Steering gear zeroing method for vehicles

Abstract

The present disclosure relates to the technical field of steering gear calibration; specifically, to a steering gear zeroing method for a vehicle, wherein the vehicle comprises at least a first wheel group and a second wheel group, the first wheel group comprises two sets of first wheels, and the second wheel group comprises two sets of second wheels; the steering gear zeroing method comprises: structural assembly: data measuring parts are respectively installed on the two first wheels, and the data measuring parts have scale lines; light emitting parts are respectively installed on the two second wheels, and the light emitting parts are configured to emit measuring light when starting, and the data measuring parts are located on the emission path of the measuring light; steering gear zeroing: the light emitting parts are controlled to emit measuring light; after the two beams of measuring light are respectively located at the same position on the two data measuring parts, the zero position calibration position is recorded, and the steering gear zero position calibration is performed. The method improves the calibration operation efficiency and ensures the consistency of the zero position accuracy of the vehicle's wire-controlled steering.

Description

Technical Field

[0001] The present disclosure relates to the technical field of steering gear calibration, and in particular to a steering gear zeroing method for a vehicle. Background Art

[0002] In the related art, usually after an unmanned vehicle controlled by a wire control system rolls off the production line (the term "rolling off the production line" in this disclosure means after the vehicle is assembled on the assembly line and before it is equipped with an unmanned driving system), the steering zero position of the vehicle will be calibrated, including observation calibration (suitable for vehicles with low calibration requirements), electronic control system calibration, mechanical calibration and other calibration methods. However, the use of electronic control system calibration, mechanical calibration and other calibration methods is relatively complex and requires a large area of ​​technical problems. The use of observation calibration has the problem of inaccurate calibration.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The purpose of the present disclosure is to provide a method for zeroing a steering gear of a vehicle, which improves the efficiency of the calibration operation and ensures the consistency of the zero position accuracy of the vehicle's wire-controlled steering.

[0005] According to one aspect of the present disclosure, a steering gear zeroing method for a vehicle is provided, wherein the vehicle comprises at least a first wheel set and a second wheel set arranged in sequence in the length direction of the vehicle body, wherein the first wheel set comprises two sets of first wheels arranged oppositely in the width direction of the vehicle body, and the second wheel set comprises two sets of second wheels arranged oppositely in the width direction of the vehicle body; the steering gear zeroing method comprises:

[0006] Structural assembly:

[0007] A data measuring piece is installed on each of the two first wheels, and a scale line is installed on each of the data measuring pieces; a light emitting piece is installed on each of the two second wheels, and the light emitting piece is configured to emit a measuring light when started, and the data measuring piece is located on an emitting path of the measuring light;

[0008] Steering gear zeroing:

[0009] Controlling the light emitting element to emit measurement light;

[0010] After the two beams of measuring light are respectively located at the same position on the two data measuring pieces, the zero position calibration position is recorded, and the zero position calibration of the steering device is performed.

[0011] In one embodiment of the present disclosure, the scale lines of the data measuring component are arranged toward the light emitting component.

[0012] In one embodiment of the present disclosure, the first wheel is a steering wheel;

[0013] A data measuring member is installed on each of the two first wheels, and a scale line is installed on each of the data measuring members; a light emitting member is installed on each of the two second wheels, and the light emitting member is configured to emit a measuring light when started, and the data measuring member is located on an emitting path of the measuring light, and the method also includes:

[0014] The two first wheels are controlled to be as parallel as possible to the body of the vehicle.

[0015] In one embodiment of the present disclosure, the data measuring component is a vernier caliper; and the light emitting component is an infrared laser level.

[0016] In one embodiment of the present disclosure, the infrared laser level has a magnetic seat, and the infrared laser level is fixed to the rim of the second wheel through the magnetic seat; the vernier caliper has a magnetic seat, and the vernier caliper is fixed to the rim of the first wheel through the magnetic seat.

[0017] In one embodiment of the present disclosure, the vehicle further has a third wheel group, the first wheel group, the second wheel group and the third wheel group are arranged in sequence along the length direction of the vehicle body, and the third wheel group includes two groups of third wheels, and the two groups of third wheels are relatively arranged along the width direction of the vehicle body.

