Steering transmission ratio calibration method and device and computer storage medium

Abstract

The invention provides a steering transmission ratio calibration method and device and a computer storage medium. The steering transmission ratio calibration method comprises the steps that a vehicle is controlled to move according to a control signal; the turning radius of the vehicle moving forwards and backwards is obtained; based on the turning radius and the wheelbase of the vehicle, a front wheel turning angle is obtained; and determining a transmission ratio corresponding to a target steering wheel angle based on the target steering wheel angle and the front wheel steering angle in the control signal. In this way, the requirement for the area of a calibration test site is low, small-angle transmission ratio calibration can be completed by moving the vehicle by a certain distance, a semicircular path in a manual calibration method does not need to be completed, and the control precision is remarkably superior to that of a manual driving technology.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and particularly to a method and device for calibrating a steering transmission ratio and a computer storage medium. Background Art

[0002] During the development and testing of a lane centering control (LCC) and an automatic parking assist (APA) system, it is necessary to use the transmission ratio parameter of the vehicle steering system to convert between the target front wheel angle and the target steering wheel rotation angle. Usually, the vehicle assembly department provides a transmission ratio parameter table of the steering system when the vehicle leaves the factory, and engineering technicians use this parameter table to interpolate and calculate the proportional relationship between the steering wheel angle and the front wheel angle within the steering wheel limit range.

[0003] The traditional method for calibrating the transmission ratio of a vehicle steering system uses a calibration method based on the semi - circle method, which requires manual calibration and has a large workload. The traditional manual calibration method for the vehicle steering system is restricted by the site when calibrating the transmission ratio of small angles. Summary of the Invention

[0004] To solve the above - mentioned technical problems, the present application provides a method for calibrating a steering transmission ratio. The method for calibrating a steering transmission ratio includes: controlling a vehicle to move according to a control signal; obtaining a turning radius of the vehicle moving forward and backward; obtaining a front wheel angle based on the turning radius and the wheelbase of the vehicle; and determining a transmission ratio corresponding to the target steering wheel angle based on the target steering wheel angle in the control signal and the front wheel angle.

[0005] Among them, the step of obtaining the turning radius of the vehicle moving forward and backward includes: obtaining a displacement of the vehicle moving forward and backward; obtaining an angular change amount of the vehicle moving forward and backward; and determining the turning radius based on the displacement and the angular change amount.

[0006] Among them, the method for calibrating a steering transmission ratio further includes: performing mean filtering on the turning radius, displacement, and / or angular change amount.

[0007] Among them, the target steering wheel angle includes a front - left calibrated steering wheel angle, a front - right calibrated steering wheel angle, a rear - left calibrated steering wheel angle, and / or a rear - right calibrated steering wheel angle.

[0008] Among them, the step of controlling the vehicle to move according to the control signal includes: determining a moving direction according to a flag bit in the control signal; determining a moving magnitude according to the target steering wheel angle in the control signal; and controlling the vehicle to move according to the moving direction and the moving magnitude.

[0009] After determining the transmission ratio corresponding to the target steering wheel angle, the steering transmission ratio calibration method further includes: storing the calibration value of the transmission ratio and the transmission ratio relationship of the steering wheel angle in a vector table.

[0010] Wherein, obtaining the front wheel steering angle based on the turning radius and the wheelbase of the vehicle includes: calculating the front wheel steering angle based on the turning radius, the wheelbase of the vehicle, and the Ackermann steering model.

[0011] Before controlling the vehicle to move according to the control signal, the steering transmission ratio calibration method further includes: obtaining the current vehicle speed and the current acceleration of the vehicle; generating the control signal in response to the difference between the current vehicle speed and the target vehicle speed being less than a first preset value and the current acceleration being less than a second preset value.

[0012] To solve the above technical problems, the present application proposes a steering transmission ratio calibration device, which includes a memory and a processor coupled to the memory; wherein, the memory is used to store program data, and the processor is used to execute the program data to implement the above steering transmission ratio calibration method.

