Calibration function control method for steering wheel angle, vehicle and storage medium

Abstract

This application provides a method for controlling a steering wheel angle calibration function, a vehicle, and a storage medium. The method includes: acquiring steering wheel angle data of the vehicle in response to the calibration function entering an active state from a standby state, wherein the calibration function is used to calibrate the steering wheel angle of the vehicle; determining a target state of the calibration function based on the steering wheel angle data; controlling the calibration function to enter the target state from the active state and calibrating the steering wheel angle using the calibration function; and controlling the calibration function to enter a standby state in response to the completion of steering wheel angle calibration. This application solves the technical problem of poor control accuracy of calibration functions in related technologies.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, specifically to a steering wheel angle calibration function control method, a vehicle, and a storage medium. Background Technology

[0002] In intelligent driving systems, lane keeping and centering control functions are crucial for driving safety and comfort. The accuracy of the steering wheel angle directly determines the precision of the intelligent driving system's control over the vehicle's trajectory. Currently, the steering wheel angle can be calibrated using the intelligent driving system's calibration function. However, the current calibration function's control strategy has poor accuracy, resulting in poor calibration effect on the steering wheel angle.

[0003] There is currently no good solution to the above problems. Summary of the Invention

[0004] This application provides a steering wheel angle calibration function control method, a vehicle, and a storage medium to at least solve the technical problem of poor control accuracy of the calibration function in related technologies.

[0005] According to one aspect of the embodiments of this application, a method for controlling a steering wheel angle calibration function is provided, comprising: in response to the calibration function entering an active state from a standby state, acquiring steering wheel angle data of a vehicle, wherein the calibration function is used to calibrate the steering wheel angle of the vehicle; determining a target state of the calibration function based on the steering wheel angle data; controlling the calibration function to enter the target state from the active state, and using the calibration function to calibrate the steering wheel angle; and in response to the completion of the steering wheel angle calibration, controlling the calibration function to enter a standby state from the target state.

[0006] Furthermore, based on the steering wheel angle data, the target state of the calibration function is determined, including: obtaining historical calibration values ​​of the steering wheel angle, wherein the historical calibration values ​​are used to characterize the calibration values ​​used by the calibration function in the historical calibration cycle; determining the current calibration value of the steering wheel angle based on the steering wheel angle data, wherein the current calibration value is used to characterize the calibration value used by the calibration function in the current calibration cycle; and determining the target state based on the current calibration value and the historical calibration values.

[0007] Furthermore, based on the current calibration value and historical calibration values, the target state is determined, including: if the current calibration value is greater than the preset calibration value, the target state is determined to be an over-limit warning state, wherein the over-limit warning state is used to characterize the current calibration value as exceeding the upper limit of the calibration capability of the calibration function; if the current calibration value is less than or equal to the preset calibration value, the deviation value between the current calibration value and the historical calibration value is determined, and the target state is determined based on the deviation value.

[0008] Further, based on the deviation value, the target state is determined, including: if the deviation value is greater than a preset deviation value, the target state is determined to be a calibration update state, wherein the calibration update state is used to characterize the state of updating the calibration value used by the calibration function; if the deviation value is less than or equal to the preset deviation value, the target state is determined to be a calibration maintenance state, wherein the calibration maintenance state is used to characterize the state of maintaining the calibration value used by the calibration function.

[0009] Furthermore, the steering wheel angle is calibrated using the calibration function, including: when the target state is not an over-limit warning state, determining the target calibration value of the steering wheel angle based on the target state, and calibrating the steering wheel angle based on the target calibration value.

[0010] Preferably, the method further includes: when the target state is an over-limit warning state, outputting a warning message, wherein the warning message is used to prompt the steering wheel angle to be checked.

[0011] Preferably, determining the target calibration value of the steering wheel angle based on the target state includes: determining the current calibration value as the target calibration value when the target state is a calibration update state; and determining the historical calibration value as the target calibration value when the target state is a calibration maintenance state.

[0012] Furthermore, controlling the calibration function to enter the standby state from the target state includes: obtaining the target duration of the calibration function in the target state; and controlling the calibration function to enter the standby state when the target duration is greater than or equal to the preset duration.

