Control method and device of electrically-controlled tubular column, electronic equipment and vehicle

Abstract

The invention relates to the technical field of vehicles, and provides a control method and device for an electrically-controlled tubular column, electronic equipment and a vehicle, and the method comprises the steps: receiving a first hard stop point trigger signal, determining a hard stop point type corresponding to the first hard stop point trigger signal, and determining the number of target zero position Hall elements according to the hard stop point type; determining that a second hard stop point trigger signal is received in a preset ignition period, determining a first hard stop point corresponding to the first hard stop point trigger signal and a second hard stop point corresponding to the second hard stop point trigger signal, and obtaining the number of interval Hall elements between the first hard stop point and the second hard stop point; and determining a target zero position of the electrically-controlled pipe column according to the number of the interval Hall elements and the number of the target zero position Hall elements. When the target zero position is determined, the types of the hard dead centers and the positions of the two triggered hard dead centers are comprehensively considered, accurate positioning of the zero position is achieved, the phenomenon of zero drift is avoided, then the adjustment accuracy of the electrically-controlled tubular column is improved, and the driving experience of a user is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicles, and in particular, to a control method, device, electronic device, and vehicle for an electric adjustable steering column. Background Art

[0002] The steering column is used to connect the steering wheel and the steering gear, and is one of the important components of the vehicle steering system. In the field of vehicle engineering, the steering column can adjust the position of the steering wheel up and down within a certain range to adapt to the driving habits of the driver. The electric adjustable steering column can adjust the steering wheel angularly and axially through a controller, which can improve the driving comfort and operation convenience of the driver.

[0003] During the process of a user using a vehicle, due to mechanical clearance, there is a zero position drift phenomenon in the electric adjustable steering column, which further leads to inaccurate adjustment of the steering column and affects the driving experience of the user. Summary of the Invention

[0004] In view of this, the purpose of the present disclosure is to provide a control method, device, electronic device, and vehicle for an electric adjustable steering column, so as to solve the problem that due to mechanical clearance, there is a zero position drift phenomenon in the electric adjustable steering column, which further leads to inaccurate adjustment of the steering column and affects the driving experience of the user.

[0005] Based on the above purpose, the first aspect of the present disclosure provides a control method for an electric adjustable steering column, and the method includes:

[0006] Receiving a first hard stop trigger signal, determining the hard stop type corresponding to the first hard stop trigger signal, and determining the target zero position Hall number according to the hard stop type;

[0007] Determining that a second hard stop trigger signal is received within a preset ignition cycle, determining the first hard stop corresponding to the first hard stop trigger signal and the second hard stop corresponding to the second hard stop trigger signal, and obtaining the interval Hall number between the first hard stop and the second hard stop;

[0008] Determining the target zero position of the electric adjustable steering column according to the interval Hall number and the target zero position Hall number, where the target zero position is the position corresponding to the soft limit limit of the electric adjustable steering column in the first hard stop direction.

[0009] Based on the same inventive concept, the second aspect of the present disclosure proposes a control device for an electric adjustable steering column, including:

[0010] A signal receiving module, configured to receive a first hard stop trigger signal, determine the hard stop type corresponding to the first hard stop trigger signal, and determine the target zero position Hall number according to the hard stop type;

[0011] An interval Hall number determination module, configured to determine that a second hard stop trigger signal is received within a preset ignition cycle, determine a first hard stop corresponding to the first hard stop trigger signal and a second hard stop corresponding to the second hard stop trigger signal, and obtain the number of interval Hall elements between the first hard stop and the second hard stop;

[0012] A zero position determination module, configured to determine a target zero position of the electric control pipe column according to the number of interval Hall elements and the target zero Hall number, where the target zero position is the position corresponding to the soft limit limit of the electric control pipe column in the direction of the first hard stop.

[0013] Based on the same inventive concept, a third aspect of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable by the processor. When the processor executes the computer program, the control method of the electric control pipe column as described above is implemented.

[0014] Based on the same inventive concept, a fourth aspect of the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the control method of the electric control pipe column as described above.

[0015] Based on the same inventive concept, a fifth aspect of the present disclosure provides a vehicle, including the control device of the electric control pipe column described in the second aspect, the electronic device described in the third aspect, or the storage medium described in the fourth aspect.

[0016] As can be seen from the above, the present disclosure provides a control method, device, electronic device, and vehicle for an electric control pipe column. When a first hard stop trigger signal is received, it indicates that a hard stop is triggered during the pipe column adjustment. Determine the type of hard stop corresponding to the first hard stop trigger signal, and determine the target zero Hall number according to the type of hard stop, where the type of hard stop represents the adjustment direction of the pipe column adjustment, and the target zero Hall number corresponds to the type of hard stop one by one. If a second hard stop trigger signal is received within a preset ignition cycle, determine the first hard stop corresponding to the first hard stop trigger signal and the second hard stop corresponding to the second hard stop signal. Since both the first hard stop and the second hard stop correspond to Hall numbers, the number of interval Hall elements between the first hard stop and the second hard stop can be determined for subsequent determination of the zero position of the electric control pipe column corresponding to the preset ignition cycle according to the number of interval Hall elements. Determine the target zero position of the electric control pipe column according to the number of interval Hall elements and the target zero Hall number. When determining the target zero position, the type of hard stop and the positions of the two triggered hard stops are comprehensively considered, realizing accurate positioning of the zero position, avoiding the phenomenon of zero position drift, thereby improving the accuracy of the electric control pipe column adjustment and enhancing the user's driving experience. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the present disclosure or related technologies, the following will briefly introduce the drawings required for use in the embodiments or related technology descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a flowchart of the control method for the electro-adjustable pipe string according to an embodiment of the present disclosure;

[0019] Figure 2 It is a schematic diagram of each point position of a pipe string according to an embodiment of the present disclosure;

[0020] Figure 3 It is a flowchart of the control method for the electro-adjustable pipe string according to another embodiment of the present disclosure;

[0021] Figure 4 It is a structural block diagram of the control device for the electro-adjustable pipe string according to an embodiment of the present disclosure;

[0022] Figure 5 It is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. Detailed implementation manners

[0023] To make the objectives, technical solutions, and advantages of the present disclosure clearer and more understandable, the following further elaborates on the present disclosure in detail in combination with specific embodiments and with reference to the drawings.