[0013] To solve the above technical problems, the present application proposes a computer storage medium, which is used to store program data, and when the program data is executed by a computer, it is used to implement the above steering transmission ratio calibration method.

[0014] Different from the prior art, the beneficial effect of the present application is that: the steering transmission ratio calibration device controls the vehicle to move according to the control signal; obtains the turning radius of the vehicle moving back and forth; obtains the front wheel steering angle based on the turning radius and the wheelbase of the vehicle; determines the transmission ratio corresponding to the target steering wheel angle based on the target steering wheel angle in the control signal and the front wheel steering angle. In this way, the requirement for the area of the calibration test site is low, and the calibration of the small-angle transmission ratio can be completed by the vehicle moving a certain distance, without having to drive the semi-circular path in the manual calibration method. Description of the Drawings

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0016] Figure 1 It is a flowchart of the first embodiment of the steering transmission ratio calibration method provided by the present application;

[0017] Figure 2 It is a schematic flow chart of the sub - steps of step S11 in the Figure 1 steering ratio calibration method provided by this application;

[0018] Figure 3 It is a schematic flow chart of the second embodiment of the steering ratio calibration method provided by this application;

[0019] Figure 4 It is a schematic flow chart of the sub - steps of step S12 in the Figure 1 steering ratio calibration method provided by this application;

[0020] Figure 5 It is a schematic diagram of the transmission ratio automatic calibration method provided by this application;

[0021] Figure 6 It is a schematic diagram of the automatic calibration mode selection provided by this application;

[0022] Figure 7 It is a schematic structural diagram of an embodiment of the steering ratio calibration device provided by this application;

[0023] Figure 8 It is a schematic structural diagram of an embodiment of the computer storage medium provided by this application. Detailed implementation manners

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] Among them, the steering ratio calibration method of this application is applied to a steering ratio calibration device. Among them, the steering ratio calibration device of this application can be a server or a system in which the server and the local terminal cooperate with each other. Correspondingly, each part included in the steering ratio calibration device, such as each unit, sub - unit, module, and sub - module, can be all set in the server or can be respectively set in the server and the local terminal.

[0026] Further, the above-mentioned server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster composed of multiple servers or as a single server. When the server is software, it can be implemented as multiple software or software modules, such as software or software modules for providing a distributed server, or as a single software or software module, which is not specifically limited herein. In some possible implementation manners, the steering ratio calibration method of the embodiments of the present application can be implemented by a processor calling computer-readable instructions stored in a memory.

[0027] The existing steering system ratio calibration methods are divided into manual calibration and automatic calibration. In the prior art, at the beginning, the center point of the rear axle of the vehicle is located at the starting point on the straight line, and the vehicle body is perpendicular to the straight line. The steering wheel is turned to the target angle, and the vehicle travels at a low speed of 5 km / h. When the center point of the rear axle of the vehicle coincides with the straight line again, record the center point of the rear axle of the vehicle as the end point. Measure the distance between the starting point and the end point to obtain the turning diameter. The existing automatic calibration method first calculates the yaw rate change and the front wheel angle according to multiple frames of yaw angles, vehicle speeds, and vehicle wheelbases during the vehicle driving process, and then calibrates the steering wheel rotation ratio of the vehicle according to the front wheel angle and the steering wheel angle, and estimates the steering wheel zero position by using the least squares method.

[0028] The traditional vehicle steering system ratio calibration method uses a calibration method based on the semi-circle method, which requires manual calibration and has a large workload. The traditional vehicle steering system manual calibration method for calibrating the small-angle ratio is restricted by the site. The existing automatic ratio calibration method requires manual control of the vehicle during execution, which cannot avoid the interference of the driver on the calibration result, and ignores the problems of asymmetric ratios when the vehicle moves forward and backward and when turning left and right.