[0013] Furthermore, the method also includes: acquiring the vehicle status, wherein the vehicle status is used to indicate whether the vehicle's preset functions are enabled, wherein the preset functions are used to indicate the functions that support the operation of the calibration function; when the calibration function is in the off state and the vehicle status indicates that the vehicle's preset functions are enabled, controlling the calibration function to enter the standby state from the off state; when the calibration function is not in the off state and the vehicle status indicates that the vehicle's preset functions are not enabled, controlling the calibration function to enter the off state from the current state.

[0014] Preferably, the method further includes: acquiring the vehicle's fault status when the calibration function is not turned off, wherein the fault status is used to characterize whether the vehicle has a preset type of fault; and controlling the calibration function to switch states based on the fault status.

[0015] Preferably, the calibration function is controlled to switch states based on the fault status, including: when the calibration function is in a passive waiting state and the fault status indicates that the vehicle does not have a preset type of fault, the calibration function is controlled to switch from the passive waiting state to a standby state, wherein the passive waiting state is used to indicate the state of waiting for the fault to be repaired; when the calibration function is in a standby state or an active state and the fault status indicates that the vehicle has a preset type of fault, the calibration function is controlled to switch from the current state to a passive waiting state.

[0016] Furthermore, the method also includes: acquiring the vehicle's driving status when the calibration function is in standby or active state, wherein the driving status is used to characterize whether the vehicle's driving parameters meet preset conditions; and controlling the calibration function to switch states based on the driving status.

[0017] Preferably, the calibration function is controlled to switch states based on the driving status, including: when the calibration function is in standby state and the driving parameters of the vehicle, which represent the driving status, meet the preset conditions, the calibration function is controlled to switch from standby state to active state; when the calibration function is in active state and the driving parameters of the vehicle, which represent the driving status, do not meet the preset conditions, the calibration function is controlled to switch from active state to standby state.

[0018] According to another aspect of the embodiments of this application, a steering wheel angle calibration function control device is also provided, comprising: a data acquisition module, configured to acquire steering wheel angle data of a vehicle in response to the calibration function entering an active state from a standby state, wherein the calibration function is used to calibrate the steering wheel angle of the vehicle; a state determination module, configured to determine a target state of the calibration function based on the steering wheel angle data; an angle calibration module, configured to control the calibration function to enter the target state from the active state and calibrate the steering wheel angle using the calibration function; and a first switching module, configured to control the calibration function to enter a standby state from the target state in response to the completion of the steering wheel angle calibration.

[0019] According to another aspect of the embodiments of this application, a vehicle is also provided, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of this application when it runs.

[0020] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of this application.

[0021] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of this application.

[0022] According to another aspect of the embodiments of this application, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods in various embodiments of this application.

[0023] According to another aspect of the embodiments of this application, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of this application.

[0024] In this embodiment, the system acquires vehicle steering wheel angle data in response to the calibration function transitioning from standby to activation. The calibration function calibrates the vehicle's steering wheel angle. Based on the steering wheel angle data, a target state for the calibration function is determined. The calibration function is then controlled to transition from activation to the target state and calibrate the steering wheel angle. Upon completion of the calibration, the calibration function transitions from the target state back to standby. By dynamically acquiring steering wheel angle data while the calibration function transitions from standby to activation, and flexibly determining the current calibration requirements based on this data, the system ensures that the target state of the calibration function matches the actual calibration requirements. This avoids the inaccuracies caused by relying on fixed thresholds or manual intervention in related technologies. Subsequently, the calibration function accurately calibrates the steering wheel angle according to the target state and automatically returns to standby after calibration. This allows for adaptive triggering, precise control, and closed-loop management of the calibration process, thereby improving the responsiveness and operational reliability of the calibration function and solving the problem of poor control accuracy in related technologies. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0026] Figure 1 This is a flowchart of a steering wheel angle calibration function control method according to an embodiment of this application;

[0027] Figure 2 This is a schematic diagram of an optional target state determination process according to an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of an optional calibration function state switching according to an embodiment of this application;

[0029] Figure 4This is a schematic diagram of the state switching logic of an optional calibration function according to an embodiment of this application;

[0030] Figure 5 This is a schematic diagram of the state switching process of an optional calibration function according to an embodiment of this application;

[0031] Figure 6 This is a schematic diagram of a steering wheel angle calibration function control device according to an embodiment of this application. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] According to an embodiment of this application, an embodiment of a steering wheel angle calibration function control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0035] This embodiment provides a method for controlling the calibration function of the steering wheel angle. Figure 1 This is a flowchart of a steering wheel angle calibration function control method according to an embodiment of this application, such as... Figure 1 As shown, the process includes the following steps:

[0036] Step S102: In response to the calibration function entering the active state from the standby state, the vehicle's steering wheel angle data is acquired, wherein the calibration function is used to calibrate the vehicle's steering wheel angle.