[0018] In one embodiment of the present disclosure, after the steering gear is zeroed, a static verification is also included:

[0019] In static state, control the steering gear to be in the zero calibration position, and confirm whether the positions of the two measuring light beams on the data measuring piece are the same and the same as the zero calibration position. If they are the same, it means that the zero calibration is correct; if they are different, re-zero the steering gear.

[0020] In one embodiment of the present disclosure, dynamic verification is further included after the static verification:

[0021] Remove the data measurement parts and light emitting parts;

[0022] Control the steering gear to be in the zero calibration position, drive the vehicle for a certain straight distance, reinstall the data measurement component and the light emitting component, and confirm whether the positions of the two beams of measurement light on the data measurement component are the same and the same as the zero calibration position. If they are the same, it means that the zero calibration is accurate; if not, re-zero the steering gear.

[0023] In one embodiment of the present disclosure, the light emitting element is controlled to emit the measuring light;

[0024] After the two beams of measuring light are respectively located at the same position on the two data measuring pieces, the zero position calibration position is recorded, and the zero position calibration of the steering device is performed, including:

[0025] Control the light emitting element to emit measurement light, so that the measurement light emitted by the light emitting element is irradiated onto the data measurement element, and the positions of the two beams of measurement light on the two data measurement elements are recorded respectively in the current state, and the average value is calculated as the zero position standard;

[0026] Adjust the orientation of the vehicle, record the positions of the two beams of measuring light on the two data measuring parts in the current state, make the positions of the two beams of measuring light on the two data measuring parts the same as the zero position standard, record the zero position calibration position, and calibrate the zero position of the vehicle.

[0027] In one embodiment of the present disclosure, a data measuring member is installed on each of the two first wheels, and the data measuring member has scale lines; a light emitting member is installed on each of the two second wheels, and the light emitting member is configured to emit a measuring light when started, and the data measuring member is located on the emitting path of the measuring light, and includes:

[0028] A data measuring piece having scale lines is installed on each of the two first wheels; a light emitting piece is installed on each of the two second wheels so that the horizontal inclination angles of the two light emitting pieces are the same, the light emitting piece is started, the positions of the two data measuring pieces are adjusted, or the positions of the two light emitting pieces are adjusted so that the cursors of the two measuring lights are located in the middle of the data measuring piece, and then the position of the data measuring piece is fixed.

[0029] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other features and advantages of the present disclosure will become more apparent by describing in detail its exemplary embodiments with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present disclosure, and for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.

[0031] Figure 1 This is a schematic diagram of the structure of a vehicle in one embodiment of the present disclosure.

[0032] Figure 2 This is a schematic diagram of the structure of a vehicle in one embodiment of the present disclosure.

[0033] Figure 3The present invention is a flowchart of a method for zeroing a steering gear of a vehicle in one embodiment of the present invention.

[0034] In the figure:

[0035] 1. First wheel; 2. Second wheel; 3. Third wheel; 4. Data measuring part; 5. Light emitting part; 6. Measuring light; 7. First connecting part; 8. Second connecting part; 9. Third connecting part; 10. Steering wheel; 11. Rim. DETAILED DESCRIPTION

[0036] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present disclosure will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted. In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0037] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the illustration to another component, these terms are used in this specification only for convenience, such as according to the orientation of the examples described in the drawings. It is understood that if the device of the illustration is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0038] In the present disclosure, A and B being the same means that A=B, and B-σ≤A≤B+σ, wherein σ represents an allowable error range.

[0039] In the present disclosure, “as parallel as possible” means that the first wheel is parallel to the vehicle body when viewed with the naked eye.