[0029] To solve the above technical problems, the present application proposes a steering ratio calibration method. In this embodiment, the steering ratio calibration method is applied to a steering ratio calibration device. Please refer to Figure 1 , Figure 1 which is a schematic flowchart of the first embodiment of the steering ratio calibration method provided by the present application.

[0030] As Figure 1 shown, the specific steps are as follows:

[0031] Step S11: Control the vehicle to move according to the control signal.

[0032] Specifically, the steering ratio calibration device acquires the position and operation information of the target vehicle in real time according to the positioning system. Among them, the position can be represented by the x and y coordinate information of the vehicle, and the world coordinate system or the vehicle body coordinate system can be directly obtained. In the embodiments of the present application, the world coordinate system and the vehicle body coordinate system can be mutually converted, and the conversion method can refer to any method in the prior art, which will not be elaborated here.

[0033] The operation information of the vehicle includes yaw angle information, vehicle speed information, and acceleration information, and reads the set target value of the steering wheel from the transmission ratio calibration table.

[0034] Among them, the control signal can be sent by the vehicle's central control system.

[0035] Specifically, in an embodiment of the present application, steps S111 - S113 are proposed as sub - steps of step S11 for controlling the vehicle to move. For details, please refer to Figure 2 , Figure 2 is the Figure 1 flow chart of the sub - steps of step S11 in the steering ratio calibration method provided by the present application.

[0036] As Figure 2 shown, the specific steps are as follows:

[0037] Step S111: Determine the moving direction according to the flag bit in the control signal.

[0038] Specifically, the steering ratio calibration device determines the moving direction according to the flag bit in the control signal. The flag bit is the marked orientation carried in the control signal, including but not limited to the forward flag bit, backward flag bit, left flag bit, right flag bit, etc. The steering ratio calibration device selects a calibration model according to the flag bit to determine the moving direction of the vehicle.

[0039] Step S112: Determine the moving magnitude according to the target steering wheel angle in the control signal.

[0040] Specifically, the steering ratio calibration device determines the moving magnitude according to the target steering wheel angle in the control signal. The target steering wheel angle is the rotation angle of the vehicle's steering wheel.

[0041] Step S113: Control the vehicle to move according to the moving direction and the moving magnitude.

[0042] Specifically, the steering ratio calibration device controls the vehicle to move according to the control signal, according to the moving direction and the moving magnitude.

[0043] The present application sends a target angle to the electric power steering system (EPS) of the lateral actuator through program instructions, and the control accuracy is significantly better than that of manual driving.

[0044] Further, in an embodiment of the present application, a method is proposed for generating a control signal before controlling a vehicle to move according to the control signal. For details, please refer to Figure 3 , Figure 3 which is a schematic flowchart of the second embodiment of the steering gear ratio calibration method provided by the present application.

[0045] Step S31: Obtain the current vehicle speed and current acceleration of the vehicle.

[0046] Specifically, the steering gear ratio calibration device obtains the current vehicle speed and current acceleration of the vehicle according to the driving data of the vehicle.

[0047] Step S32: Generate the control signal in response to that the difference between the current vehicle speed and the target vehicle speed is less than a first preset value and the current acceleration is less than a second preset value.

[0048] In the embodiment of the present application, it is necessary to verify the validity of the relative positioning system and the chassis system information; if it is valid, obtain the self-vehicle chassis movement information, including the vehicle speed and acceleration of the vehicle.

[0049] Specifically, when the difference between the self-vehicle speed and the target vehicle speed is less than a first preset threshold and the self-vehicle acceleration is less than a second preset threshold, enter the transmission ratio automatic calibration function, that is, determine the moving direction according to the flag bit in the control signal as described in steps S111 - S113, determine the moving size according to the target steering wheel angle in the control signal, and control the vehicle to move according to the moving direction and the moving size.

[0050] Among them, in the embodiment of the present application, the first preset threshold is 1 m / s, and the second preset threshold is 1 m / s². In other embodiments of the present application, other values can also be custom-set, and the present application does not make specific limitations.

