Electronic speed control tubular column of vehicle, calibration method of electronic speed control tubular column, electronic equipment and vehicle

Abstract

The invention provides an electronic speed control tubular column of a vehicle, a calibration method of the electronic speed control tubular column, electronic equipment and the vehicle. The electronic speed control tubular column comprises a lead screw, and a physical starting position, a soft limiting starting position, a soft limiting ending position and a physical ending position are sequentially arranged in the axial direction of the lead screw. And the first limiting block is arranged on the lead screw in a sleeving mode, and one end of the first limiting block is located at the physical starting position. And the second limiting block is arranged on the lead screw in a sleeving mode, and one end of the second limiting block is located at the physical termination position. By arranging the limiting block, the number of Hall signals between the physical position and the soft limiting position in different types of electrically-controlled pipe columns is unified. Therefore, in the calibration process, the calibration of the electrically-controlled pipe column can be completed without identifying the type of the electrically-controlled pipe column and adjusting the parameters of the electrically-controlled pipe column. The calibration process of the electrically-controlled pipe column is simplified, the labor cost is saved, and meanwhile the error problem caused by manual operation is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle off-line detection, and in particular to an electric control column of a vehicle, a calibration method of the electric control column, an electronic device and a vehicle. Background Art

[0002] At present, in order to simplify the vehicle-side design, the controller of the vehicle's electric control column is integrated into the vehicle controller, such as the domain controller. When the vehicle is tested offline, the electric control column needs to be calibrated to achieve calibration and adjustment of the controllability of the electric control column. During the calibration process, it is necessary to identify the type of the electric control column and then calibrate it according to the type. However, during offline testing, the domain controller cannot automatically identify the type of the electric control column and needs to be manually identified and entered. As a result, the calibration process of the electric control column is cumbersome and has a high error rate. Summary of the invention

[0003] In view of this, the purpose of the present application is to propose an electric control column for a vehicle, a calibration method for the electric control column, an electronic device and a vehicle, so as to solve the problem that the calibration process of the electric control column is complicated and has a high error rate.

[0004] Based on the above purpose, the first aspect of the present application provides an electrically adjustable column for a vehicle, comprising:

[0005] A lead screw, wherein a physical starting position, a soft limit starting position, a soft limit ending position and a physical ending position are sequentially arranged along the axial direction of the lead screw;

[0006] A first limit block is sleeved on the lead screw, one end of the first limit block is located at the physical starting position, and the other end of the first limit block is located between the physical starting position and the soft limit starting position, and the number of Hall signals generated by the motor of the electric control column driving the lead screw nut to move from the position of the other end of the first limit block to the soft limit starting position is equal to a preset number;

[0007] A second limit block is mounted on the lead screw, one end of the second limit block is located at the physical end position, and the other end of the second limit block is located between the physical end position and the soft limit end position. The number of Hall signals generated by the motor driving the lead screw nut from the soft limit end position to the position where the other end of the second limit block is located is equal to a preset number.

[0008] According to the electric control column in this embodiment, the number of Hall signals between the physical end position and the soft limit end position in different types of electric control columns is unified. During the calibration process, the calibration of the electric control column can be completed without identifying the type of the electric control column or calling the parameters of the electric control column. The calibration process of the electric control column is simplified, labor costs are saved, and errors caused by manual operation are avoided.

[0009] Optionally, the lead screw includes a length lead screw and an angle lead screw, the first limit block includes a first length limit block and a first angle limit block, and the second limit block includes a second length limit block and a second angle limit block;

[0010] The first length limiting block and the second length limiting block are sleeved on the length screw, and the first angle limiting block and the second angle limiting block are sleeved on the angle screw.

[0011] In this embodiment, by setting limit blocks on the length screw and the angle screw respectively, it is realized that when calibrating the length screw and the angle screw, it is not necessary to determine the type and parameters of the electric adjustment column, which simplifies the calibration process of the electric adjustment column and shortens the calibration time.

[0012] Based on the same inventive concept, the second aspect of the present application further provides a calibration method for the electric control column of the vehicle according to the first aspect, comprising:

[0013] The lead screw nut is driven by the motor to move on the lead screw, and a physical limit position on the lead screw is calibrated according to a stall signal generated by the motor;

[0014] The soft limit position on the lead screw is calibrated according to the physical limit position and the preset number.

[0015] This embodiment provides a calibration method for the electric control column after adding a limit block. During the calibration process, there is no need to identify the type of the electric control column or call the parameters of the electric control column. This simplifies the calibration process steps, shortens the calibration time, and improves the efficiency of vehicle off-line testing.

[0016] Optionally, the physical limit position includes a physical limit start position and a physical limit end position;

[0017] The step of driving the lead screw nut to move on the lead screw by the motor and calibrating the physical limit position on the lead screw according to the stall signal generated by the motor comprises:

[0018] The motor drives the lead screw nut to move from a current position toward the first limit block, and in response to detecting the stall signal, calibrates the position of the lead screw nut as the physical limit start position;

[0019] The motor drives the lead screw nut to move from a calibrated physical limit starting position toward the second limit block, and in response to detecting the stall signal, the position of the lead screw nut is calibrated as the physical limit ending position.

[0020] This embodiment provides a method for calibrating a physical limit position. The physical limit position can be determined according to a stall signal of the motor. The determination method is simple and accurate.

