claim 2, characterized in that: The obtaining of the front wheel speed and the rear wheel speed of the vehicle comprises: Obtaining an average value of the left front wheel speed and the right front wheel speed as the front wheel speed; The average value of the left rear wheel speed and the right rear wheel speed is obtained as the rear wheel speed.

4. The method for calibrating the steering wheel angle center position according to any one of claims 1 to 3, characterized in that: Before responding to the steering wheel angle neutral calibration signal, the method includes: Get the steering wheel deflection angle; Get the front wheel deflection angle; If the difference between the steering wheel deflection angle and the front wheel deflection angle is greater than the second threshold and less than the third threshold, a steering wheel angle mid-position calibration signal is generated.

5. The method for calibrating the steering wheel angle center position according to claim 4, characterized in that: The method further comprises: If the difference between the steering wheel deflection angle and the front wheel deflection angle is greater than or equal to the third threshold, a warning message is issued to indicate that the vehicle is assembled abnormally.

6. The method for calibrating the steering wheel angle center position according to claim 4, characterized in that: The obtaining of the steering wheel deflection angle comprises: Get the steering wheel image taken by the vehicle camera; The marked area on the steering wheel image is parsed, and the steering wheel deflection angle corresponding to the marked area is acquired.

7. The method for calibrating the steering wheel angle center position according to claim 4, characterized in that: Before responding to the steering wheel angle neutral calibration signal, the method includes: The mapping relationship between different steering wheel deflection angles and front wheel deflection angles is obtained through experiments when the standard steering wheel neutral position is obtained; Obtaining the deflection angle difference between any set of steering wheel deflection angles and front wheel deflection angles having a mapping relationship; Each deflection angle deviation value is combined with the allowable error value to obtain a deflection angle difference range corresponding to the steering wheel deflection angle, the minimum value of the deflection angle difference range is used as the second threshold, and the maximum value of the deflection angle difference range is used as the third threshold.

8. A device for calibrating the center position of a steering wheel angle, characterized in that: include: The command response module is configured to respond to the steering wheel angle neutral calibration signal to determine whether the actual driving direction of the vehicle is a straight line direction; The data acquisition module is configured to acquire the rotor position of the road sense simulator motor at the current moment as the road sense simulator motor calibration value corresponding to the steering wheel neutral position if the actual driving direction of the vehicle is a straight line; acquire the rotor position of the steering actuator motor at the current moment as the steering actuator motor calibration value corresponding to the steering wheel neutral position; the road sense simulator motor and the steering actuator motor are used to control the rotation of the steering wheel; The calibration execution module sends the road feeling simulator motor calibration value to the road feeling simulator, and sends the steering actuator motor calibration value to the steering actuator.

9. A computer-readable storage medium, characterized in that: The storage medium stores program information, and the computer reads the program information and executes the steering wheel angle mid-position calibration method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The electronic device includes at least one processor and at least one memory, at least one of the memories stores program information, and at least one of the processors reads the program information and executes the steering wheel angle center position calibration method described in any one of claims 1-7.

11. A vehicle, characterized in that: The vehicle is equipped with the steering wheel angle center position calibration device according to claim 8 or the computer-readable storage medium according to claim 9 or the electronic device according to claim 10.

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