[0037] The aforementioned calibration function can refer to a software module in an intelligent driving system that automatically detects and corrects the systematic deviation between the output value of the steering wheel angle sensor and the actual driving trajectory of the vehicle. It can calculate and update the steering wheel zero-position offset calibration value by fusing lane line information perceived by the forward-looking camera, yaw rate output by the IMU (Inertial Measurement Unit), and vehicle dynamic state parameters, so that the lane centering control strategy can perform trajectory calibration based on the real steering angle.

[0038] The aforementioned standby state can be a running state in which the calibration function is enabled but not in operation. In this state, the calibration function may not perform steering wheel angle calibration calculations, the calibration parameters will retain the valid values ​​from the last calibration, and the calibration function will only maintain basic power supply and communication connection, without starting the calibration acquisition process or data processing logic.

[0039] The aforementioned activation state can be the operating state that the calibration function enters after being triggered by external commands or internal conditions. In this state, the calibration function can collect steering wheel angle data during vehicle operation and calculate calibration parameters for the steering wheel angle.

[0040] The aforementioned steering wheel angle data can be an electrical signal collected by an angle sensor installed on the steering column or steering gear, which is then converted from an analog to a digital signal and output as a digital quantity. This digital quantity can be used to represent the rotation angle value of the steering wheel relative to the neutral position and is a direct input signal for vehicle lateral control.

[0041] In one optional embodiment, considering that the steering wheel angle sensor in a vehicle's steering system may experience zero-point drift or calibration deviation due to long-term use or environmental changes, resulting in a discrepancy between the steering wheel angle and the driver's actual operation, thus reducing vehicle safety during driving, the calibration function, upon transitioning from standby to activation, indicates that it is ready to calibrate the steering wheel angle. At this point, the calibration function can acquire the vehicle's current steering wheel angle data as the basis for calibration calculations, ensuring the accuracy and consistency of subsequent calibration processes.

[0042] For example, when the calibration function is activated, the control system can continuously acquire raw signals from the steering wheel angle sensor and simultaneously fuse lane line geometry parameters from the forward-facing camera with the yaw rate output from the inertial measurement unit to obtain fused data. Subsequently, the control system can perform a moving average processing on the fused data over N consecutive seconds to generate an estimated steering angle deviation for the current moment, which serves as the steering wheel angle data.

[0043] For example, in order to ensure the accuracy of steering wheel angle data acquisition, the control system can start the steering wheel angle data acquisition process when the vehicle speed, lane curvature radius, rear axle lateral position deviation and heading angle deviation are all within the corresponding range. The vehicle controller filters the sampled data from the steering wheel angle sensor to eliminate high-frequency noise interference and retain low-frequency stable components to form steering wheel angle data.

[0044] For example, in order to ensure the stability of steering wheel angle data acquisition, the control system can read the real-time output of the steering wheel angle sensor and combine it with the vehicle's longitudinal speed and lane curvature information to form steering wheel angle data when the lane centering control function is activated and there are no critical sensor failures.

[0045] Step S104: Determine the target state of the calibration function based on the steering wheel angle data.

[0046] The aforementioned target state can refer to the calibration state that the control system enters when the steering wheel angle data shows different degrees of error, corresponding to the error level. In this target state, the calibration function can accurately calibrate the steering wheel angle according to the error level.

[0047] In one alternative embodiment, considering that steering wheel angle data reflects the input state of the steering system, and that the calibration function needs to employ corresponding calibration strategies for different input states to improve calibration accuracy, the control system can use this steering wheel angle data to determine the target state of the calibration function. This allows for quantitative compensation of the actual steering wheel angle deviation, thereby ensuring the accuracy and stability of the steering control closed loop.