[0021] Optionally, the soft limit position includes a soft limit start position and a soft limit end position;

[0022] The step of calibrating the soft limit position on the lead screw according to the physical limit position and the preset number includes:

[0023] Along the direction of the lead screw away from the physical limit starting position, a position with a target travel distance from the physical limit starting position is calibrated as the soft limit starting position;

[0024] Along the direction of the lead screw away from the physical limit end position, a position which is the distance from the physical limit end position by the target stroke is calibrated as the soft limit end position;

[0025] The target stroke is equal to the stroke corresponding to when the motor generates a preset number of Hall signals.

[0026] This embodiment provides a method for calibrating the soft limit position according to the physical limit position. When determining the soft limit position, there is no need to calculate according to the electric control column parameters. Instead, the soft limit position is directly calculated and determined by a preset number of Hall signals between the physical limit and the soft limit. The calibration process is simple and fast, which improves the efficiency of the electric control column calibration process.

[0027] Optionally, the method further includes:

[0028] In response to the completion of calibration of the physical limit position and the soft limit position, the motor drives the lead screw nut to move to a designed position on the lead screw; wherein the designed position is a default position of the lead screw nut on the lead screw.

[0029] This embodiment controls the screw nut to reset, and the screw nut is at a certain distance from the physical limit position. When the domain controller controls the movement of the motor after the vehicle is offline, the probability of damage to the hardware of the electric control column due to misoperation can be reduced.

[0030] Optionally, the method further includes:

[0031] In response to the total calibration time of the physical limit position and the soft limit position exceeding a preset time, calibration timeout information is sent.

[0032] Through the method of this embodiment, when the calibration times out, a technician can promptly investigate the cause of the calibration failure to avoid affecting the vehicle offline process.

[0033] Optionally, the method for determining the axial length of the first limit block includes:

[0034] Acquire the stroke between the designed position on the lead screw and the physical starting position as the first stroke;

[0035] Acquire the stroke between the design position and the soft limit start position as the second stroke;

[0036] calculating a first difference between the first stroke and the second stroke;

[0037] Taking the difference between the first difference and the target stroke as the axial length of the first limit block;

[0038] The method for determining the axial length of the second limit block includes:

[0039] Acquire the stroke between the designed position on the lead screw and the physical end position as a third stroke;

[0040] Acquire the stroke between the design position and the soft limit end position as a fourth stroke;

[0041] calculating a second difference between the third stroke and the fourth stroke;

[0042] The difference between the second difference and the target stroke is used as the axial length of the second limit block;

[0043] The target stroke is equal to the stroke corresponding to when the motor generates a preset number of Hall signals.

[0044] This embodiment can design different sizes of limit blocks according to different types of electric adjustment strings, and unify the distance between the physical limit and the soft limit on the lead screw in different types of electric adjustment strings through the limit blocks. Furthermore, the domain controller can adapt to different types of electric adjustment strings through a set of algorithms or software, simplifying the software design in the domain controller.

[0045] Based on the same inventive concept, the third aspect of the present application also provides an electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable by the processor, wherein the processor implements the method described in the second aspect when executing the computer program.

[0046] Based on the same inventive concept, the fourth aspect of the present application further provides a vehicle, comprising the electric control column of the vehicle as described in the first aspect and the electronic device as described in the third aspect.

[0047] From the above, it can be seen that the electric adjustment column of the vehicle, the calibration method of the electric adjustment column, the electronic device and the vehicle provided by the present application, the electric adjustment column includes a lead screw, and a physical starting position, a soft limit starting position, a soft limit ending position and a physical ending position are sequentially arranged along the axial direction of the lead screw. The points corresponding to the above positions on the lead screw in different models of electric adjustment columns are not the same. A first limit block is sleeved on the lead screw, one end of the first limit block is located at the physical starting position, and the other end of the first limit block is located between the physical starting position and the soft limit starting position. The number of Hall signals generated by the motor of the electric adjustment column driving the lead screw nut from the position where the other end of the first limit block is located to the soft limit starting position is equal to the preset number. That is, by setting the first limit block, the number of Hall signals between the physical starting position and the soft limit starting position in different types of electric adjustment columns is unified. The second limit block is sleeved on the lead screw, one end of the second limit block is located at the physical end position, and the other end of the second limit block is located between the physical end position and the soft limit end position. The number of Hall signals generated by the motor driving the lead screw nut from the soft limit end position to the position where the other end of the second limit block is located is equal to the preset number. That is, by setting the second limit block, the number of Hall signals between the physical end position and the soft limit end position in different types of electric adjustment columns is unified. During the calibration process, the physical limit position can be determined by the stall signal of the motor, and the soft limit position can be determined according to the preset number of Hall signals and the calibrated physical limit position, and the calibration of the electric adjustment column is completed. In this process, the calibration of the electric adjustment column can be completed without identifying the type of the electric adjustment column or calling the parameters of the electric adjustment column. The calibration process of the electric adjustment column is simplified, labor costs are saved, and errors caused by manual operation are avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 This is a schematic diagram of the structure of the electric adjustment column of an embodiment of the present application;

[0050] Figure 2A schematic diagram of a flow chart of a method for calibrating an electric control column of a vehicle according to an embodiment of the present application;

[0051] Figure 3 A schematic diagram of the structure of a calibration device for an electrically adjustable column of a vehicle according to an embodiment of the present application;

[0052] Figure 4 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0054] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0055] The current development trend of the whole vehicle is to integrate the controllers of the components into the whole vehicle controller, such as the domain controller, to achieve integrated management of the components. Integrated management can reduce costs, simplify vehicle-side design, improve the overall efficiency and performance of the vehicle-side, and promote the development of software-defined vehicles and intelligence.