[0040] The vehicle has a body (not shown in the figure) and a wheel structure, the wheel structure includes at least two sets of wheel groups. In one example, the wheel structure includes two sets of wheel groups. In another example, the wheel structure includes three sets of wheel groups. In this example, see Figure 1 and Figure 2The wheel structure includes a first wheel group, a second wheel group and a third wheel group, which are arranged in sequence along the length direction of the vehicle body. In this case, the vehicle is a wide-body vehicle. The first wheel group includes two sets of first wheels 1, which are relatively arranged on both sides of the vehicle body along the width direction of the vehicle body, and the two sets of first wheels 1 are connected in series through a first connecting member 7; the second wheel group includes two sets of second wheels 2, which are relatively arranged on both sides of the vehicle body along the width direction of the vehicle body, and the two sets of second wheels 2 are connected in series through a second connecting member 8; the third wheel group includes two sets of third wheels 3, which are relatively arranged on both sides of the vehicle body along the width direction of the vehicle body, and the two sets of third wheels 3 are connected in series through a third connecting member 9. In an example of the present disclosure, the number of each set of first wheels 1 is one (it can be understood that the vehicle has two first wheels 1, and the two first wheels 1 are arranged on both sides of the vehicle body in a width direction of the vehicle body), each set of second wheels 2 includes two second sub-wheels, and the two second sub-wheels are arranged in sequence along the width direction of the vehicle body, and each set of third wheels 3 includes two third sub-wheels, and the two third sub-wheels are arranged in sequence along the width direction of the vehicle body. Figure 1 , the length direction of the vehicle is the driving direction of the vehicle, and the width direction of the vehicle is the non-driving direction perpendicular to the driving direction.

[0041] In one embodiment of the present disclosure, a steering gear is provided in the vehicle body. In one example, see Figure 1 and Figure 2 , the steering gear is a steering wheel 10. In other examples, the steering gear can also be other components in the vehicle body.

[0042] In one embodiment of the present disclosure, the first wheel 1, the second sub-wheel and the third sub-wheel have the same structure. It can be understood that the first wheel 1, the second sub-wheel and the third sub-wheel have the same components and the same component arrangement. In this example, taking the first wheel 1 as an example, the first wheel 1 has a rim 11, and the material of the rim 11 can be steel.

[0043] In one embodiment of the present disclosure, the first wheel 1 is a steering wheel of the vehicle.

[0044] In one embodiment of the present disclosure, the vehicle may be an unmanned vehicle having a control-by-wire system configured to control the entire vehicle.

[0045] As the core supporting technology of autonomous driving technology, the wire-controlled chassis is gradually changing the technical framework and market structure of the automotive industry.

[0046] The automotive steering system has gone through mechanical steering, hydraulic power steering, electronically controlled hydraulic steering, electric power steering, and wire-controlled steering in the process of development. Wire-controlled steering plays a vital role in the field of autonomous driving. The accuracy of the zero-position calibration of the steering gear directly affects the driving safety and stability of the vehicle. Once the zero-position drifts, it will cause fatal risks. Therefore, before the OEM's vehicle rolls off the assembly line and is not formally adapted to the autonomous driving system, or after the vehicle replaces or repairs the steering gear system parts, the zero-position calibration test of the wire-controlled chassis steering gear is particularly important to ensure the safety and accuracy of the vehicle's later operations and provide a solid guarantee for the later adaptation of the autonomous driving control system.

[0047] In the related art, usually after an unmanned vehicle controlled by a wire control system rolls off the production line (the term "rolling off the production line" in this disclosure means after the vehicle is assembled on the assembly line and before it is equipped with an unmanned driving system), the steering zero position of the vehicle will be calibrated, including observation calibration (suitable for vehicles with low calibration requirements), electronic control system calibration, mechanical calibration and other calibration methods. However, the use of electronic control system calibration, mechanical calibration and other calibration methods is relatively complex and requires a large area of ​​technical problems. The use of observation calibration has the problem of inaccurate calibration.

[0048] In order to solve the above problems, the present disclosure provides a method for zeroing a steering gear of a vehicle. Figure 3 ,include:

[0049] S100, structural assembly:

[0050] A data measuring member 4 is installed on the two first wheels 1, and a scale line is provided on the data measuring member 4; a light emitting member 5 is installed on the two second wheels 2, and the light emitting member 5 is configured to emit a measuring light 6 when started, and the corresponding data measuring member 4 is located on the emission path of the measuring light 6;

[0051] S200, steering gear zero mark:

[0052] Control the light emitting element 5 to emit the measuring light 6;

[0053] After the two beams of measuring light 6 are respectively located at the same position on the two data measuring parts 4, the zero position calibration position is recorded and the zero position calibration is performed.