[0051] Step S12: Obtain the turning radius of the vehicle moving forward and backward.

[0052] Among them, the turning radius of moving forward and backward is the turning radius when the vehicle moves forward and / or the turning radius when the vehicle moves backward.

[0053] Specifically, the present application proposes steps S121 - S123 as sub-steps of step S12 for calculating the turning radius of the vehicle moving forward and backward. For details, please refer to Figure 4 , Figure 4 which is the Figure 1 schematic flowchart of the sub-steps of step S12 in the steering gear ratio calibration method provided by the present application.

[0054] As Figure 4 shown, the specific steps are as follows:

[0055] Step S121: Obtain the displacement of the vehicle moving forward and backward.

[0056] Specifically, the steering ratio calibration device uses the positioning information to obtain the relative x and y position information and the ω heading angle information of the vehicle at point A and point A', and calculates the displacement L using the positioning information of the vehicle at two points before and after movement. The specific calculation method is as follows:

[0057]

[0058] Step S122: Obtain the angle change amount of the vehicle moving forward and backward.

[0059] Specifically, the steering ratio calibration device calculates the angle change amount using the yaw angle information of two points before and after, as follows:

[0060] θ = ω - ω'

[0061] Step S123: Determine the turning radius based on the displacement and the angle change amount.

[0062] Specifically, the steering ratio calibration device calculates the vehicle displacement according to the x and y coordinates of two points before and after of the vehicle in the vehicle driving data input module, calculates the angle change amount according to the yaw angles of the vehicle at two points before and after, and calculates the turning radius using the sine theorem of a triangle.

[0063] Calculate the turning radius using the sine theorem of a triangle, as follows:

[0064] R = L / (2 * sin(θ / 2)).

[0065] Step S13: Obtain the front wheel steering angle based on the turning radius and the wheelbase of the vehicle.

[0066] Specifically, in the embodiment of the present application, the steering ratio calibration device calculates the front wheel steering angle based on the turning radius, the wheelbase of the vehicle, and the Ackermann steering model.

[0067] As Figure 5 shown, Figure 5 is a schematic diagram of the transmission ratio automatic calibration method provided by the present application.

[0068] The steering ratio calibration device calculates the vehicle displacement according to the x and y coordinates of two points before and after of the vehicle in the vehicle driving data input module, calculates the angle change amount according to the yaw angles of the vehicle at two points before and after, calculates the turning radius using the sine theorem of a triangle, and calculates the front wheel steering angle in combination with the Ackermann steering model and the wheelbase of the vehicle.

[0069] Calculate the front wheel angle δ by combining the vehicle wheelbase with the Ackermann steering model. The method for calculating the transmission ratio based on the target steering wheel angle and the front wheel angle δ is as follows:

[0070] δ = arctan(wheel_base / R)

[0071] Step S14: Determine the transmission ratio corresponding to the target steering wheel angle based on the target steering wheel angle in the control signal and the front wheel angle.

[0072] After determining the transmission ratio corresponding to the target steering wheel angle, the steering transmission ratio calibration method further includes: storing the calibration value of the transmission ratio and its relationship with the steering wheel angle in a vector table.

[0073] The target steering wheel angle includes the front left calibration steering wheel angle, the front right calibration steering wheel angle, the rear left calibration steering wheel angle, and / or the rear right calibration steering wheel angle.

[0074] Specifically, in the embodiments of the present application, the front wheel angles and the calculated transmission ratio values corresponding to each scale value of the steering wheel angle from -512° to 512° (with an interval of 8°) are stored offline in the form of a vector table.

[0075] The method of saving the 128 calibrations from -512° to 512° with an interval of 8° into only four calibrations for the front left, front right, rear left, and rear right has a low requirement for the calibration test site area. The small-angle transmission ratio calibration can be completed by the vehicle moving a certain distance, without having to drive the semi-circular path in the manual calibration method; by sending the target angle to the electric power steering system (EPS) of the lateral actuator through a program instruction, the control accuracy is significantly better than that of manual driving.