[0024] It should be noted that unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should have the ordinary meanings understood by those of ordinary skill in the art to which the present disclosure pertains. The "first", "second", and similar terms used in the embodiments of the present disclosure do not indicate any order, quantity, or importance, but are only used to distinguish different components. The terms such as "include" or "comprise" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connect" or "couple" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0025] The column is used to connect the steering wheel and the steering gear, and is one of the important components of the vehicle steering system. In the field of vehicle engineering, the column can adjust the position of the steering wheel up and down within a certain range to adapt to the driving habits of the driver. The electric adjustable column can adjust the steering wheel angularly and axially through a controller, which can improve the driving comfort and operation convenience of the driver.

[0026] The zero position is the position of the nut on the lead screw when the column is at the soft limit near the starting point. Zero position drift refers to the deviation of the zero position from the zero position at the time of leaving the factory due to various factors during use, such as mechanical clearance. That is to say, during the user's use of the vehicle, due to mechanical clearance, there is a zero position drift phenomenon in the electric adjustable column, which in turn leads to inaccurate adjustment of the column and affects the user's driving experience.

[0027] Based on the above description, this embodiment proposes a control method for an electric adjustable column, as Figure 1 shown, the method includes:

[0028] Step 101, receiving a first hard stop trigger signal, determining the hard stop type corresponding to the first hard stop trigger signal, and determining the target zero position Hall number according to the hard stop type.

[0029] Specifically, when receiving the first hard stop trigger signal, it means that a new hard stop is triggered during the adjustment of the electric adjustable column. Determine the hard stop type corresponding to the first hard stop trigger signal, where the hard stop type represents the adjustment direction of the electric adjustable column, and the hard stop types include inward adjustment, outward adjustment, upward adjustment, and downward adjustment.

[0030] In this embodiment, the hard stop type corresponds to the first hard stop trigger signal, and the hard stop type corresponds to the first hard stop. Exemplarily, if the first hard stop is the IN point, the corresponding hard stop type is inward adjustment. If the first hard stop is the OUT point, the corresponding hard stop type is outward adjustment. If the first hard stop is the UP point, the corresponding hard stop type is upward adjustment. If the first hard stop is the DOWN point, the corresponding hard stop type is downward adjustment.

[0031] In this embodiment, outward adjustment and inward adjustment are a set of adjustment methods in opposite directions, and upward adjustment and downward adjustment are a set of adjustment methods in opposite directions.

[0032] Determine the target zero position Hall number according to the hard stop type. The corresponding relationship between the hard stop type and the zero position Hall number is pre-stored in the database. Among them, the form of the corresponding relationship may include at least one of the following: relationship table, functional relationship, curve relationship, key-value pair relationship, and histogram relationship.

[0033] Exemplarily, if the type of the hard stop is inward adjustment or outward adjustment, the corresponding target zero - position Hall number is 55. If the type of the hard stop is upward adjustment or downward adjustment, the corresponding target zero - position Hall number is 79.

[0034] Step 102: Determine that the second hard - stop trigger signal is received within a preset ignition cycle, determine the first hard stop corresponding to the first hard - stop trigger signal and the second hard stop corresponding to the second hard - stop trigger signal, and obtain the interval Hall number between the first hard stop and the second hard stop.

[0035] In specific implementation, after receiving the first hard - stop trigger signal, it is judged whether the second hard - stop trigger signal is received within a preset ignition cycle. Herein, the preset ignition cycle can be the ignition cycle corresponding to the received first hard - stop trigger signal or within two adjacent ignition cycles.

[0036] If the second hard - stop trigger signal is received within the preset ignition cycle, at this time, determine the first hard stop corresponding to the first hard - stop trigger signal and the second hard stop corresponding to the second hard - stop trigger signal. Since both the first hard stop and the second hard stop correspond to Hall numbers, the interval Hall number between the first hard stop and the second hard stop can be determined. Specifically:

[0037] Calculate the difference between the Hall number corresponding to the position of the first hard stop and the Hall number corresponding to the second hard stop to obtain the interval Hall number between the first hard stop and the second hard stop.

[0038] In this embodiment, the Hall number is the number of rotation cycles of the electronically - controlled pipe column recorded by the Hall signal, that is, the number of rotation cycles is numerically equal to the Hall number. Therefore, the first number of rotation cycles when the electronically - controlled pipe column moves to the first hard stop and the second number of rotation cycles when it moves to the second hard stop can be calculated respectively, and the total number of rotation cycles between the first hard stop and the second hard stop is calculated according to the first number of rotation cycles and the second number of rotation cycles. The total number of rotation cycles is the interval Hall number.

[0039] Step 103: Determine the target zero - position of the electronically - controlled pipe column according to the interval Hall number and the target zero - position Hall number, where the target zero - position is the position corresponding to the soft - limit extreme in the direction of the first hard stop of the electronically - controlled pipe column.

[0040] In specific implementation, determining the target zero - position of the electronically - controlled pipe column according to the interval Hall number and the target zero - position Hall number can realize the real - time adjustment of the zero - position of the pipe column and avoid the phenomenon of zero - position drift. Among them, the target zero - position is the position corresponding to the soft - limit extreme in the direction of the first hard stop of the electronically - controlled pipe column.

[0041] In this embodiment, as Figure 2 shown Figure 2Shows a schematic diagram of each point position of a pipe string. Figure 2 In it, A is the starting point. The starting point is the position of the nut on the lead screw when the pipe string reaches the physical limit in the DOWN or IN direction. B is the zero point, that is, the zero position, which is the position of the nut on the lead screw when the pipe string reaches the soft limit in the DOWN or IN direction. C is the designed position, which is also the default position. The designed position is the position of the nut on the lead screw when the pipe string is in the state of the designed position of the human-machine hard point, that is, the position of the electro-adjustable pipe string when diagnosing the electro-adjustable pipe string, generally at the middle position of the soft limit. D is the end point, which is the position of the nut on the lead screw when the pipe string reaches the soft limit in the UP or OUT direction. E is the termination point, which is the position of the nut on the lead screw when the pipe string reaches the physical limit in the UP or OUT direction.