[0056] The main functions of the electric control column in the vehicle include improving driving comfort and operating convenience, as well as enhancing driving safety. The electric control column adjusts the steering wheel angularly and axially through the controller, and can automatically adjust the angle and height of the steering wheel according to personal preferences and needs, providing a smarter and more personalized driving experience. In addition, the electric control column also has a welcome function. When the driver gets on the car, the steering wheel and seat will automatically adjust to the set position to ensure that every driver can find the most comfortable driving position; when the driver gets off the car, the steering wheel and seat will automatically shrink to provide more space for portable exit.

[0057] Integrating the controller of the electric control column into the domain controller is equivalent to unbinding the controller of the electric control column from the mechanical hardware, so that different models of electric control columns produced by different manufacturers can be configured on the vehicle side. When the vehicle is offline, the electric control column needs to be calibrated, and the calibration and adjustment of the controllability of the electric control column can be achieved through calibration. During the calibration process, since the models of electric control columns configured for different vehicles are different, the parameters of electric control columns of different models are also different. Therefore, the type of electric control column needs to be identified during calibration. Then, the parameters are called according to the type of electric control column, and then the calibration process is completed. During offline detection, since the domain controller cannot identify the type of electric control column, it is usually necessary to manually identify the type of electric control column and manually input it. The process of manual identification and manual input requires a certain amount of manpower and time costs, resulting in a cumbersome calibration process for the electric control column and a high error rate.

[0058] In view of this, the present application proposes an electric adjustment column for a vehicle, a calibration method for the electric adjustment column, an electronic device and a vehicle. By adding a limit block to the screw of the electric adjustment column, the calibration of the electric adjustment column is achieved without the need to identify the type of the electric adjustment column and without the need to call the parameters of the electric adjustment column, thereby simplifying the calibration process, saving labor costs and time costs, and avoiding the error rate caused by manual operation.

[0059] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0060] The embodiment of the present application provides an electrically adjustable column for a vehicle, Figure 1 The schematic diagram of the structure of the electric control column is shown in FIG. Figure 1 As shown, the electric control column includes:

[0061] A lead screw 01, wherein a physical starting position 04, a soft limit starting position 05, a soft limit ending position 06 and a physical ending position 07 are sequentially arranged along the axial direction of the lead screw;

[0062] A first limit block 02 is sleeved on the lead screw 01, one end of the first limit block 02 is located at the physical starting position 04, and the other end of the first limit block 02 is located between the physical starting position 04 and the soft limit starting position 05. The number of Hall signals generated by the motor of the electric control column driving the lead screw nut 08 to move from the position of the other end of the first limit block 02 to the soft limit starting position 05 is equal to the preset number;

[0063] The second limit block 03 is mounted on the lead screw 01, one end of the second limit block 03 is located at the physical end position 07, and the other end of the second limit block 03 is located between the physical end position 07 and the soft limit end position 06. The motor drives the lead screw nut 08 to move from the soft limit end position 06 to the position where the other end of the second limit block 03 is located, and the number of Hall signals generated is equal to the preset number.

[0064] Specifically, Figure 1 As shown, both ends of the lead screw 01 of the electric control column are sleeved with limit blocks, the limit block sleeved at the physical starting position 04 is the first limit block 02, and the limit block sleeved at the physical end position 07 is the second limit block 03. One end of the first limit block 02 is located at the physical starting position 04, and the other end is between the physical starting position 04 and the soft limit starting position 05. At the same time, when the motor drives the lead screw nut 08 to move from one end 09 of the first limit block 02 away from the physical starting position 04 to the soft limit starting position 05, the number of Hall signals generated by the motor is a preset number. Exemplarily, the preset number can be 30. That is to say, starting from the physical starting position 04, after the motor rotor rotates 30 times, the lead screw nut 08 reaches the soft limit starting position 05.

[0065] It should be noted that the preset number can be set according to the parameters of various types of electric control columns that can be configured in the vehicle. The parameters of each type of electric control column are counted, and a reasonable preset number is analyzed to determine so that the distance between the physical limit and the soft limit on the lead screw of each type of electric control column is kept at a reasonable distance.

[0066] One end of the second limit block 03 is located at the physical end position 07, and the other end is between the physical end position 07 and the soft limit end position 06. At the same time, when the motor drives the lead screw nut 08 to move from the end 10 of the second limit block 03 away from the physical end position 07 to the soft limit end position 06, the number of Hall signals generated by the motor is a preset number. Exemplarily, the preset number can be 30. That is, starting from the physical end position 07, after the motor rotor rotates 30 times, the lead screw nut 08 reaches the soft limit end position 06.

[0067] The number of Hall signals between the physical limit and the soft limit is unified by setting the first limit block 02 and the second limit block 03. For the same lead screw, the distance between the physical starting position 04 and the soft limit starting position 05 is recorded as d1, and the distance between the physical end position 07 and the soft limit end position 06 is recorded as d2, and d1 is equal to d2.

[0068] Since the parameters such as the lead screw length, lead screw pitch, gear set reduction ratio, and motor travel per revolution in different types of electric control columns are different, the number of Hall signals generated when the motor drives the lead screw nut to move from the physical limit to the adjacent soft limit is different for the lead screws in different electric control columns. Through the method of this embodiment, the number of Hall signals corresponding to the adjacent physical limit and soft limit in different types of electric control columns can be unified, and then the same algorithm or software can be used when adjusting the electric control column through the domain controller to achieve control of different types of electric control columns.