[0076] As Figure 6 shown, Figure 6 is a schematic diagram of the automated calibration mode selection provided by the present application.

[0077] The present application will complete a total of four calibrations for the front left, front right, rear left, and rear right when realizing the automated calibration of the transmission ratio.

[0078] Specifically, after the automated calibration switch is turned on, obtain the driving data input by the vehicle, and judge whether the vehicle speed and acceleration deviation are less than the preset threshold according to the driving data of the vehicle. If so, start the automated calibration, judge whether it is the forward calibration mode. If it is the forward calibration mode, continue to judge whether it is the left-turn calibration mode. If it is the left-turn calibration mode, control the gear and further save offline. If it is not the left-turn calibration mode, then enter the right-turn calibration mode.

[0079] If it is not the forward calibration mode, then enter the reverse calibration mode.

[0080] In an embodiment of the present application, the transmission ratio calibration device determines the vehicle speed and acceleration deviation based on vehicle driving data. If they are greater than or equal to a preset threshold, it determines whether the positioning information is valid. If so, it further determines whether the chassis information is valid. If so, it re-opens the automatic calibration switch.

[0081] In an embodiment of the present application, the transmission ratio calibration device performs mean filtering on the turning radius, displacement, and / or angle change amount. It performs mean filtering on the displacement, yaw angle change amount, turning radius value, and front wheel angle value generated during the transmission ratio calculation.

[0082] In other embodiments of the present application, other filtering algorithms can also be used, such as median filtering, first-order filtering, phase filtering, etc. The present application does not limit the specific filtering algorithm.

[0083] In an embodiment of the present application, the vehicle is controlled to move according to a control signal; the turning radius of the vehicle moving back and forth is obtained; the front wheel angle is obtained based on the turning radius and the wheelbase of the vehicle; and the transmission ratio corresponding to the target steering wheel angle is determined based on the target steering wheel angle in the control signal and the front wheel angle. In this way, the requirement for the calibration test site area is low, and the small-angle transmission ratio calibration can be completed by the vehicle displacing a certain distance, without having to drive the semi-circular path in the manual calibration method.

[0084] The present invention saves the 128 calibrations from -512° to 512° (with an interval of 8°) to only four calibrations at the front left, front right, rear left, and rear right. The requirement for the calibration test site area is low, and the small-angle transmission ratio calibration can be completed by the vehicle displacing a certain distance, without having to drive the semi-circular path in the manual calibration method. The target angle is sent to the electric power steering system (EPS) of the lateral actuator through a program instruction, and the control accuracy is significantly better than that of manual driving.

[0085] To implement the steering transmission ratio calibration method in the above embodiment, the present application also provides a steering transmission ratio calibration device. For details, please refer to Figure 7 , Figure 7 is a schematic structural diagram of an embodiment of the steering transmission ratio calibration device provided by the present application.

[0086] As Figure 7 shown, the steering transmission ratio calibration device 600 in this embodiment includes a processor 61, a memory 62, an input / output device 63, and a bus 64.

[0087] The processor 61, the memory 62, and the input / output device 63 are respectively connected to the bus 64. The memory 62 stores a computer program, and the processor 61 is used to execute the computer program to implement the steering transmission ratio calibration method in the above embodiment.

[0088] In this embodiment, the processor 61 can also be referred to as a CPU (Central Processing Unit). The processor 61 may be an integrated circuit chip with signal processing capabilities. The processor 61 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The processor 61 can also be a GPU (Graphics Processing Unit), also known as a display core, a visual processor, or a display chip, which is a microprocessor specifically for image computing on computers, workstations, game consoles, and some mobile devices (such as tablets, smartphones, etc.). The purpose of the GPU is to convert and drive the display information required by the computer system and provide a line scan signal to the display to control the correct display of the display. It is an important component connecting the display and the computer motherboard. The graphics card, as an important part of the computer host, undertakes the task of outputting and displaying graphics. The general-purpose processor can be a microprocessor or the processor 61 can also be any conventional processor, etc.