[0054] The steering gear zeroing method disclosed in the present invention is adopted, and a data measuring component 4 and a light emitting component 5 are used in cooperation. The positions of the measuring light beams 6 emitted by the two light emitting components 5 on the two data measuring components 4 are compared respectively, and the fine adjustment of the vehicle is coordinated to realize the rapid zeroing of the steering gear. The problem of the complexity and difficulty of the existing calibration method in the related technology due to the limitation of the calibration site is solved, the calibration operation efficiency is improved, and the consistency of the zero position accuracy of the vehicle's wire-controlled steering is ensured at the same time.

[0055] In one embodiment of the present disclosure, the two data measuring components 4 may be located at the same position of the first wheel 1 .

[0056] In one embodiment of the present disclosure, the data measuring member 4 is disposed on the rim 11 of the vehicle. In one example, the data measuring member 4 may include a fixing structure and a measuring structure, and the measuring structure has scale lines. The fixing structure is used to fix the measuring structure on the rim 11 of the vehicle. In another example, the fixing structure and the measuring structure may be integrally disposed.

[0057] In one embodiment of the present disclosure, the measuring structure has scale lines. In one example, the measuring structure is a ruler, and the fixed structure can fix the ruler on the rim 11, and the fixed structure is a magnetic seat, and the magnetic seat and the ruler are integrated to form a ruler with a magnetic seat. In another example, the measuring structure is a vernier caliper, and the fixed structure is a magnetic seat, and the magnetic seat and the vernier caliper are integrated to form a vernier caliper with a magnetic seat, so that the data measuring part 4 can be quickly fixed by adsorbing it on the rim 11 through the magnetic seat. In the present disclosure, the measurement accuracy of data measurement using a vernier caliper is higher, and can reach the micron level. In this way, the zero position calibration of the steering gear with higher precision requirements can be performed. Of course, in other examples of the present disclosure, the data measuring part 4 can also be other structures not shown.

[0058] In one embodiment of the present disclosure, the light emitting member 5 is configured to emit a measuring light 6, and the measuring light 6 is used to emit a straight line to a specific position on the vernier caliper to perform zero position calibration of the steering gear (when the positions of the two measuring light beams 6 on the two vernier calipers are the same, it indicates that the steering gear is in the zero position calibration position). In one example, the light emitting member 5 emits infrared rays.

[0059] In one embodiment of the present disclosure, the light emitting member 5 may include a light emitting structure and a fixed structure. In one example, the light emitting structure is configured to emit infrared rays, and it can be understood that the infrared rays are measuring light rays 6. The fixed structure can set the light emitting structure on the rim 11, and the fixed structure can be a magnetic seat, and the magnetic seat and the light emitting structure are integrally arranged to form a light emitting structure with a magnetic seat, so that the light emitting member 5 can be quickly fixed by adsorbing it on the rim 11 through the magnetic seat. In this example, the light emitting structure can be an infrared laser level, and the infrared laser level is set on the rim 11 through the magnetic seat. In the present disclosure, an infrared laser level is used as the light emitting member 5. In addition to emitting infrared rays for measurement, the infrared laser level can also be used to quickly determine the relative position between the data measuring member 4 (vernier caliper) and the infrared laser level, ensuring that the relative position between the data measuring member 4 and the infrared laser level on both sides is the same, improving the accuracy of the measurement results, and improving the precision of the measurement results.

[0060] In one embodiment of the present disclosure, the resolution of the infrared laser level is not less than 0.1. In this way, the infrared laser level has a high precision and can improve the accuracy of data measurement.

[0061] In one embodiment of the present disclosure, the infrared light emitted by the infrared laser level falls on the vernier caliper as a cross cursor, which facilitates accurate reading.

[0062] In one embodiment of the present disclosure, the scale lines of the data measuring member 4 are arranged toward the light emitting member 5. In this way, it is convenient to read the data and the accuracy of the reading can be improved.