[0042] The electro-adjustable pipe string can be adjusted forward and backward and in terms of angle. Among them, the forward and backward adjustment corresponds to the inward adjustment and the outward adjustment. Specifically, the motor drives the lead screw, and the lead screw drives the electro-adjustable pipe string to move in the IN (retract) and OUT (extend) directions along the axis of the pipe string. The angle adjustment corresponds to the upward adjustment and the downward adjustment. Specifically, the motor drives the lead screw, and the lead screw drives the electro-adjustable pipe string to move in the DOWN (down) and UP (up) directions along the lower rotation point of the pipe string.

[0043] Through the above solution, when the first hard stop trigger signal is received, it indicates that the hard stop is triggered during the adjustment of the pipe string. Determine the type of hard stop corresponding to the first hard stop trigger signal, and determine the number of target zero-position Hall elements according to the type of hard stop, where the type of hard stop represents the adjustment direction of the electro-adjustable pipe string, and the number of target zero-position Hall elements corresponds one-to-one with the type of hard stop. If the second hard stop trigger signal is received within the preset ignition cycle, determine the first hard stop corresponding to the first hard stop trigger signal and the second hard stop corresponding to the second hard stop signal. Since both the first hard stop and the second hard stop correspond to the number of Hall elements, the number of interval Hall elements between the first hard stop and the second hard stop can be determined, so as to subsequently determine the zero-position of the electro-adjustable pipe string corresponding to the preset ignition cycle according to the number of interval Hall elements. Determine the target zero-position of the electro-adjustable pipe string according to the number of interval Hall elements and the number of target zero-position Hall elements. When determining the target zero-position, the type of hard stop and the positions of the two triggered hard stops are comprehensively considered, realizing the accurate positioning of the zero-position, avoiding the phenomenon of zero-position drift, thereby improving the accuracy of the adjustment of the electro-adjustable pipe string and enhancing the driving experience of users.

[0044] In some embodiments, step 103 specifically includes:

[0045] Step 1031, determine the first Hall quantity threshold corresponding to the type of hard stop according to the type of hard stop;

[0046] Step 1032: In response to the number of spaced Hall elements being less than or equal to the first Hall element number threshold, determine a target starting position based on the number of spaced Hall elements.

[0047] Step 1033: Take the position reached after rotating the target zero - position Hall element number from the target starting position in the direction away from the first hard stop as the target zero - position.

[0048] In specific implementation, determine the first Hall element number threshold corresponding to the hard - stop type according to the hard - stop type, where the corresponding relationship between the hard - stop type and the Hall element number threshold is pre - stored in a database, and the form of the corresponding relationship may include at least one of the following: relationship table, functional relationship, curve relationship, key - value pair relationship, and histogram relationship.

[0049] Compare the number of spaced Hall elements with the first Hall element number threshold. If it is determined that the number of spaced Hall elements is less than or equal to the first Hall element number threshold, at this time, it means that the target starting position can be determined according to the number of spaced Hall elements, and the target starting position is the starting point when the electric - control pipe column moves in the direction away from the first hard stop.

[0050] Starting from the target starting position, the electric - control pipe column rotates in the direction away from the first hard stop. When the target zero - position Hall element number is rotated, the reached position is the target zero - position.

[0051] Exemplarily, the Hall number corresponding to the target starting position is 0, the target zero - position Hall element number is 10, and the first hard - stop direction is the IN - inward direction. Then the direction away from the first hard stop is the OUT - outward direction. At this time, rotate the target zero - position Hall element number from the target starting position to the OUT direction, and the Hall number corresponding to the reached position is 10. Take this position as the target zero - position.

[0052] Through the above solution, when the number of spaced Hall elements is less than or equal to the first Hall element number threshold, at this time, the target zero - position is determined according to the number of spaced Hall elements, and the determination of the target zero - position is more accurate. At the same time, take the position reached after rotating the target zero - position Hall element number from the target starting position in the direction away from the first hard stop as the target zero - position, and take the position corresponding to rotating the target zero - position Hall element number as the target zero - position, ensuring that the interval between the target zero - position and the target starting position is still the target zero - position Hall element number, further ensuring the accuracy of the electric - control pipe column adjustment.

[0053] In some embodiments, step 1032 specifically includes:

[0054] Step 10321: Compare the number of spaced Hall elements with a second Hall element number threshold, where the second Hall element number threshold is less than the first Hall element number threshold.

[0055] Step 10322, in response to the number of spaced Hall elements being greater than or equal to the second Hall element quantity threshold, determine the initial starting position corresponding to the hard stop type, and use the initial starting position as the target starting position. Alternatively,

[0056] Step 10323, in response to the number of spaced Hall elements being less than the second Hall element quantity threshold, use the position where the first hard stop is located as the target starting position.

[0057] In specific implementation, determine a second Hall element quantity threshold that is less than the first Hall element quantity threshold, and compare the number of spaced Hall elements with the second Hall element quantity threshold.

[0058] In this embodiment, the Hall element quantity range corresponding to the hard stop type can be determined according to the hard stop type, use the maximum value in the Hall element quantity range as the first Hall element quantity threshold, and use the minimum value in the Hall element quantity range as the second Hall element quantity threshold.

[0059] Exemplarily, if it is determined that the hard stop type is upward adjustment or downward adjustment, the corresponding Hall element quantity range is 499 - 535, then the first Hall element quantity threshold can be determined to be 535, and the second Hall element quantity threshold can be determined to be 499.

