Method and device for automatically adjusting middle position of steering wheel

Abstract

The invention relates to the technical field of vehicle steering control, in particular to an automatic adjusting method and device for the neutral position of a steering wheel, and the method comprises the steps that the current turning angle and the duration time of the steering wheel in the straight driving process are obtained; judging whether constant-speed deviation occurs or not according to the current rotation angle and the duration time, and acquiring a deviation torque, an initial median torque and an initial median rotation angle under the current rotation angle under the condition that the constant-speed deviation is judged to occur; and a response current instruction is generated according to the deviation torque and the initial median torque, so that the deviation torque is eliminated through the response current instruction, and the current rotation angle is adjusted to the initial median rotation angle. Therefore, the problems that an existing conventional post-treatment scheme for vehicle deviation can only correct the mechanical reference, cannot respond to sudden deviation in time in the driving process and cannot conduct automatic adjustment are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle steering control, and particularly to an automatic adjustment method and device for the steering wheel neutral position when a vehicle runs off course. Background Art

[0002] When a vehicle deviates from its intended trajectory due to the superposition of various complex factors during driving, the driver needs to continuously counteract the steering wheel to maintain straight driving. This often requires the driver to constantly tense their muscles to counteract the vehicle deviation trend. Over time, the driver will experience obvious fatigue and frustration. Especially when the vehicle shows continuous and non-linear deviation on highways or in complex road conditions, the driver has to shift their attention from observing the road conditions to correcting the direction, forming a vicious cycle of "correction - deviation - re-correction", which ultimately leads to a decline in decision-making efficiency and a lag in emergency response, significantly increasing the risk of secondary accidents such as rear-end collisions and scratches.

[0003] Traditional four-wheel alignment and steering wheel calibration, as conventional post-disposal solutions for running off course, usually involve lifting the vehicle to detect suspension geometric parameters (such as caster angle, toe angle, camber angle) and adjusting them to the design tolerance range, and then calibrating the zero position of the steering wheel using a steering angle sensor to eliminate static alignment deviations caused by mechanical wear, collision deformation, or abnormal tire wear. However, this method can only correct the mechanical reference and cannot respond to sudden running off course in a timely manner during driving and make automatic adjustments. Summary of the Invention

[0004] The present invention provides an automatic adjustment method and device for the steering wheel neutral position to solve problems such as that the conventional post-disposal solutions for existing vehicle running off course can only correct the mechanical reference and cannot respond to sudden running off course in a timely manner during driving and make automatic adjustments.

[0005] In a first aspect embodiment of the present invention, a vehicle steering wheel automatic adjustment device is provided, including: an outer rotation mechanism and a motor. Among them, the outer rotation mechanism is sleeved at the tube column locking position of the steering wheel and is sleeved on the steering wheel base through a fixing plate, and the motor is connected to the outer rotation mechanism.

[0006] Optionally, the outer rotation mechanism includes a worm gear, a worm, and a rotary bearing. Among them, the tooth grooves of the worm gear are helically meshed with the helical teeth of the worm, the worm is electrically connected to the motor, and the rotary bearing is respectively key-connected to the worm gear and the tube column locking position.

[0007] In a second aspect embodiment of the present invention, an automatic adjustment method for the steering wheel center position is provided, including the following steps: obtaining the current steering angle and duration of the steering wheel during straight driving; judging whether uniform deviation occurs according to the current steering angle and the duration, and in the case of judging that uniform deviation occurs, obtaining the deviation torque, the initial center position torque and the initial center position steering angle at the current steering angle; generating a response current command according to the deviation torque and the initial center position torque to eliminate the deviation torque through the response current command, and adjusting the current steering angle to the initial center position steering angle.

[0008] Optionally, the judging whether uniform deviation occurs according to the current steering angle and the duration includes:

[0009] obtaining the initial center position steering angle of the vehicle, comparing the current steering angle with the initial center position steering angle to obtain a steering angle difference;

[0010] judging the comparison between the duration and a preset time requirement to obtain a time difference;

[0011] determining whether a deviation torque is generated according to the steering angle difference and the time difference, and in the case of generating the deviation torque, obtaining the current yaw angle, the current yaw rate and the current lateral acceleration of the vehicle, calculating the yaw degree according to the current yaw angle, the current yaw rate and the current lateral acceleration, and determining whether uniform deviation occurs according to the yaw degree.