[0069] During the calibration process, a stall signal will be generated when the motor moves to the physical limit, and the physical limit positions at both ends of the screw can be determined based on the stall signal. When the motor drives the lead screw nut to move on the lead screw, the domain controller can receive the number of Hall signals generated by the motor. When it moves from the physical limit position at one end to the physical limit position at the other end, the total number of Hall signals corresponding to the physical limit stroke can be obtained. The physical limit stroke refers to the distance between the physical limit position at one end of the lead screw and the physical limit position at the other end of the lead screw. In this embodiment, after the first limit block 02 and the second limit block 03 are installed on the lead screw 01, the physical limit stroke is equal to the distance between the first limit block 02 and the second limit block 03, that is, Figure 1 The distance between the middle position 09 and the position 10. The end 09 of the first limit block 02 away from the physical starting position 04 is used as the physical limit starting position, and the end 10 of the second limit block 03 away from the physical ending position 07 is used as the physical limit ending position.

[0070] The number of Hall signals corresponding to the physical limit and the soft limit is known. The soft limit position can be inferred based on the total number of Hall signals corresponding to the physical limit stroke, and the total number of Hall signals corresponding to the soft limit stroke can also be calculated. After the physical limit position and the soft limit position are determined, the calibration of the electric control column is completed. During the calibration process, the calibration process can be completed without obtaining the type and parameters of the electric control column, which simplifies the calibration process of the electric control column and shortens the calibration time.

[0071] During the use of the vehicle after it rolls off the assembly line, the domain controller adjusts or controls the electric control column according to the Hall signal. Based on the number of Hall signals actually generated, the total number of Hall signals corresponding to the physical limit stroke, and the total number of Hall signals corresponding to the soft limit stroke, the position of the lead screw nut on the lead screw can be determined, thereby achieving control of the electric control column. Since there is no need to distinguish the types of electric control columns, the control of different types of electric control columns can be achieved through a set of algorithms or software in the domain controller, which simplifies the software deployment of the domain controller.

[0072] The electric adjustment column of the vehicle provided in this embodiment includes a lead screw, and a physical starting position, a soft limit starting position, a soft limit ending position and a physical ending position are sequentially arranged along the axial direction of the lead screw. The points corresponding to the above positions on the lead screw are not the same in different types of electric adjustment columns. A first limit block is sleeved on the lead screw, one end of the first limit block is located at the physical starting position, and the other end of the first limit block is located between the physical starting position and the soft limit starting position. The number of Hall signals generated by the motor of the electric adjustment column driving the lead screw nut from the position where the other end of the first limit block is located to the soft limit starting position is equal to the preset number. That is, by setting the first limit block, the number of Hall signals between the physical starting position and the soft limit starting position in different types of electric adjustment columns is unified. The second limit block is sleeved on the lead screw, one end of the second limit block is located at the physical end position, and the other end of the second limit block is located between the physical end position and the soft limit end position. The number of Hall signals generated by the motor driving the lead screw nut from the soft limit end position to the position where the other end of the second limit block is located is equal to the preset number. That is, by setting the second limit block, the number of Hall signals between the physical end position and the soft limit end position in different types of electric adjustment columns is unified. During the calibration process, the physical limit position can be determined by the stall signal of the motor, and the soft limit position can be determined according to the preset number of Hall signals and the calibrated physical limit position, and the calibration of the electric adjustment column is completed. In this process, the calibration of the electric adjustment column can be completed without identifying the type of the electric adjustment column or calling the parameters of the electric adjustment column. The calibration process of the electric adjustment column is simplified, labor costs are saved, and errors caused by manual operation are avoided.

[0073] The electric adjustment column includes a length screw and an angle screw, thereby realizing the adjustment of the steering wheel angular direction and axial direction. Accordingly, both the length screw and the angle screw are configured with a limit block, which is described below through a specific embodiment.

[0074] In some embodiments, the lead screw includes a length lead screw and an angle lead screw, the first limit block includes a first length limit block and a first angle limit block, and the second limit block includes a second length limit block and a second angle limit block;

[0075] The first length limiting block and the second length limiting block are sleeved on the length screw, and the first angle limiting block and the second angle limiting block are sleeved on the angle screw.

[0076] Specifically, the limit blocks mounted on both ends of the length screw include a first length limit block and a second length limit block. One end of the first length limit block is located at the physical starting position of the length screw, and the other end of the first length limit block is located between the physical starting position of the length screw and the soft limit starting position. One end of the second length limit block is located at the physical end position of the length screw, and the other end of the second length limit block is located between the physical end position of the length screw and the soft limit end position. When the motor drives the length screw nut to move on the length screw, when the length screw nut moves from the physical limit starting position to the soft limit starting position, the number of Hall signals generated is equal to the preset number. Correspondingly, when the length screw nut moves from the physical limit end position to the soft limit end position, the number of Hall signals generated is equal to the preset number.

[0077] The limit blocks mounted on both ends of the angle screw include a first angle limit block and a second angle limit block. One end of the first angle limit block is located at the physical starting position of the angle screw, and the other end of the first angle limit block is located between the physical starting position and the soft limit starting position of the angle screw. One end of the second angle limit block is located at the physical end position of the angle screw, and the other end of the second angle limit block is located between the physical end position and the soft limit end position of the angle screw. When the motor drives the angle screw nut to move on the angle screw, when the angle screw nut moves from the physical limit starting position to the soft limit starting position, the number of Hall signals generated is equal to the preset number. Correspondingly, when the angle screw nut moves from the physical limit end position to the soft limit end position, the number of Hall signals generated is equal to the preset number.