[0089] This application also provides a computer storage medium, such as Figure 8 shown, the computer storage medium 700 is used to store a computer program 71, and when the computer program 71 is executed by the processor, it is used to implement the method described in the embodiment of the steering gear ratio calibration method of this application.

[0090] The method involved in the embodiment of the steering gear ratio calibration method of this application, when implemented and existing in the form of a software functional unit and sold or used as an independent product, can be stored in a device, such as a computer-readable storage medium. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs, etc., which can store program codes.

[0091] In several embodiments provided by the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation manners described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division manners. For example, units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0092] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or can be distributed to network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0093] In addition, each functional unit in various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0094] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods in various embodiments of the present application.

[0095] The above is only the embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A steering transmission ratio calibration method, characterized in that: The steering transmission ratio calibration method comprises: Control the vehicle to move according to the control signal; Obtaining a turning radius of the vehicle moving forward and backward; Obtaining a front wheel turning angle based on the turning radius and the wheelbase of the vehicle; Based on the target steering wheel angle in the control signal and the front wheel steering angle, a transmission ratio corresponding to the target steering wheel angle is determined.

2. The steering transmission ratio calibration method according to claim 1, characterized in that: The obtaining of the turning radius of the vehicle moving forward and backward includes: Obtaining the displacement of the vehicle moving forward and backward; Obtaining the angle change of the vehicle moving forward and backward; The turning radius is determined based on the displacement and the angle change.

3. The steering transmission ratio calibration method according to claim 2, characterized in that: The steering transmission ratio calibration method further includes: Mean filtering is performed on the turning radius, displacement, and / or angle change.

4. The steering transmission ratio calibration method according to claim 1, characterized in that: The target steering wheel angle includes a front left calibrated steering wheel angle, a front right calibrated steering wheel angle, a rear left calibrated steering wheel angle, and / or a rear right calibrated steering wheel angle.

5. The steering transmission ratio calibration method according to claim 1, characterized in that: The step of controlling the vehicle to move according to the control signal comprises: Determine the moving direction according to the flag bit in the control signal; determining a movement size according to a target steering wheel angle in the control signal; The vehicle is controlled to move according to the moving direction and the moving size.

6. The steering transmission ratio calibration method according to claim 1, characterized in that: After determining the transmission ratio corresponding to the target steering wheel angle, the steering transmission ratio calibration method further includes: The calibrated value of the transmission ratio and the transmission ratio relationship of the steering wheel angle are stored in a vector table.

7. The steering transmission ratio calibration method according to claim 1, characterized in that: The obtaining of the front wheel turning angle based on the turning radius and the wheelbase of the vehicle includes: The front wheel turning angle is calculated based on the turning radius, the wheelbase of the vehicle and an Ackerman steering model.

8. The steering transmission ratio calibration method according to claim 1, characterized in that: Before controlling the vehicle to move according to the control signal, the steering transmission ratio calibration method further includes: Obtaining the current speed and acceleration of the vehicle; In response to the difference between the current vehicle speed and the target vehicle speed being smaller than a first preset value, and the current acceleration being smaller than a second preset value, the control signal is generated.

9. A steering transmission ratio calibration device, characterized in that: The steering transmission ratio calibration device includes a memory and a processor coupled to the memory; The memory is used to store program data, and the processor is used to execute the program data to implement the steering transmission ratio calibration method as described in any one of claims 1 to 8.

10. A computer storage medium, characterized in that: The computer storage medium is used to store program data, and when the program data is executed by a computer, it is used to implement the steering transmission ratio calibration method according to any one of claims 1 to 8.

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