[0012] Optionally, the generating a response current command according to the deviation torque and the initial center position torque to eliminate the deviation torque through the response current command, and adjusting the current steering angle to the initial center position steering angle includes:

[0013] generating a response current command according to the deviation torque and the initial center position torque;

[0014] sending the response current command to the vehicle steering system to eliminate the deviation torque;

[0015] after the deviation torque is eliminated, sending the response current command to the vehicle steering wheel automatic adjustment component, and adjusting the current steering angle to the initial center position steering angle through the vehicle steering wheel automatic adjustment device.

[0016] An embodiment of the third aspect of the present invention provides an automatic adjustment device for the steering wheel neutral position, including: an acquisition module, configured to acquire the current steering angle and the duration during straight driving of the steering wheel; a judgment module, configured to judge whether uniform deviation occurs according to the current steering angle and the duration, and in the case of judging that uniform deviation occurs, acquire the deviation torque, the initial neutral torque, and the initial neutral steering angle at the current steering angle; an adjustment module, configured to generate a response current command according to the deviation torque and the initial neutral torque, so as to eliminate the deviation torque through the response current command and adjust the current steering angle to the initial neutral steering angle.

[0017] Optionally, the judgment module includes:

[0018] A first comparison unit, configured to acquire the initial neutral steering angle of the vehicle, compare the current steering angle with the initial neutral steering angle, and obtain a steering angle difference;

[0019] A second comparison unit, configured to judge the comparison between the duration and a preset time requirement to obtain a time difference;

[0020] A judgment unit, configured to determine whether a deviation torque is generated according to the steering angle difference and the time difference, and in the case of generating the deviation torque, acquire the current yaw angle, the current yaw rate, and the current lateral acceleration of the vehicle, calculate the yaw degree according to the current yaw angle, the current yaw rate, and the current lateral acceleration, and determine whether uniform deviation occurs according to the yaw degree.

[0021] Optionally, the adjustment module includes:

[0022] A generation unit, configured to generate a response current command according to the deviation torque and the initial neutral torque;

[0023] A deviation torque elimination unit, configured to send the response current command to the vehicle steering system to eliminate the deviation torque;

[0024] A steering angle adjustment unit, configured to, after the deviation torque is eliminated, send the response current command to the vehicle steering wheel automatic adjustment component, and adjust the current steering angle to the initial neutral steering angle through the vehicle steering wheel automatic adjustment device.

[0025] An embodiment of the fourth aspect of the present invention provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the automatic adjustment method for the steering wheel neutral position as described in the above embodiment.

[0026] In a fifth aspect embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, which when executed by a processor, implements the above-described automatic adjustment method for the middle position of the steering wheel.

[0027] The automatic adjustment method and device for the middle position of the steering wheel proposed in the embodiments of the present invention determine whether the vehicle is running at a constant speed and deviating by obtaining the current steering angle and duration of the steering wheel during straight driving. After determining that the vehicle is running at a constant speed and deviating, real-time vehicle data is obtained to generate a response current command, and the response current command is used to control the vehicle steering system and a preset vehicle steering wheel automatic adjustment device pre-set on the steering wheel in sequence to automatically compensate for the deviation angle and deviation torque, thus meeting the requirement of promptly responding to sudden deviation during driving and automatically adjusting, solving the time-consuming problem of the conventional after-treatment solution for vehicle deviation and the problem of not being able to solve the deviation trouble during driving, and improving the driving experience and safety of the driver.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0030] Figure 1 is a flowchart of an automatic adjustment method for the middle position of a steering wheel provided by an embodiment of the present invention;

[0031] Figure 2 is an execution diagram of an automatic adjustment method for the middle position of a steering wheel provided by an embodiment of the present invention;

[0032] Figure 3 is a specific execution diagram of an automatic adjustment method for the middle position of a steering wheel provided by an embodiment of the present invention;

[0033] Figure 4 is a structural diagram of a vehicle steering wheel automatic adjustment device provided by an embodiment of the present invention, where (a) is a front view of the vehicle steering wheel automatic adjustment device, and (b) is a sectional view of the vehicle steering wheel automatic adjustment device;

[0034] Figure 5 is a block diagram of an automatic adjustment device for the middle position of a steering wheel provided by an embodiment of the present invention;

[0035] Figure 6 is a structural diagram of a vehicle provided by an embodiment of the present invention.