[0060] If the number of spaced Hall elements is greater than or equal to the second Hall element quantity threshold and at the same time the number of spaced Hall elements is less than or equal to the first Hall element quantity threshold, that is, the number of spaced Hall elements is within the Hall element quantity range, there is no need to re-determine a new starting position at this time. At this time, the corresponding initial starting position is found according to the hard stop type, that is, the initial starting position corresponds to the hard stop type, and the corresponding relationship between the hard stop type and the initial starting position is stored in the database.

[0061] When the number of spaced Hall elements is within the Hall element quantity range, use the initial starting position as the target starting position. At the same time, use the position reached after rotating the target zero Hall element quantity from the target starting position in the direction away from the first hard stop as the target zero position, that is, the initial zero position corresponding to the hard stop type is the target zero position.

[0062] In this embodiment, when the number of spaced Hall elements is within the Hall element quantity range, all points on the electric control pipe string do not need to be changed, that is, there is no need to re-determine. That is, the initial end point position corresponding to the hard stop type is the target end point position, the initial start and end point position corresponding to the hard stop type is the target start and end point position, and the initial default position corresponding to the hard stop type is the target default position.

[0063] If the number of spaced Hall elements is less than the second Hall element number threshold, it indicates that there may be jamming during the adjustment of the electric control pipe string, resulting in a shorter movable stroke and the inability to move the full stroke. The zero position needs to be re-determined. The position where the first hard stop is located is used as the target starting position.

[0064] Exemplarily, the number of spaced Hall elements is 80, and the second Hall element number threshold is 100. At this time, the zero position is re-determined. The Hall number corresponding to the position where the first hard stop is located is determined to be 20, and the target zero Hall number is 10. Then, the target zero position is determined to be the position reached after rotating 10 in the direction away from the first hard stop from the position where the first hard stop is located, that is, the Hall number corresponding to the target zero position is 30.

[0065] Through the above solution, when the number of spaced Hall elements is less than the second Hall element number threshold, it indicates that there may be jamming during the adjustment of the electric control pipe string, resulting in a shorter movable stroke and the inability to move the full stroke. The zero position is re-determined, and the position where the first hard stop is located is used as the starting position. Furthermore, the zero position determined after rotating the target zero Hall number subsequently is more accurate.

[0066] In some embodiments, after step 10323, it further includes:

[0067] Step 10A, the position reached after rotating the number of spaced Hall elements in the direction away from the first hard stop from the target starting position is used as the target end point position, where the target end point position is the position corresponding to the physical limit of the electric control pipe string in the direction away from the first hard stop.

[0068] During specific implementation, since the number of spaced Hall elements is less than the second Hall element number threshold at this time, it indicates that there may be jamming during the adjustment of the electric control pipe string, resulting in a shorter movable stroke and the inability to move the full stroke. The target end point position needs to be re-determined, and the target end point position is the position corresponding to the physical limit of the electric control pipe string in the direction away from the first hard stop.

[0069] The position reached after rotating the number of spaced Hall elements in the direction away from the first hard stop from the target starting position is used as the target end point position.

[0070] Exemplarily, the number of spaced Hall elements is 80, and the second Hall element number threshold is 90. At this time, the end point position is re-determined. The Hall number corresponding to the position where the first hard stop is located is determined to be 20. Then, the target end point position is determined to be the position reached after rotating the number of spaced Hall elements in the direction away from the first hard stop from the target starting position, that is, the Hall number corresponding to the target end point position is 100.

[0071] With the above solution, since there is a jamming during the adjustment of the electric control pipe column, it is necessary to re-determine the farthest position that the electric control pipe column can move in the direction away from the first hard stop point, so as to avoid the problem that the movement of the electric control pipe column exceeds the movable position and affects the normal driving of the vehicle.

[0072] In some embodiments, after step 10323, it further includes:

[0073] Step 10a, determining the initial end point and the initial terminal point corresponding to the hard stop point type according to the hard stop point type;

[0074] Step 10b, performing a difference operation on the number of Hall elements corresponding to the initial end point and the number of Hall elements corresponding to the target end point position to obtain a first Hall difference;

[0075] Step 10c, performing a difference operation on the number of Hall elements corresponding to the initial terminal point and the first Hall difference to obtain a second Hall difference;

[0076] Step 10d, taking the position reached after rotating the second Hall difference in the direction away from the first hard stop point from the target starting position as the target terminal point position, where the target terminal point position is the position corresponding to the soft limit limit of the electric control pipe column in the direction away from the first hard stop point.

[0077] During specific implementation, the corresponding relationship between the hard stop point type and the initial end point and the initial terminal point is pre-stored in the database. Search the database according to the hard stop point type to obtain the initial end point and the initial terminal point corresponding to the hard stop point type.

[0078] At this time, since the number of spaced Hall elements is less than the second Hall element quantity threshold, it indicates that there may be jamming during the adjustment of the electric control pipe column, resulting in a shorter movable stroke and inability to move in the full stroke. It is necessary to re-determine the soft limit limit position that the electric control pipe column can move to in the direction away from the first hard stop point.

[0079] Perform a difference operation on the number of Hall elements corresponding to the initial end point and the number of Hall elements corresponding to the target end point position to obtain a first Hall difference. Perform a difference operation on the number of Hall elements corresponding to the initial terminal point and the first Hall difference to obtain a second Hall difference.

[0080] Taking the position reached after rotating the second Hall difference in the direction away from the first hard stop point from the target starting position as the target terminal point position, the target terminal point position is represented by the formula:

[0081] d ′ = d - (e - x ′ )

[0082] where, d ′is the target end point position, d - (e - x ′ ) is the second Hall difference value, d is the Hall number corresponding to the initial end point, e - x ′ is the first Hall difference value, e is the Hall number corresponding to the initial start and end points, x ′ is the Hall number corresponding to the target end point position, x ′ is the sum value between the Hall number corresponding to the target start point and the interval Hall number.