[0063] In one embodiment of the present disclosure, in step S100, a data measuring member 4 is installed on each of the two first wheels 1, and a scale line is installed on the data measuring member 4; a light emitting member 5 is installed on each of the two second wheels, and the light emitting member 5 is configured to emit a measuring light 6 when started, and the data measuring member 4 is located on the emission path of the measuring light 6, including:

[0064] Vernier calipers are respectively installed on the two first wheels 1, with scale lines on the vernier calipers, and the scale lines are arranged toward the second wheel 2; infrared laser levels are respectively installed on the two second wheels 2, and after adjusting the horizontal inclination angles of the two infrared laser levels to be the same, the infrared laser levels are started so that the infrared laser levels emit infrared rays, and the positions of the two vernier calipers are adjusted so that the two infrared rays are respectively located in the middle of the vernier calipers (while ensuring that the data can be clearly read), then this position is the position of the vernier caliper, and in this position, the vernier caliper and the infrared laser level located on the same side are at the same height (see Figure 2 In other embodiments of the present disclosure, the positions of the two infrared laser levels can be adjusted so that the cursors of the two measuring lights 6 are respectively located in the middle of the vernier caliper, and then the position of the vernier caliper is fixed.

[0065] In one embodiment of the present disclosure, in step S200, the light emitting element 5 is controlled to emit the measuring light 6; after the two measuring light beams 6 are respectively located at the same position on the two data measuring elements 4, the zero position calibration position is recorded, and the zero position calibration of the steering device is performed, including:

[0066] Keep the infrared laser level turned on, and let the infrared rays emitted by the infrared laser level shine on the vernier caliper. Record the positions of the two infrared beams on the two vernier calipers in the current state. If the two positions are the same, it means that the zero position calibration position has been reached, and the zero position of the steering gear is calibrated. If they are different, adjust the vehicle's position several times, and after each adjustment, record the positions of the two infrared beams on the two vernier calipers for comparison until the two positions are the same, and then calibrate the zero position of the steering gear.

[0067] In another embodiment of the present disclosure, in step S200, the light emitting element 5 is controlled to emit the measuring light 6; after the two measuring light beams 6 are respectively located at the same position on the two data measuring elements 4, the zero position calibration position is recorded, and the zero position calibration of the steering device is performed, including:

[0068] Keep the infrared laser level turned on, and let the infrared light emitted by the infrared laser level shine on the vernier caliper. Record the positions of the two infrared beams on the two vernier calipers in the current state. If the positions of the two beams are the same, it means that the zero position calibration position has been reached, and the zero position of the steering gear is calibrated. If they are different, calculate the average value and use the average value as the zero position standard. Adjust the vehicle's position multiple times, and after each adjustment, compare the positions of the two infrared beams on the two vernier calipers with the zero position standard until the two positions are the same, and calibrate the zero position of the steering gear. Using the average value as the zero position standard can reduce the number of vehicle adjustments and improve the efficiency of steering gear zeroing.

[0069] The present disclosure provides an example of vehicle zeroing, which can be achieved by effectively connecting the vehicle-side OBD port (on-board diagnostic system interface) and the corresponding control computer's USB port through the TSMaster Tongxing Automobile Intelligent Bus Hardware Tool, and opening the corresponding zeroing software on the computer side. When zeroing, hold the steering wheel steady and calibrate the vehicle-side steering gear to zero. After completion, observe the real-time steering angle on the zeroing software. After successful calibration, the angle will fluctuate around 0 degrees (zero calibration position). Finally, the key is turned off and the vehicle is turned off to save the command to the steering gear controller to complete the zero calibration. Of course, the present disclosure does not limit the specific method of zeroing. In other examples, other methods can also be used for zeroing.

[0070] In one embodiment of the present disclosure, before step S100, the vehicle orientation is pre-adjusted to control the two first wheels 1 to be parallel to the vehicle body as much as possible, thereby reducing the number of vehicle adjustments and improving the efficiency of steering zeroing.

[0071] In one embodiment of the present disclosure, after the steering gear is zeroed, static verification is also included:

[0072] In static state, control the steering gear to be in the zero calibration position, and confirm whether the positions of the two measuring light beams 6 on the data measuring part 4 are the same and the same as the zero calibration position. If they are the same, it means that the zero calibration is correct; if they are different, re-zero the steering gear.