[0036] Description of the reference numerals:

[0037] 401 - External rotation mechanism, 4011 - Worm gear, 4012 - Worm, 4013 - Rotation bearing, 402 - Motor, 403 - Pipe locking position, 404 - Fixed plate, 405 - Steering wheel base. Detailed implementation manners

[0038] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention, but should not be construed as a limitation to the present invention.

[0039] The automatic adjustment method and device for the middle position of the steering wheel according to the embodiments of the present invention will be described below with reference to the drawings.

[0040] Figure 1 It is a schematic flowchart of an automatic adjustment method for the middle position of the steering wheel provided by the embodiments of the present invention.

[0041] As Figure 1 shown, the automatic adjustment method for the middle position of the steering wheel includes the following steps:

[0042] In step S101, obtain the current steering angle and the duration during the straight - line driving of the steering wheel.

[0043] In step S102, determine whether uniform deviation occurs according to the current steering angle and the duration. In the case where it is determined that uniform deviation occurs, obtain the deviation torque and the initial middle - position torque at the current steering angle.

[0044] In some embodiments, determining whether uniform deviation occurs according to the current steering angle and the duration includes:

[0045] Obtain the initial middle - position steering angle of the vehicle, and compare the current steering angle with the initial middle - position steering angle to obtain a steering - angle difference;

[0046] Compare the duration with the preset time requirement to obtain a time difference;

[0047] Determine whether a deviation torque is generated according to the steering - angle difference and the time difference. In the case where a deviation torque is generated, obtain the current yaw angle, the current yaw - angle rate, and the current lateral acceleration of the vehicle, and calculate the yaw degree according to the current yaw angle, the current yaw - angle rate, and the current lateral acceleration, and determine whether uniform deviation occurs according to the yaw degree.

[0048] In the actual execution process, as Figure 2 and3 As shown, in the vehicle's CAN network, the current steering wheel angle and duration during straight-line driving are collected, and the standard conditions during straight-line driving preset in the vehicle's CAN network are obtained, that is, the initial median angle and the preset time requirement. The current angle is compared with the initial median angle, and the duration is compared with the preset time requirement respectively to obtain the angle difference and the time difference, so as to determine whether a deviation torque is generated according to the angle difference and the time difference. In the case of generating a deviation torque, the current yaw angle, the current yaw rate and the current lateral acceleration of the vehicle are obtained through the vehicle's IMU, and the yaw degree is calculated according to the current yaw angle, the current yaw rate and the current lateral acceleration, and it is judged whether the vehicle has uniform deviation according to the yaw degree. In the case of judging that uniform deviation has occurred, the deviation torque and the initial median torque at the current angle are obtained through the vehicle's CAN network.

[0049] For example, during normal straight-line driving, if the difference between the initial median angle and the current angle does not exceed ±1.5°, and the difference between the duration and the preset time requirement does not exceed 10 s, it is judged that the vehicle does not generate a deviation torque at present, and the vehicle will not have uniform deviation.

[0050] During normal straight-line driving, if the difference between the initial median angle and the current angle exceeds ±1.5°, and the difference between the duration and the preset time requirement exceeds 10 s, it is judged that the vehicle generates a deviation torque at present; after determining the deviation distance, the current yaw angle, the current yaw rate and the current lateral acceleration of the vehicle are obtained through the vehicle's IMU, and the yaw degree is calculated according to the current yaw angle, the current yaw rate and the current lateral acceleration, and it is judged whether the vehicle has yaw. If there is no yaw, it is determined that the vehicle has uniform deviation, otherwise, it is determined that the vehicle has non-uniform deviation.

[0051] In step S103, a response current command is generated according to the deviation torque and the initial median torque to eliminate the deviation torque through the response current command and adjust the current angle to the initial median angle.