[0083] Exemplarily, it is determined that the Hall number corresponding to the position of the first hard stop point is 20, and the interval Hall number is 80, then the Hall number corresponding to the corresponding target end point is 100. The second Hall number threshold is 90, and at this time, the end point position is re - determined. The Hall number corresponding to the initial start and end points is 120, and the Hall number corresponding to the initial end point is 80, then the calculated first Hall difference value is 20, and the second Hall difference value is 60. Then it is determined that the target end point position is the position reached after rotating the second Hall difference value in the direction away from the first hard stop point from the target start position, that is, the Hall number corresponding to the target end point position is 80.

[0084] Through the above - mentioned solution, due to the jamming during the adjustment of the electric control pipe string, at this time, the target end point position can be determined according to the Hall number corresponding to the initial start and end points, the Hall number corresponding to the initial end point, and the interval Hall number, that is, the position corresponding to the soft limit limit of the electric control pipe string in the direction away from the first hard stop point is determined, avoiding the problem that the end point position remains unchanged, resulting in the coincidence of the end point position and the stop point position, or even exceeding the stop point position, which affects the normal driving of the vehicle.

[0085] In some embodiments, after step 10323, it further includes:

[0086] Step A: Determine the initial default position corresponding to the hard stop point type according to the hard stop point type;

[0087] Step B: Perform a difference operation on the Hall number corresponding to the initial default position and the target zero - position Hall number to obtain a third Hall difference value;

[0088] Step C: Perform a difference operation on the Hall number corresponding to the initial start and end points and the target zero - position Hall number to obtain a fourth Hall difference value;

[0089] Step D: Perform a ratio operation on the third Hall difference value and the fourth Hall difference value to obtain a target Hall ratio;

[0090] Step E: Perform a difference operation on the second Hall difference value and the target zero - position Hall number to obtain a fifth Hall difference value;

[0091] Step F: Multiply the fifth Hall difference value by the target Hall ratio to obtain a target Hall product value;

[0092] Step G: Add the target Hall product value to the target zero Hall quantity to obtain a Hall sum value;

[0093] Step H: Take the position reached after rotating the Hall sum value in the direction away from the first hard stop point from the target starting position as the target default position, where the target default position is the position where the electric control pipe string is located when diagnosing the electric control pipe string.

[0094] During specific implementation, subtract the Hall quantity corresponding to the target termination point position from the Hall quantity corresponding to the initial termination point to obtain a first Hall difference value. Subtract the first Hall difference value from the Hall quantity corresponding to the initial end point to obtain a second Hall difference value.

[0095] The corresponding relationship between the hard stop point type and the initial termination point and the initial default position is pre-stored in the database. Search the database according to the hard stop point type to obtain the initial default position corresponding to the hard stop point type.

[0096] Subtract the Hall quantity corresponding to the target zero Hall quantity from the Hall quantity corresponding to the initial default position to obtain a third Hall difference value. Subtract the Hall quantity corresponding to the target zero Hall quantity from the Hall quantity corresponding to the initial termination point to obtain a fourth Hall difference value.

[0097] Calculate the ratio of the third Hall difference value to the fourth Hall difference value to obtain a target Hall ratio. Calculate the difference between the second Hall difference value and the target zero Hall quantity to obtain a fifth Hall difference value. Calculate the product of the target Hall ratio and the fifth Hall difference value to obtain a target Hall product value. Add the target Hall product value to the target zero Hall quantity to obtain a Hall sum value.

[0098] Take the position reached after rotating the Hall sum value in the direction away from the first hard stop point from the target starting position as the target default position. Subsequently, when using a diagnostic instrument to diagnose the electric control pipe string and perform active calibration, the electric control pipe string returns to the target default position.

[0099] In this embodiment, the Hall quantity corresponding to the target default position is expressed by the formula:

[0100]

[0101] where c ′The number of Hall elements corresponding to the target default position, c - b is the third Hall difference, c is the number of Hall elements corresponding to the initial default position, b is the number of Hall elements at the target zero position, d - b is the fourth Hall difference, and d is the number of Hall elements corresponding to the initial end point. is the target Hall ratio, d - (e - x ′ ) - b is the fifth Hall difference, e is the number of Hall elements corresponding to the initial start and end points, x ′ is the number of Hall elements corresponding to the target end point position, x ′ is the sum value between the number of Hall elements corresponding to the target start point and the interval Hall elements. is the target Hall product value. is the Hall sum value.

[0102] Exemplarily, it is determined that the number of Hall elements corresponding to the position of the first hard stop is 20, and the interval Hall element number is 80, then the number of Hall elements corresponding to the target end point is 100. The second Hall element number threshold is 90, and at this time, the position of the end point is re - determined. The number of Hall elements at the target zero position is 10, the number of Hall elements corresponding to the initial start and end points is 120, and the number of Hall elements corresponding to the initial end point is 80. Then the first Hall difference is calculated as 20, the second Hall difference is 60, the third Hall difference is 40, the fourth Hall difference is 70, and the fifth Hall difference is 50. The target Hall ratio is calculated as 0.57, and the product of the target Hall ratio and the fifth Hall difference is calculated to obtain the target Hall product value of 28.5. The target Hall product value and the target zero - position Hall element number are added together to obtain the Hall sum value of 38.5. The target default position is determined as the position reached after rotating the Hall sum value from the target start position in the direction away from the first hard stop, that is, the number of Hall elements corresponding to the target default position is 58.5.

[0103] Through the above - mentioned solution, by determining the Hall sum value, the position reached after rotating the Hall sum value from the target start position in the direction away from the first hard stop is used as the target default position. Subsequently, when using a diagnostic instrument to diagnose the electric control column and perform active calibration, the electric control column returns to the target default position.

[0104] In some embodiments, the method further includes:

[0105] Step a, in response to the interval Hall element number being greater than the first Hall element number threshold, determine that there is a fault in the electric control column;

[0106] Step b, output a fault prompt message, determine the target adjustment direction corresponding to the hard stop type, and control the adjustment function of the electric control column in the target adjustment direction to fail.

[0107] During specific implementation, compare the number of spaced Hall elements with the first Hall element number threshold. If it is determined that the number of spaced Hall elements is greater than the first Hall element number threshold, it indicates at this time that the actual travel is greater than the travel of the electric adjustment pipe column, and there is a hardware fault, that is, there is a fault in the electric adjustment pipe column.