[0078] In this embodiment, by setting limit blocks on the length screw and the angle screw respectively, it is possible to achieve that when calibrating the length screw and the angle screw, there is no need to determine the type and parameters of the electric control column. The calibration process of the electric control column is simplified and the calibration time is shortened. In addition, the calibration of the length screw and the calibration of the angle screw can be carried out at the same time, which further shortens the calibration time of the electric control column and saves the time for vehicle offline inspection. At the same time, since there is no need to identify the type of the electric control column, the occurrence of type identification errors is avoided, the accuracy and success rate of the electric control column calibration are improved, and the foundation is laid for the subsequent precise control of the electric control column.

[0079] Based on the same inventive concept, the present application also provides a calibration method for the vehicle electric adjustment column of the aforementioned embodiment, which is illustrated by the following embodiment.

[0080] The present application embodiment provides a method for calibrating an electric control column of a vehicle, referring to Figure 2 , including the following steps:

[0081] Step 202: driving the lead screw nut to move on the lead screw by the motor, and calibrating the physical limit position on the lead screw according to the stall signal generated by the motor;

[0082] Step 204: calibrate the soft limit position on the lead screw according to the physical limit position and the preset number.

[0083] Specifically, during the calibration process, the physical limit position and soft limit position on the lead screw need to be determined so that the position on the lead screw is the same as the position recorded in the domain controller to complete the position calibration. The physical limit is achieved through the mechanical structure, and the soft limit is a virtual limit set in the motor control system through software programming.

[0084] When the motor drives the lead screw nut to move to the physical limit position, the motor rotor cannot rotate because it cannot move further, the current will increase significantly, and the motor will send a stall signal. If the domain controller detects the stall signal, it means that the lead screw nut has moved to the physical limit position at this time.

[0085] Usually, when the electric control column leaves the factory, the lead screw nut is located at the design position on the lead screw, and the design position is usually set in the middle of the soft limit stroke. When calibrating the physical limit position, the lead screw nut is first driven by the motor to move from the design position to the physical limit position on one side of the lead screw, and then from the physical limit position on one side to the physical limit position on the other side, and the physical limit positions on both sides are determined according to the motor's stall signal.

[0086] Since the number of Hall signals between the physical limit position and the soft limit position is fixed and equal to the preset number, after the physical limit position is calibrated, the corresponding soft limit position can be calculated based on the fixed number of Hall signals. At this point, the calibration of the electric adjustment column is completed.

[0087] It should be noted that since the electric adjustment column includes a length screw and an angle screw, during the calibration process, each position of the length screw and each position of the angle screw are calibrated at the same time. The calibration methods are the same and will not be described separately here. Usually, the calibration process takes about 17s to 25s. During this period, actions such as restarting the domain controller, powering off, or manually operating the steering wheel cannot be performed to avoid affecting the accuracy of the calibration. When the screw nut is driven by a motor, the motor needs to be controlled to move at a constant speed during the entire movement process to avoid affecting the accuracy of the calibration.

[0088] In addition, before calibration begins, it is necessary to determine whether the vehicle currently meets the calibration conditions. Exemplarily, the calibration conditions may include the vehicle being powered on and the vehicle speed being less than or equal to a predetermined speed. When the vehicle speed is less than or equal to the predetermined speed, the vehicle may be considered to be stationary. Afterwards, the existing calibration information is cleared in the domain controller, and then the calibration process in this embodiment is started.

[0089] This embodiment provides a calibration method for the electric control column after adding a limit block. During the calibration process, there is no need to identify the type of the electric control column or call the parameters of the electric control column. This simplifies the calibration process steps, shortens the calibration time, and improves the efficiency of vehicle off-line testing.

[0090] The following is an explanation of the method for calibrating the physical limit position through a specific embodiment.

[0091] In some embodiments, the physical limit position includes a physical limit start position and a physical limit end position;

[0092] The step of driving the lead screw nut to move on the lead screw by the motor and calibrating the physical limit position on the lead screw according to the stall signal generated by the motor comprises:

[0093] The motor drives the lead screw nut to move from a current position toward the first limit block, and in response to detecting the stall signal, calibrates the position of the lead screw nut as the physical limit start position;

[0094] The motor drives the lead screw nut to move from a calibrated physical limit starting position toward the second limit block, and in response to detecting the stall signal, the position of the lead screw nut is calibrated as the physical limit ending position.

[0095] Specifically, the motor drives the lead screw nut 08 to move from the designed position to the direction of the first limit block 02. When a stall signal is detected, the position of the lead screw nut 08 is determined to be the physical limit start position 09. Figure 1 As shown, the physical limit starting position 09 is also the position where the other end of the first limit block is away from the physical starting position 04. At this time, the position of the lead screw nut 08 is calibrated, that is, the number of Hall signals corresponding to the current position is recorded in the domain controller as 0, as the physical limit starting position.

[0096] Afterwards, the motor controls the lead screw nut to move from the physical limit start position 09 toward the second limit block 03. When a stall signal is detected, the position of the lead screw nut 08 is determined to be the physical limit end position 10. Figure 1As shown, the physical limit end position 10 is also the position where the other end of the second limit block is away from the physical end position 07. At this time, the position of the lead screw nut 08 is calibrated, that is, the number of Hall signals corresponding to the current position is recorded in the domain controller as the physical limit end position.