[0052] In some embodiments, generating a response current command according to the deviation torque and the initial median torque to eliminate the deviation torque through the response current command and adjust the current angle to the initial median angle includes:

[0053] Generating a response current command according to the deviation torque and the initial median torque;

[0054] Sending the response current command to the vehicle steering system to eliminate the deviation torque;

[0055] After the deviation torque is eliminated, a response current command is sent to the vehicle steering wheel automatic adjustment component, and the current steering angle is adjusted to the initial middle steering angle through the vehicle steering wheel automatic adjustment device.

[0056] During the actual execution process, such as Figure 2 and 3 shown, it is determined that the vehicle generates a response current command according to the deviation torque and the initial middle torque, the response current command is sent to the vehicle steering system to eliminate the deviation torque, and after the deviation torque is eliminated, the response current command is sent to the preset vehicle steering wheel automatic adjustment component, and the current steering angle is adjusted to the initial middle steering angle through the preset vehicle steering wheel automatic adjustment device.

[0057] Among them, as Figure 4 shown, the vehicle steering wheel automatic adjustment device includes an outer rotation mechanism 401 and a motor 402. The outer rotation mechanism 401 includes a worm gear 4011, a worm 4012 and a rotary bearing 4013. Among them, the outer rotation mechanism 401 is sleeved at the tube locking position 403 of the steering wheel and is sleeved on the steering wheel base 405 through a fixing plate 404. The spiral teeth of the worm 4012 are helically meshed with the tooth grooves of the worm gear 4011. The rotary bearings 4013 are respectively key-connected to the worm gear 4011 and the tube locking position 403 of the steering wheel. The motor 402 is connected to the worm 4012 of the outer rotation mechanism 401. After the preset vehicle steering wheel automatic adjustment device receives the response current command, the motor 402 performs forward and reverse rotation according to the response current command to drive the worm 4012 to rotate. When the worm 4012 rotates, its spiral tooth surface pushes the tooth grooves of the worm gear 4011, causing the worm gear 4011 to rotate. The worm gear 4011 drives the steering wheel to rotate left and right through the rotary bearing 4013 to adjust the current steering angle to the initial middle steering angle.

[0058] In summary, according to the automatic adjustment method of the steering wheel middle position proposed in the embodiment of the present invention, it is determined whether the vehicle has a uniform deviation by obtaining the current steering angle and the duration of the steering wheel during straight driving. After determining that there is a uniform deviation, the real-time data of the vehicle is obtained to generate a response current command. The response current command is used to control the vehicle steering system and the preset vehicle steering wheel automatic adjustment device preset on the steering wheel successively to automatically compensate for the deviation angle and the deviation torque, thereby realizing the requirement of timely responding to sudden deviation and automatic adjustment during driving, solving the time-consuming problem of the conventional after-treatment scheme for vehicle deviation and the problem of not being able to solve the deviation problem during driving, and improving the driving experience and safety of the driver during driving.

[0059] Secondly, refer to the drawings to describe the automatic adjustment device of the steering wheel middle position proposed in the embodiment of the present invention.

[0060] Figure 5It is a block diagram of an automatic steering wheel neutral position adjustment device provided by an embodiment of the present invention.

[0061] As Figure 5 shown, the automatic steering wheel neutral position adjustment device 50 includes: an acquisition module 501, a judgment module 502, and an adjustment module 503.

[0062] Among them, the acquisition module 501 is used to acquire the current steering angle and duration of the steering wheel during straight driving. The judgment module 502 is used to judge whether uniform deviation occurs according to the current steering angle and duration. In the case of judging that uniform deviation occurs, the deviation torque, the initial neutral torque, and the initial neutral steering angle at the current steering angle are acquired. The adjustment module 503 is used to generate a response current command according to the deviation torque and the initial neutral torque, so as to eliminate the deviation torque through the response current command and adjust the current steering angle to the initial neutral steering angle.

[0063] In some embodiments, the judgment module 502 includes:

[0064] A first comparison unit, which acquires the initial neutral steering angle of the vehicle, compares the current steering angle with the initial neutral steering angle, and obtains a steering angle difference;

[0065] A second comparison unit, which is used to judge the comparison between the duration and the preset time requirement to obtain a time difference;

[0066] A judgment unit, which is used to determine whether a deviation torque is generated according to the steering angle difference and the time difference. In the case of generating a deviation torque, the current yaw angle, the current yaw rate, and the current lateral acceleration of the vehicle are acquired, and the yaw degree is calculated according to the current yaw angle, the current yaw rate, and the current lateral acceleration, and it is determined whether uniform deviation occurs according to the yaw degree.