[0073] In one embodiment of the present disclosure, after static verification, dynamic verification is also included:

[0074] Remove the vernier caliper and infrared laser level;

[0075] Control the steering gear to be in the zero calibration position, drive the vehicle for a certain straight distance, reinstall the vernier caliper and infrared laser level, confirm whether the positions of the two measuring light beams 6 on the vernier caliper with a magnetic base are the same, and confirm whether the current zero position is the same as the zero calibration position. If they are the same, it means that the zero calibration is accurate, disassemble the vernier caliper with a magnetic base and the infrared laser level again to complete the vehicle's steering gear zeroing; if they are different, re-zero the steering gear.

[0076] In one embodiment of the present disclosure, when performing dynamic verification, it is possible to observe whether the tire tracks after the vehicle has traveled are significantly offset, and confirm whether the offset is within a reasonable range. If it exceeds the reasonable range, the steering gear needs to be recalibrated at the zero position.

[0077] In other embodiments of the present disclosure, the infrared laser level with a magnetic base can be set on the third wheel 3. However, compared with the solution of setting the infrared laser level with a magnetic base on the third wheel 3, setting the infrared laser level with a magnetic base on the second wheel 2 can ensure that the infrared light falls on the vernier caliper with an obvious cursor due to the shorter distance from the first wheel 1, which is conducive to reading and ensures the accuracy of the reading.

[0078] In the present disclosure, a manual method may be used to perform readings on a vernier caliper and to compare the readings on two vernier calipers.

[0079] In the present invention, manual assistance is adopted to realize the zero position calibration of the steering gear with the help of a simple and easily available vernier caliper and an infrared laser level, which solves the problems of the limitation of the calibration site and the complexity and difficulty of calibration with the help of the vehicle-side self-driving system, improves the efficiency of the calibration operation, and ensures the consistency of the zero position accuracy of the vehicle's wire-controlled steering.

[0080] Of course, in other examples, intelligent data reading and data processing can also be achieved. In this example, the present disclosure also provides a vehicle steering zeroing system, including a data acquisition module, a data processing module and a control module;

[0081] The data acquisition module and the data processing module are both electrically connected to the control module, and the control module is configured to control the operation of the data acquisition module and the data processing module;

[0082] The data acquisition module includes two acquisition units, two vernier calipers with magnetic bases, and two infrared laser levels with magnetic bases. The vernier calipers with magnetic bases are configured to be installed on two first wheels 1, and the two infrared laser levels with magnetic bases are configured to be installed on two second wheels 2. The two acquisition units are respectively arranged on the two vernier calipers with magnetic bases, or the two acquisition units are respectively arranged on the two infrared laser levels with magnetic bases; the acquisition unit is configured to collect the position of the measuring light 6 on the vernier calipers with magnetic bases;

[0083] The data processing module is configured to receive data from two vernier calipers with magnetic bases, and cooperate with the data acquisition module and the control module to execute the steering gear zeroing method of the above-mentioned vehicle.

[0084] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practice. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A method for zeroing a steering gear of a vehicle, characterized in that: The vehicle comprises at least a first wheel set and a second wheel set arranged in sequence in the length direction of the vehicle body, the first wheel set comprising two sets of first wheels (1) arranged opposite to each other in the width direction of the vehicle body, and the second wheel set comprising two sets of second wheels (2) arranged opposite to each other in the width direction of the vehicle body; The steering gear zeroing method comprises: Structural assembly: A data measuring component (4) is mounted on each of the two first wheels (1), and the data measuring component (4) has scale lines; a light emitting component (5) is mounted on each of the two second wheels (2), and the light emitting component (5) is configured to emit a measuring light (6) when started, and the data measuring component (4) is located on an emitting path of the measuring light (6); Steering gear zeroing: Controlling the light emitting element (5) to emit measurement light (6); After the two beams of measuring light (6) are respectively located at the same position on the two data measuring parts (4), the zero position calibration position is recorded and the zero position calibration of the steering device is performed.

2. The method for zeroing the steering gear of a vehicle according to claim 1, characterized in that: The scale lines of the data measuring component (4) are arranged toward the light emitting component (5).