[0097] After the physical limit start position and the physical limit end position are calibrated respectively, the physical limit position calibration is completed. When the lead screw nut moves from the physical limit start position to the physical limit end position, the number of Hall signals generated by the motor can be recorded synchronously, that is, the total number of Hall signals corresponding to the physical limit stroke is obtained.

[0098] This embodiment provides a method for calibrating a physical limit position. The physical limit position can be determined according to a stall signal of the motor. The determination method is simple and accurate.

[0099] The following describes a method for calibrating a soft limit position according to a physical limit position through a specific embodiment.

[0100] In some embodiments, the soft limit position includes a soft limit start position and a soft limit end position;

[0101] The step of calibrating the soft limit position on the lead screw according to the physical limit position and the preset number includes:

[0102] Along the direction of the lead screw away from the physical limit starting position, a position with a target travel distance from the physical limit starting position is calibrated as the soft limit starting position;

[0103] Along the direction of the lead screw away from the physical limit end position, a position which is the distance from the physical limit end position by the target stroke is calibrated as the soft limit end position;

[0104] The target stroke is equal to the stroke corresponding to when the motor generates a preset number of Hall signals.

[0105] Specifically, in the existing soft limit calibration method, since the length, pitch and other parameters of the lead screw in different electric control columns are different, the corresponding stroke of each rotation of the motor rotor is different. Therefore, after determining the physical limit position, it is necessary to calculate and determine the soft limit position based on the parameters of the electric control column. In this embodiment, since the corresponding limit block is added to the lead screw, the number of Hall signals between the physical limit and the soft limit in different types of electric control columns is unified. Therefore, the soft limit position can be determined based on the physical limit position and the fixed number of Hall signals.

[0106] like Figure 1As shown, when determining the soft limit starting position 05, the position with a target stroke distance from the physical limit starting position 09 is determined as the soft limit starting position 05. The number of Hall signals corresponding to the target stroke is equal to the preset number. The soft limit starting position 05 is calibrated, that is, the number of Hall signals corresponding to the current position of the lead screw nut 08 is recorded in the domain controller as the soft limit starting position 05.

[0107] When determining the soft limit end position 06, the position with a target stroke distance from the physical limit end position 10 is determined as the soft limit end position 06. The number of Hall signals corresponding to the target stroke is equal to the preset number. The soft limit end position 06 is calibrated, that is, the number of Hall signals corresponding to the current position of the lead screw nut 08 is recorded in the domain controller as the soft limit end position 06.

[0108] The distance between the physical limit start position 09 and the soft limit start position 05 is equal to the distance between the physical limit end position 10 and the soft limit end position 06, and both are equal to the distance corresponding to the target stroke. The distance between the soft limit start position 05 and the soft limit end position 06 is equal to the soft limit stroke. The total number of Hall signals corresponding to the physical limit stroke is determined by the above embodiment, then the total number of Hall signals corresponding to the soft limit stroke = the total number of Hall signals corresponding to the physical limit stroke - 2*preset number of Hall signals.

[0109] This embodiment provides a method for calibrating the soft limit position according to the physical limit position. When determining the soft limit position, there is no need to calculate according to the electric control column parameters. Instead, the soft limit position is directly calculated and determined by a preset number of Hall signals between the physical limit and the soft limit. The calibration process is simple and fast, which improves the efficiency of the electric control column calibration process.

[0110] After the calibration is completed, in order to ensure the stability of the readjustment of the electric control string after it is offline, the lead screw nut needs to be restored to the set position, which is explained below through a specific embodiment.

[0111] In some embodiments, the method further comprises:

[0112] In response to the completion of calibration of the physical limit position and the soft limit position, the motor drives the lead screw nut to move to a designed position on the lead screw; wherein the designed position is a default position of the lead screw nut on the lead screw.

[0113] Specifically, the lead screw of the electric control column will be set to some calibration positions when it leaves the factory, including the design position at the middle position of the soft limit stroke. The design position is the default position of the lead screw nut when the electric control column leaves the factory. When the lead screw nut starts to move, it starts to move from the design position. After the calibration is completed, in order not to affect the adjustment function of the electric control column next time, the lead screw nut is driven back to the design position by the motor, that is, the lead screw nut is controlled to reset. The lead screw nut is controlled to reset, and there is a certain distance between the lead screw nut and the physical limit position. When the domain controller subsequently controls the movement of the motor, the probability of damage to the hardware of the electric control column due to misoperation is reduced.

[0114] During calibration, the calibration may succeed or fail. There are many factors that lead to calibration failure. If the calibration fails, the technician needs to be notified in time, which is explained below through a specific embodiment.

[0115] In some embodiments, the method further includes: in response to a total calibration time duration of the physical limit position and the soft limit position exceeding a preset time duration, sending calibration timeout information.

[0116] Specifically, the calibration time of the electric control column is usually between 17s and 25s. During the calibration process, the domain controller will continuously read the calibration status. If the calibration status is still not completed after the preset time, the calibration timeout is determined and the calibration timeout information is sent. The timeout information can be sent to the monitoring end to notify the technicians at the monitoring end to troubleshoot. Exemplarily, the preset time can be set to 30s. The calibration timeout may be caused by factors such as power failure of the domain controller, unstable signal transmission, or failure of components of the electric control column. After the calibration fails, the motor-driven lead screw nut may stay at any position on the lead screw. In order to avoid damage to the electric control column again, the motor-driven lead screw nut can be controlled to reset. If the calibration status is read as completed within the preset time, the calibration is determined to be successful, and the successful calibration marks the end of the calibration of the electric control column. Through the method of this embodiment, when the calibration timeout occurs, the technicians can be promptly informed to troubleshoot the cause of the calibration failure to avoid affecting the vehicle offline process.