[0108] Output a fault prompt message, where the fault prompt message is used to prompt a hardware fault. At the same time, determine the target adjustment direction corresponding to the hard stop type, and control the adjustment function of the electric adjustment pipe column in the target adjustment direction to fail. The prompting methods of the fault prompt message include at least one of the following: voice broadcast, HUD display, instrument display, center control screen display, window display, and linkage of in-vehicle devices, etc.

[0109] Exemplarily, the target adjustment direction is inward adjustment or outward adjustment. If the number of spaced Hall elements is greater than the first Hall element number threshold, at this time, disable the angle adjustment and position extraction functions in the IN / OUT direction.

[0110] Another example, the target adjustment direction is upward adjustment or downward adjustment. If the number of spaced Hall elements is greater than the first Hall element number threshold, at this time, disable the angle adjustment and position extraction functions in the UP / DOWN direction.

[0111] Through the above solution, judge whether there is a hardware fault according to the number of spaced Hall elements and the first Hall element number threshold, so as to output a prompt message to the user in time when there is a fault, ensuring the normal use of the vehicle.

[0112] Based on the same inventive concept, another embodiment of the present disclosure provides a control method for an electric adjustment pipe column, as Figure 3 shown, specifically including:

[0113] Step 301, determine whether a hard stop OUT (or IN) trigger signal is received. If yes, jump to step 302; if not, jump to step 307.

[0114] Step 302, perform zero position setting.

[0115] Step 303, determine whether a new hard stop IN (or OUT) trigger signal is received within a preset ignition cycle. If yes, jump to step 304; if not, jump to step 307.

[0116] Step 304, calculate the number of spaced Hall elements between the hard stop IN and the hard stop OUT.

[0117] Step 305, determine whether the number of spaced Hall elements is greater than or equal to the pipe column parameter. If yes, jump to step 307; if not, jump to step 306.

[0118] Step 306, 301.

[0119] Step 30a, determine whether a hard stop DOWN (or UP) trigger signal is received. If yes, jump to step 30b; if no, jump to step 307.

[0120] Step 30b, perform zero position setting.

[0121] Step 30c, determine whether a new hard stop UP (or DOWN) trigger signal is received within a preset ignition cycle. If yes, jump to step 30d; if no, jump to step 307.

[0122] Step 30d, calculate the number of interval Hall elements between the hard stop UP and the hard stop DOWN.

[0123] Step 30e, determine whether the number of interval Hall elements is greater than or equal to the string parameters. If yes, jump to step 307; if no, jump to step 30f.

[0124] Step 30f, perform zero position setting according to the number of Hall elements corresponding to the target termination point.

[0125] Step 307, end.

[0126] In this embodiment, the string parameters in step 305 and step 30e can be obtained by retrieving the vehicle string parameter table, where the vehicle string parameter table is shown in Table 1.

[0127] Table 1

[0128]

[0129]

[0130] When the vehicle leaves the factory, the positions of the hard stop IN or OUT, DOWN or UP, the string zero position, the soft stop, and the hard stop can be initially set, as shown in Table 2.

[0131]

[0132]

[0133] In this embodiment, when it is determined in step 305 that the number of interval Hall elements is greater than the string parameters, the actual stroke is larger than the stroke of the string, and a hardware failure occurs, and the angle adjustment and position retrieval functions in the IN / OUT direction are disabled.

[0134] In this embodiment, when it is determined in step 30e that the number of interval Hall elements is greater than the string parameters, the actual stroke is larger than the stroke of the string, and a hardware failure occurs, and the angle adjustment and position retrieval functions in the UP / DOWN direction are disabled.

[0135] In this embodiment, when it is determined in step 305 or step 30e that the number of spaced Hall elements is within the range of the pipe string parameters, the relearning of the zero position function ends.

[0136] In this embodiment, step 306 and step 30f perform zero position setting according to the number of Hall elements corresponding to the target termination point. The specific setting methods for each point are shown in Table 3.

[0137] Table 3

[0138]

[0139] In this embodiment, the pipe string gets stuck somewhere and cannot move the full stroke. When the pipe string was designed, collision and visibility were considered, and since it is not known where the pipe string gets stuck, the adjustment stroke is directly reduced, and the design position of the new hard stop point is set proportionally by percentage.

[0140] It should be noted that the method of the embodiments of the present disclosure can be executed by a single device, such as a computer or a server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In such a distributed scenario, one of the multiple devices can only execute one or more steps of the method of the embodiments of the present disclosure, and these multiple devices will interact with each other to complete the described method.

[0141] It should be noted that some embodiments of the present disclosure have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order from those in the above embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0142] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present disclosure also provides a control device for an electrically adjustable pipe string.

[0143] Referring to Figure 4 , Figure 4 For the control device of the electrically adjustable pipe string of the embodiment, including:

[0144] A signal receiving module 401, configured to receive a first hard stop trigger signal, determine the type of hard stop corresponding to the first hard stop trigger signal, and determine the target zero position Hall element number according to the type of hard stop;

[0145] The interval Hall number determination module 402 is configured to determine that a second hard stop trigger signal is received within a preset ignition cycle, determine the first hard stop corresponding to the first hard stop trigger signal and the second hard stop corresponding to the second hard stop trigger signal, and obtain the number of interval Hall elements between the first hard stop and the second hard stop;

[0146] The zero position determination module 403 is configured to determine the target zero position of the electric control pipe string according to the number of interval Hall elements and the target zero Hall number, where the target zero position is the position corresponding to the soft limit extreme of the electric control pipe string in the direction of the first hard stop.

[0147] In some embodiments, the zero position determination module 403 specifically includes:

[0148] The threshold determination unit is configured to determine a first Hall number threshold corresponding to the hard stop type according to the hard stop type;

[0149] The target starting position determination unit is configured to, in response to the number of interval Hall elements being less than or equal to the first Hall number threshold, determine the target starting position according to the number of interval Hall elements;

[0150] The zero position determination unit is configured to use the position reached after rotating the target zero Hall number in the direction away from the first hard stop from the target starting position as the target zero position.