[0067] In some embodiments, the adjustment module 503 includes:

[0068] A generation unit, which is used to generate a response current command according to the deviation torque and the initial neutral torque;

[0069] A deviation torque elimination unit, which is used to send the response current command to the vehicle steering system to eliminate the deviation torque;

[0070] An adjustment steering angle unit, which is used to send the response current command to a preset vehicle steering wheel automatic adjustment component after the deviation torque is eliminated, and adjust the current steering angle to the initial neutral steering angle through the preset vehicle steering wheel automatic adjustment device.

[0071] In some embodiments, the preset vehicle steering wheel automatic adjustment device includes an external rotation mechanism and a motor provided on the steering wheel, and the external rotation mechanism and the motor in the preset vehicle steering wheel automatic adjustment device are used to adjust the current rotation angle to the initial middle rotation angle.

[0072] It should be noted that the foregoing explanation of the embodiments of the automatic adjustment method for the middle position of the steering wheel also applies to the automatic adjustment device for the middle position of the steering wheel in this embodiment, and will not be elaborated here.

[0073] According to the automatic adjustment device for the middle position of the steering wheel proposed in the embodiments of the present invention, it is determined whether the vehicle has uniform deviation by obtaining the current rotation angle and duration of the steering wheel during straight driving. After determining that there is uniform deviation, real-time vehicle data is obtained to generate a response current command. The response current command is used to control the vehicle steering system and the preset vehicle steering wheel automatic adjustment device preset on the steering wheel in sequence, so as to automatically compensate for the deviation rotation angle and deviation torque. Thus, the need to respond to sudden deviation in a timely manner and perform automatic adjustment during driving is realized, the time-consuming problem of the conventional after-treatment solution for vehicle deviation and the problem of deviation during driving that cannot be solved are solved, and the driving experience and safety of the driver during driving are improved.

[0074] Figure 6 This is a schematic structural diagram of a vehicle provided by the embodiments of the present invention. The vehicle may include:

[0075] A memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.

[0076] When the processor 602 executes the program, it implements the automatic adjustment method for the middle position of the steering wheel provided in the above embodiments.

[0077] Furthermore, the vehicle further includes:

[0078] A communication interface 603 for communication between the memory 601 and the processor 602.

[0079] The memory 601 is used to store a computer program executable on the processor 602.

[0080] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0081] If the memory 601, the processor 602, and the communication interface 603 are implemented independently, the communication interface 603, the memory 601, and the processor 602 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 only a thick line is used in Figure 6 , but this does not mean that there is only one bus or one type of bus.

[0082] Optionally, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a single chip, the memory 601, the processor 602, and the communication interface 603 can communicate with each other via an internal interface.

[0083] The processor 602 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0084] The embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the automatic adjustment method for the middle position of the steering wheel as described above is implemented.

[0085] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, without conflict, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0086] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0087] Any process or method description represented in a flowchart or described otherwise herein may be understood to represent a module, segment, or portion of code including one or N executable instructions for implementing a customized logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations where functions may be executed in a substantially simultaneous manner or in an order opposite to that shown or discussed, according to the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0088] The logic and / or steps represented in a flowchart or described otherwise herein, for example, may be considered as a sequenced list of executable instructions for implementing a logical function and may be embodied specifically in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection portion having one or N wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpretation, or otherwise processing as appropriate, and then stored in a computer memory.

[0089] It should be understood that each part of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, any one or a combination of the following technologies well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logic functions on data signals, application specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0090] Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program. The said program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0091] In addition, in each of the embodiments of the present invention, the functional units can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0092] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A vehicle steering wheel automatic adjustment device, characterized in that: include: An external rotating mechanism and a motor, wherein the external rotating mechanism is sleeved on a column locking portion of a steering wheel and sleeved on a steering wheel base via a fixing plate, and the motor is connected to the external rotating mechanism.