[0117] It can be seen from the above embodiments that the present application achieves the purpose of not needing to identify the type of electric adjustment column during the calibration process by unifying the number of Hall signals between the physical limit and the soft limit in different types of electric adjustment columns. Since the parameters of different types of electric adjustment columns are different, the sizes of the limit blocks mounted on different types of electric adjustment columns are also different. The following describes the method for determining the size of the limit blocks through a specific embodiment.

[0118] In some embodiments, the method for determining the axial length of the first limit block includes:

[0119] Acquire the stroke between the designed position on the lead screw and the physical starting position as the first stroke;

[0120] Acquire the stroke between the design position and the soft limit start position as the second stroke;

[0121] calculating a first difference between the first stroke and the second stroke;

[0122] Taking the difference between the first difference and the target stroke as the axial length of the first limit block;

[0123] The method for determining the axial length of the second limit block includes:

[0124] Acquire the stroke between the designed position on the lead screw and the physical end position as a third stroke;

[0125] Acquire the stroke between the design position and the soft limit end position as a fourth stroke;

[0126] calculating a second difference between the third stroke and the fourth stroke;

[0127] The difference between the second difference and the target stroke is used as the axial length of the second limit block;

[0128] The target stroke is equal to the stroke corresponding to when the motor generates a preset number of Hall signals.

[0129] Specifically, the electric adjustment column includes a length screw and an angle screw, and each screw includes at least the following parameters: physical stroke (the distance between the physical starting position and the physical ending position), soft limit stroke (the distance between the soft limit starting position and the soft limit ending position), design position, screw pitch, gear set reduction ratio, line angle transmission ratio, and motor duty cycle. After obtaining the parameters of the electric adjustment column, the axial length of the first limit block and the axial length of the second limit block are calculated respectively.

[0130] The method for calculating the axial length of the first limit block specifically includes: Figure 1As shown, according to the physical stroke and the design position, the distance between the physical starting position 04 and the design position 11 can be determined as the first stroke. According to the soft limit stroke and the design position, the distance between the soft limit starting position 05 and the design position 11 can be determined as the second stroke. The difference between the first stroke and the second stroke is calculated as the first difference. The line angle transmission ratio and the preset number of Hall signals are multiplied to determine the target stroke, which is equal to the distance between the soft limit starting position 05 and the physical limit starting position 09. The first difference is differenced with the target stroke to obtain the axial length of the first limit block, which is equal to the distance between the physical starting position 04 and the physical limit starting position 09.

[0131] Similarly, the method for calculating the axial length of the second limit block specifically includes: Figure 1 As shown, according to the physical stroke and the design position, the distance between the physical end position 07 and the design position 11 can be determined as the third stroke. According to the soft limit stroke and the design position, the distance between the soft limit end position 06 and the design position 11 can be determined as the fourth stroke. The difference between the third stroke and the fourth stroke is calculated as the second difference. The line angle transmission ratio and the preset number of Hall signals are multiplied to determine the target stroke, which is equal to the distance between the soft limit end position 06 and the physical limit end position 10. The second difference is subtracted from the target stroke to obtain the axial length of the second limit block, which is equal to the distance between the physical limit end position 10 and the physical end position 07.

[0132] In this way, different sizes of limit blocks can be designed according to different types of electric control strings, and the distance between the physical limit and the soft limit on the lead screw in different types of electric control strings can be unified through the limit blocks. Furthermore, the domain controller can adapt to different types of electric control strings through a set of algorithms or software, which simplifies the software design in the domain controller.

[0133] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0134] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0135] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a calibration device for an electrically adjustable column of a vehicle.

[0136] refer to Figure 3 The calibration device of the electric control column of the vehicle comprises:

[0137] A first calibration module 302 is configured to drive the lead screw nut to move on the lead screw through the motor, and calibrate the physical limit position on the lead screw according to the stall signal generated by the motor;

[0138] The second calibration module 304 is configured to calibrate the soft limit position on the lead screw according to the physical limit position and the preset number.

[0139] In some embodiments, the physical limit position includes a physical limit starting position and a physical limit ending position; the first calibration module 302 is configured to drive the screw nut from the current position toward the direction of the first limit block through the motor, and in response to detecting the stall signal, calibrate the position of the screw nut as the physical limit starting position; drive the screw nut from the calibrated physical limit starting position toward the direction of the second limit block through the motor, and in response to detecting the stall signal, calibrate the position of the screw nut as the physical limit ending position.

[0140] In some embodiments, the soft limit position includes a soft limit starting position and a soft limit ending position; the second calibration module 304 is configured to calibrate the position that is a target stroke away from the physical limit starting position along the direction of the lead screw away from the physical limit starting position as the soft limit starting position; and calibrate the position that is a target stroke away from the physical limit ending position along the direction of the lead screw away from the physical limit ending position as the soft limit ending position; wherein the target stroke is equal to the stroke corresponding to when the motor generates a preset number of Hall signals.

[0141] In some embodiments, a reset module is also included, which is configured to drive the screw nut to move to the designed position on the screw through the motor in response to the completion of the calibration of the physical limit position and the soft limit position; wherein the designed position is the default position of the screw nut on the screw.

[0142] In some embodiments, a warning module is further included, which is configured to send a calibration timeout message in response to the total calibration time of the physical limit position and the soft limit position exceeding a preset time.