[0151] In some embodiments, the target starting position determination unit is specifically configured to:

[0152] Compare the number of interval Hall elements with a second Hall number threshold, where the second Hall number threshold is less than the first Hall number threshold;

[0153] In response to the number of interval Hall elements being greater than or equal to the second Hall number threshold, determine the initial starting position corresponding to the hard stop type and use the initial starting position as the target starting position; or,

[0154] In response to the number of interval Hall elements being less than the second Hall number threshold, use the position of the first hard stop as the target starting position.

[0155] In some embodiments, the zero position determination module 403 specifically further includes a termination point determination module, and the termination point determination module is specifically configured to:

[0156] Use the position reached after rotating the number of interval Hall elements in the direction away from the first hard stop from the target starting position as the target termination point position, where the target termination point position is the position corresponding to the physical limit of the electric control pipe string in the direction away from the first hard stop.

[0157] In some embodiments, the zero position determination module 403 further specifically includes an end point determination module, and the end point determination module is specifically configured to:

[0158] Determine the initial start and end points and the initial end point corresponding to the hard stop type according to the hard stop type;

[0159] Subtract the number of Hall elements corresponding to the initial start and end points from the number of Hall elements corresponding to the target end point position to obtain a first Hall difference;

[0160] Subtract the first Hall difference from the number of Hall elements corresponding to the initial end point to obtain a second Hall difference;

[0161] Take the position reached after rotating the second Hall difference from the target start position in the direction away from the first hard stop as the target end point position, where the target end point position is the position corresponding to the soft limit limit of the electric control pipe string in the direction away from the first hard stop.

[0162] In some embodiments, the zero position determination module 403 further specifically includes a default position determination module, and the default position determination module is specifically configured to:

[0163] Determine the initial default position corresponding to the hard stop type according to the hard stop type;

[0164] Subtract the number of Hall elements corresponding to the initial default position from the number of target zero position Hall elements to obtain a third Hall difference;

[0165] Subtract the number of Hall elements corresponding to the initial start and end points from the number of target zero position Hall elements to obtain a fourth Hall difference;

[0166] Take the ratio of the third Hall difference to the fourth Hall difference to obtain a target Hall ratio;

[0167] Subtract the second Hall difference from the number of target zero position Hall elements to obtain a fifth Hall difference;

[0168] Multiply the fifth Hall difference by the target Hall ratio to obtain a target Hall product value;

[0169] Add the target Hall product value to the number of target zero position Hall elements to obtain a Hall sum value;

[0170] Take the position reached after rotating the Hall sum value from the target start position in the direction away from the first hard stop as the target default position, where the target default position is the position where the electric control pipe string is located when diagnosing the electric control pipe string.

[0171] In some embodiments, the device further includes a fault prompt module, which is specifically configured to:

[0172] In response to the number of spaced Hall elements being greater than the first Hall element quantity threshold, determine that there is a fault in the electrically controlled pipe string;

[0173] Output a fault prompt message, determine the target adjustment direction corresponding to the hard stop type, and control the adjustment function of the electrically controlled pipe string in the target adjustment direction to fail.

[0174] For convenience of description, when describing the above device, various modules are described separately according to their functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0175] The device in the above embodiment is used to implement the control method of the electrically controlled pipe string corresponding to any one of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0176] Based on the same inventive concept, corresponding to the method in any of the above embodiments, the present disclosure further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the control method of the electrically controlled pipe string described in any one of the above embodiments.

[0177] Figure 5 FIG. shows a more specific schematic diagram of the hardware structure of the electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. Among them, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other inside the device through the bus 1050.

[0178] The processor 1010 may be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0179] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 1020 and called and executed by the processor 1010.

[0180] The input / output interface 1030 is used to connect to the input / output module to achieve information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Among them, the input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0181] The communication interface 1040 is used to connect to a communication module (not shown in the figure) to achieve communication interaction between this device and other devices. Among them, the communication module can achieve communication through a wired method (such as USB, network cable, etc.) or through a wireless method (such as a mobile network, WIFI, Bluetooth, etc.).

[0182] The bus 1050 includes a path for transmitting information between various components of the device (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0183] 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, this device may also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device may also only include the components necessary to implement the solutions of the embodiments of this specification, and do not have to include all the components shown in the figure.

[0184] The electronic device in the above embodiment is used to implement the control method of the corresponding electro-adjustable pipe string in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0185] Based on the same inventive concept, corresponding to the method in any of the above embodiments, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the control method of the electro-adjustable pipe string as described in any of the above embodiments.

[0186] 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. The information can be computer-readable instructions, data structures, program modules, 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette tapes, magnetic tape magnetic disk storage, or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0187] The computer instructions stored in the storage medium of the above embodiment are used to cause the computer to execute the control method of the electro-hydraulic valve column as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0188] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application also provides a vehicle, including the control device of the electro-hydraulic valve column in the above embodiment, the electronic device in the above embodiment, and the computer-readable storage medium in the above embodiment. The vehicle device implements the control method of the electro-hydraulic valve column described in any of the above embodiments.

[0189] The vehicle of the above embodiment is used to implement the control method of the electro-hydraulic valve column described in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0190] It can be understood that before using the technical solutions of each embodiment in the present disclosure, the types, usage scopes, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0191] For example, when responding to receiving an active request from the user, a prompt message is sent to the user to clearly prompt the user that the operation requested to be executed will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, application program, server, or storage medium that executes the operation of the technical solution of the present disclosure according to the prompt message.

[0192] As an optional but non-limiting implementation manner, in response to receiving an active request from a user, the manner of sending a prompt message to the user may be, for example, in the form of a pop-up window, and the prompt message may be presented in text in the pop-up window. In addition, the pop-up window may also carry selection controls for the user to select "agree" or "disagree" to provide personal information to the electronic device.