3. The method for zeroing the steering gear of a vehicle according to claim 1, characterized in that: The first wheel (1) is a steering wheel; A data measuring component (4) is mounted on each of the two first wheels (1), and the data measuring component (4) has scale lines; a light emitting component (5) is mounted on each of the two second wheels (2), and the light emitting component (5) is configured to emit a measuring light (6) when started, and the data measuring component (4) is located on an emitting path of the measuring light (6), and the method also includes: The two first wheels (1) are controlled to be as parallel as possible to the body of the vehicle.

4. The method for zeroing the steering gear of a vehicle according to claim 1, characterized in that: The data measuring component (4) is a vernier caliper; the light emitting component (5) is an infrared laser level.

5. The method for zeroing the steering gear of a vehicle according to claim 4, characterized in that: The infrared laser level has a magnetic seat, and the infrared laser level is fixed on the rim (11) of the second wheel (2) through the magnetic seat; the vernier caliper has a magnetic seat, and the vernier caliper is fixed on the rim (11) of the first wheel (1) through the magnetic seat.

6. The method for zeroing the steering gear of a vehicle according to claim 1, characterized in that: The vehicle also has a third wheel group, wherein the first wheel group, the second wheel group and the third wheel group are arranged in sequence along the length direction of the vehicle body, and the third wheel group includes two groups of third wheels (3), and the two groups of third wheels (3) are arranged opposite to each other along the width direction of the vehicle body.

7. The method for zeroing the steering gear of a vehicle according to claim 1, characterized in that: After the steering gear is zeroed, static verification is also included: In a static state, the steering device is controlled to be in a zero-position calibration position, and it is confirmed whether the positions of the two beams of measuring light (6) on the data measuring component (4) are the same and the same as the zero-position calibration position. If they are the same, it means that the zero-position calibration is correct; if they are different, the steering device is re-calibrated.

8. The method for zeroing the steering gear of a vehicle according to claim 7, characterized in that: After the static verification, dynamic verification is also included: Dismantle the data measuring component (4) and the light emitting component (5); The steering gear is controlled to be in the zero position calibration position, and after the vehicle is driven to travel a certain straight distance, the data measuring component (4) and the light emitting component (5) are reinstalled to confirm whether the positions of the two beams of measuring light (6) on the data measuring component (4) are the same and the same as the zero position calibration position. If they are the same, it means that the zero position calibration is accurate; if they are different, the steering gear is re-calibrated.

9. The method for zeroing the steering gear of a vehicle according to claim 1, characterized in that: Controlling the light emitting element (5) to emit measurement light (6); After the two beams of measuring light (6) are respectively located at the same position on the two data measuring members (4), the zero position calibration position is recorded, and the zero position calibration of the steering device is performed, including: Controlling the light emitting element (5) to emit a measuring light (6), the measuring light (6) emitted by the light emitting element (5) irradiating the data measuring element (4), recording the positions of the two beams of the measuring light (6) on the two data measuring elements (4) in the current state, and calculating an average value as a zero position standard; The orientation of the vehicle is adjusted, and the positions of the two beams of measuring light (6) on the two data measuring components (4) are recorded in the current state. After the positions of the two beams of measuring light (6) on the two data measuring components (4) are made to be the same as the zero position standard, the zero position calibration position is recorded, and the zero position of the vehicle is calibrated.

10. The method for zeroing the steering gear of a vehicle according to claim 4, characterized in that: A data measuring component (4) is mounted on each of the two first wheels (1), and the data measuring component (4) has scale lines; a light emitting component (5) is mounted on each of the two second wheels (2), and the light emitting component (5) is configured to emit a measuring light (6) when started, and the data measuring component (4) is located on an emitting path of the measuring light (6), and comprises: A data measuring piece (4) is respectively mounted on the two first wheels (1), the data measuring piece (4) having scale lines; a light emitting piece (5) is respectively mounted on the two second wheels (2), so that the horizontal inclination angles of the two light emitting pieces (5) are the same, the light emitting piece (5) is started, the positions of the two data measuring pieces (4) are adjusted, or the positions of the two light emitting pieces (5) are adjusted so that the cursors of the two measuring lights (6) are respectively located in the middle of the data measuring piece (4), and the position of the data measuring piece (4) is fixed.

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