[0143] In some embodiments, it also includes a determination module, which is configured to obtain the stroke between the design position on the lead screw and the physical starting position as the first stroke; obtain the stroke between the design position and the soft limit starting position as the second stroke; calculate the first difference between the first stroke and the second stroke; use the difference between the first difference and the target stroke as the axial length of the first limit block; obtain the stroke between the design position on the lead screw and the physical end position as the third stroke; obtain the stroke between the design position and the soft limit end position as the fourth stroke; calculate the second difference between the third stroke and the fourth stroke; use the difference between the second difference and the target stroke as the axial length of the second limit block; wherein, the target stroke is equal to the stroke corresponding to when the motor generates a preset number of Hall signals.

[0144] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0145] The device of the above embodiment is used to implement the calibration method of the electric adjustment column of the vehicle corresponding to any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0146] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the calibration method of the electric adjustment column of the vehicle described in any of the above embodiments is implemented.

[0147] Figure 4 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0148] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0149] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0150] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0151] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0152] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0153] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0154] The electronic device of the above embodiment is used to implement the calibration method of the electric adjustment column of the corresponding vehicle in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0155] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the calibration method of the vehicle's electric adjustment column as described in any of the above embodiments.

[0156] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0157] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the calibration method of the vehicle's electric control column as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0158] Based on the same concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the method described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0159] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0160] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0161] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0162] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. An electrically adjustable column for a vehicle, characterized in that: include: A lead screw, wherein a physical starting position, a soft limit starting position, a soft limit ending position and a physical ending position are sequentially arranged along the axial direction of the lead screw; A first limit block is sleeved on the lead screw, one end of the first limit block is located at the physical starting position, and the other end of the first limit block is located between the physical starting position and the soft limit starting position, and the number of Hall signals generated by the motor of the electric control column driving the lead screw nut to move from the position of the other end of the first limit block to the soft limit starting position is equal to a preset number; A second limit block is mounted on the lead screw, one end of the second limit block is located at the physical end position, and the other end of the second limit block is located between the physical end position and the soft limit end position. The number of Hall signals generated by the motor driving the lead screw nut from the soft limit end position to the position where the other end of the second limit block is located is equal to a preset number.

2. The electric control column of a vehicle according to claim 1, characterized in that: The lead screw comprises a length lead screw and an angle lead screw, the first limit block comprises a first length limit block and a first angle limit block, and the second limit block comprises a second length limit block and a second angle limit block; The first length limiting block and the second length limiting block are sleeved on the length screw, and the first angle limiting block and the second angle limiting block are sleeved on the angle screw.

3. A calibration method for an electrically adjustable column of a vehicle according to claim 1 or 2, characterized in that: include: The lead screw nut is driven by the motor to move on the lead screw, and a physical limit position on the lead screw is calibrated according to a stall signal generated by the motor; The soft limit position on the lead screw is calibrated according to the physical limit position and the preset number.

4. The method according to claim 3, characterized in that The physical limit position includes a physical limit starting position and a physical limit ending position; The step of driving the lead screw nut to move on the lead screw by the motor and calibrating the physical limit position on the lead screw according to the stall signal generated by the motor comprises: The motor drives the lead screw nut to move from a current position toward the first limit block, and in response to detecting the stall signal, calibrates the position of the lead screw nut as the physical limit start position; The motor drives the lead screw nut to move from a calibrated physical limit starting position toward the second limit block, and in response to detecting the stall signal, the position of the lead screw nut is calibrated as the physical limit ending position.

5. The method according to claim 4, characterized in that The soft limit position includes a soft limit starting position and a soft limit ending position; The step of calibrating the soft limit position on the lead screw according to the physical limit position and the preset number includes: Along the direction of the lead screw away from the physical limit starting position, a position with a target travel distance from the physical limit starting position is calibrated as the soft limit starting position; Along the direction of the lead screw away from the physical limit end position, a position which is the distance from the physical limit end position by the target stroke is calibrated as the soft limit end position; The target stroke is equal to the stroke corresponding to when the motor generates a preset number of Hall signals.

6. The method according to claim 3, characterized in that The method further comprises: In response to the completion of calibration of the physical limit position and the soft limit position, the motor drives the lead screw nut to move to a designed position on the lead screw; wherein the designed position is a default position of the lead screw nut on the lead screw.

7. The method according to claim 3, characterized in that The method further comprises: In response to the total calibration time of the physical limit position and the soft limit position exceeding a preset time, calibration timeout information is sent.

8. The method according to claim 3, characterized in that The method for determining the axial length of the first limit block comprises: Acquire the stroke between the designed position on the lead screw and the physical starting position as the first stroke; Acquire the stroke between the design position and the soft limit start position as the second stroke; calculating a first difference between the first stroke and the second stroke; Taking the difference between the first difference and the target stroke as the axial length of the first limit block; The method for determining the axial length of the second limit block comprises: Acquire the stroke between the designed position on the lead screw and the physical end position as a third stroke; Acquire the stroke between the design position and the soft limit end position as a fourth stroke; calculating a second difference between the third stroke and the fourth stroke; The difference between the second difference and the target stroke is used as the axial length of the second limit block; The target stroke is equal to the stroke corresponding to when the motor generates a preset number of Hall signals.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 3 to 8 is implemented.

10. A vehicle, characterized in that: The vehicle comprises the electric control column of the vehicle as claimed in claim 1 or 2, and the electronic device as claimed in claim 9.

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