[0193] It can be understood that the above notification and the process of obtaining user authorization are only illustrative and do not limit the implementation manner of the present disclosure. Other manners that comply with relevant laws and regulations can also be applied to the implementation manner of the present disclosure.

[0194] Those of ordinary skill in the art should understand that: the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples; under the idea of the present disclosure, the technical features between the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the embodiments of the present disclosure as described above, and they are not provided in detail for the sake of brevity.

[0195] In addition, for the sake of simplicity of description and discussion, and in order not to make the embodiments of the present disclosure difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. In addition, the device may be shown in the form of a block diagram to avoid making the embodiments of the present disclosure difficult to understand, and this also takes into account the fact that the details of the implementation manner of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure are to be implemented (that is, these details should be completely within the understanding of those skilled in the art). In the case where specific details (such as circuits) are set forth to describe the exemplary embodiments of the present disclosure, it will be apparent to those skilled in the art that the embodiments of the present disclosure can be implemented without these specific details or with variations of these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0196] Although the present disclosure has been described in connection with specific embodiments of the present disclosure, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art based on the foregoing description. For example, other memory architectures (such as dynamic RAM (DRAM)) can be used with the embodiments discussed.

[0197] The embodiments of the present disclosure are intended to cover all such alternatives, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A control method for an electrically adjustable pipe string, characterized in that: include: receiving a first hard stop trigger signal, determining a hard stop type corresponding to the first hard stop trigger signal, and determining a target zero position Hall quantity according to the hard stop type; Determining that a second hard stop trigger signal is received within a preset ignition cycle, determining a first hard stop corresponding to the first hard stop trigger signal, and a second hard stop corresponding to the second hard stop trigger signal, and obtaining a number of interval halls between the first hard stop and the second hard stop; The target zero position of the electric control column is determined according to the number of interval Halls and the number of target zero position Halls, wherein the target zero position is the position of the electric control column corresponding to the soft limit limit in the direction of the first hard stop point.

2. The method according to claim 1, characterized in that The step of determining the target zero position of the electric control column according to the number of interval Halls and the number of target zero Halls includes: Determine, according to the hard stop type, a first Hall quantity threshold value corresponding to the hard stop type; In response to the interval Hall quantity being less than or equal to the first Hall quantity threshold, determining a target start position according to the interval Hall quantity; The position reached after rotating from the target starting position in the direction away from the first hard stop point by the target zero position Hall quantity is taken as the target zero position.

3. The method according to claim 2, characterized in that Determining the target start position according to the number of interval Halls includes: comparing the interval Hall quantity with a second Hall quantity threshold, wherein the second Hall quantity threshold is less than the first Hall quantity threshold; In response to the interval Hall quantity being greater than or equal to the second Hall quantity threshold, determining an initial start position corresponding to the hard stop type, and using the initial start position as a target start position; or, In response to the interval Hall quantity being less than the second Hall quantity threshold, the position of the first hard stop point is used as a target starting position.

4. The method according to claim 3, characterized in that After taking the position of the first hard stop point as the target starting position, the method further includes: The position reached after rotating the interval Hall number from the target starting position in the direction away from the first hard stop point is taken as the target end point position, wherein the target end point position is the position corresponding to the physical limit of the electric adjustment column in the direction away from the first hard stop point.

5. The method according to claim 4, characterized in that After taking the position of the first hard stop point as the target starting position, the method further includes: Determining an initial stop point and an initial end point corresponding to the hard stop point type according to the hard stop point type; Subtract the number of Halls corresponding to the initial end point from the number of Halls corresponding to the target end point to obtain a first Hall difference; Subtract the Hall quantity corresponding to the initial end point from the first Hall difference to obtain a second Hall difference; The position reached after rotating the second Hall difference from the target starting position in the direction away from the first hard stop point is used as the target end point position, wherein the target end point position is the position corresponding to the soft limit limit of the electric adjustment column in the direction away from the first hard stop point.

6. The method according to claim 5, characterized in that After taking the position of the first hard stop point as the target starting position, the method further includes: determining an initial default position corresponding to the hard stop type according to the hard stop type; Performing difference processing on the number of Halls corresponding to the initial default position and the number of Halls at the target zero position to obtain a third Hall difference; Performing difference processing on the number of Halls corresponding to the initial termination point and the number of Halls at the target zero position to obtain a fourth Hall difference; Performing ratio processing on the third Hall difference and the fourth Hall difference to obtain a target Hall ratio; Performing difference processing on the second Hall difference and the target zero-position Hall quantity to obtain a fifth Hall difference; Multiplying the fifth Hall difference by the target Hall ratio to obtain a target Hall product value; Adding the target Hall product value and the target zero-position Hall quantity to obtain a Hall sum value; The position reached after rotating the Hall sum value from the target starting position in the direction away from the first hard stop point is used as the target default position, wherein the target default position is the position of the electric control column when diagnosing the electric control column.

7. The method according to claim 2, characterized in that Also includes: In response to the interval Hall quantity being greater than the first Hall quantity threshold, determining that the electric control column is faulty; Output fault prompt information, determine the target adjustment direction corresponding to the hard stop point type, and control the electric adjustment column adjustment function of the target adjustment direction to fail.

8. A control device for an electrically adjustable pipe string, characterized in that: include: a signal receiving module, configured to receive a first hard stop trigger signal, determine a hard stop type corresponding to the first hard stop trigger signal, and determine a target zero position Hall quantity according to the hard stop type; an interval Hall quantity determination module, configured to determine that a second hard stop trigger signal is received within a preset ignition cycle, determine a first hard stop corresponding to the first hard stop trigger signal, and a second hard stop corresponding to the second hard stop trigger signal, and obtain the interval Hall quantity between the first hard stop and the second hard stop; The zero position determination module is configured to determine the target zero position of the electric control column according to the number of interval Halls and the number of target zero position Halls, wherein the target zero position is the position of the electric control column corresponding to the soft limit limit in the direction of the first hard stop point.

9. An electronic device, characterized in that: The method comprises 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 method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: The vehicle includes the electronic device according to claim 9.

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