2. The vehicle steering wheel automatic adjustment device according to claim 1, characterized in that: The external rotating mechanism includes a worm wheel, a worm and a rotating bearing, wherein: The tooth grooves of the worm wheel are helically meshed with the helical teeth of the worm, the worm is electrically connected to the motor, and the rotary bearing is key-connected to the worm wheel and the locking part of the pipe column respectively.

3. A method for automatically adjusting the center position of a steering wheel, characterized in that: The vehicle steering wheel automatic adjustment device according to any one of claims 1 to 2 comprises the following steps: Get the current steering angle and duration of the steering wheel during straight-line driving; Determining whether uniform speed deviation occurs according to the current turning angle and the duration, and if uniform speed deviation occurs, obtaining the deviation torque, initial median torque and initial median turning angle at the current turning angle; A response current command is generated according to the yaw torque and the initial median torque, so as to eliminate the yaw torque through the response current command and adjust the current steering angle to the initial median steering angle.

4. The method for automatically adjusting the neutral position of a steering wheel according to claim 3, characterized in that: The determining whether uniform speed deviation occurs according to the current turning angle and the duration includes: Obtaining an initial median turning angle of the vehicle, and comparing the current turning angle with the initial median turning angle to obtain a turning angle difference; Determine and compare the duration with a preset time requirement to obtain a time difference; Determine whether a deviation moment is generated according to the steering angle difference and the time difference; if the deviation moment is generated, obtain the current yaw angle, the current yaw angular rate and the current lateral acceleration of the vehicle, calculate the yaw degree according to the current yaw angle, the current yaw angular rate and the current lateral acceleration, and determine whether a uniform speed deviation occurs according to the yaw degree.

5. The method for automatically adjusting the neutral position of a steering wheel according to claim 3, characterized in that: The step of generating a response current command according to the deviation torque and the initial median torque, so as to eliminate the deviation torque by using the response current command and adjust the current turning angle to the initial median turning angle, comprises: generating a response current command according to the deviation torque and the initial neutral torque; Sending the response current command to a vehicle steering system to eliminate the deviation torque; After the deviation torque is eliminated, the response current instruction is sent to the vehicle steering wheel automatic adjustment component, and the current steering angle is adjusted to the initial median steering angle through the vehicle steering wheel automatic adjustment device.

6. An automatic adjustment device for the center position of a steering wheel, characterized in that: The vehicle steering wheel automatic adjustment device described in claims 1-2 comprises the following steps: An acquisition module is used to acquire the current turning angle and duration of the steering wheel during straight-line driving; a judgment module, configured to judge whether uniform speed deviation occurs according to the current turning angle and the duration, and if uniform speed deviation occurs, obtain the deviation torque, initial median torque and initial median turning angle at the current turning angle; The regulating module is used to generate a response current instruction according to the deviation torque and the initial median torque, so as to eliminate the deviation torque through the response current instruction and adjust the current steering angle to the initial median steering angle.

7. The automatic adjustment device for the center position of the steering wheel according to claim 6, characterized in that: The judging module comprises: A first comparison unit, which obtains an initial median turning angle of the vehicle, and compares the current turning angle with the initial median turning angle to obtain a turning angle difference; A second comparison unit is used to compare the duration with a preset time requirement to obtain a time difference; A judgment unit is used to determine whether a deviation moment is generated according to the steering angle difference and the time difference; in the case where the deviation moment is generated, obtain a current yaw angle, a current yaw angular rate and a current lateral acceleration of the vehicle; calculate a yaw degree according to the current yaw angle, the current yaw angular rate and the current lateral acceleration; and determine whether a uniform speed deviation occurs according to the yaw degree.

8. The automatic adjustment device for the center position of the steering wheel according to claim 6, characterized in that: The adjustment module comprises: A generating unit, configured to generate a response current instruction according to the deviation torque and the initial neutral torque; A torque elimination unit, used for sending the response current instruction to a vehicle steering system to eliminate the deviation torque; The steering angle adjustment unit is used to send the response current instruction to the preset vehicle steering wheel automatic adjustment component after the deviation torque is eliminated, and adjust the current steering angle to the initial median steering angle through the preset vehicle steering wheel automatic adjustment device.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for automatically adjusting the center position of the steering wheel as described in any one of claims 3 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the automatic adjustment method for the neutral position of a steering wheel as described in any one of claims 3 to 5.

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