[0048] For example, the control system can continuously collect steering wheel angle data over N seconds and calculate the average value. If the average value is less than or equal to a preset threshold, the control system can determine that the steering wheel angle deviation is within the adjustable range of the calibration function. In this case, the control system can control the calibration function to enter the target state corresponding to that average value. If the average value is greater than the preset threshold, the control system can determine that the steering wheel angle deviation has exceeded the calibrable range of the calibration function. In this case, the control system can control the calibration function to enter an over-limit warning state, thereby outputting a warning message to the driver to remind them to perform a manual inspection.

[0049] Step S106: Control the calibration function to switch from the active state to the target state, and use the calibration function to calibrate the steering wheel angle.

[0050] In one alternative embodiment, the steering wheel angle data includes an error distribution caused by sensor drift, physical clearance, or environmental interference. If the steering wheel angle deviation is not quantitatively compensated for through calibration, the steering control will exhibit a systematic offset, leading to accumulated trajectory tracking errors, control gain mismatch, and decreased stability. Therefore, the control system can control the calibration function to transition from an active state to the target state determined in the aforementioned steps. Using this calibration function, the steering wheel angle is specifically calibrated in this target state to eliminate static and slow time-varying deviations, ensuring the feedback signal remains consistent with the actual pose and guaranteeing the accuracy and linearity of the steering control.

[0051] For example, if the calibration function is in a state where updating calibration parameters is not required, the control system can retain the original calibration parameters used in the previous calibration process without updating the stored calibration parameters. If the calibration function is in a state where updating calibration parameters is required, it indicates that the original calibration parameters used in the previous calibration process are no longer applicable to the current calibration process. In this case, the control system can write the calculated calibration parameters into non-volatile memory as a reference for the next calibration.

[0052] In step S108, in response to the completion of steering wheel angle calibration, the control calibration function enters standby mode from the target state.

[0053] In one optional embodiment, considering that the zero offset of the steering wheel angle has been updated and written into the control parameters after the steering wheel angle calibration is completed, the control system can switch the calibration function from the target state to the standby state to release the relevant enable signal and stop the calibration function from acquiring steering wheel angle data.

[0054] For example, the control system writes the calibration parameters calculated during the current calibration process into non-volatile memory and clears the data acquisition buffer of the calibration function in the active state. Subsequently, the control system can control the calibration function to jump from the target state to the standby state, and shut down the calculation module for steering wheel angle data, only maintaining the monitoring of the status of key sensors, but suspending the calibration logic operation.

[0055] In this embodiment, the system acquires vehicle steering wheel angle data in response to the calibration function transitioning from standby to activation. The calibration function calibrates the vehicle's steering wheel angle. Based on the steering wheel angle data, a target state for the calibration function is determined. The calibration function is then controlled to transition from activation to the target state and calibrate the steering wheel angle. Upon completion of the calibration, the calibration function transitions from the target state back to standby. By dynamically acquiring steering wheel angle data while the calibration function transitions from standby to activation, and flexibly determining the current calibration requirements based on this data, the system ensures that the target state of the calibration function matches the actual calibration requirements. This avoids the inaccuracies caused by relying on fixed thresholds or manual intervention in related technologies. Subsequently, the calibration function accurately calibrates the steering wheel angle according to the target state and automatically returns to standby after calibration. This allows for adaptive triggering, precise control, and closed-loop management of the calibration process, thereby improving the responsiveness and operational reliability of the calibration function and solving the problem of poor control accuracy in related technologies.

[0056] Furthermore, based on the steering wheel angle data, the target state of the calibration function is determined, including: obtaining historical calibration values ​​of the steering wheel angle, wherein the historical calibration values ​​are used to characterize the calibration values ​​used by the calibration function in the historical calibration cycle; determining the current calibration value of the steering wheel angle based on the steering wheel angle data, wherein the current calibration value is used to characterize the calibration value used by the calibration function in the current calibration cycle; and determining the target state based on the current calibration value and the historical calibration values.

[0057] The aforementioned historical calibration values ​​can be steering wheel angle calibration parameters recorded and stored by the control system in one or more previous calibration cycles. These parameters can be used to correct the deviation between the steering wheel angle sensor measurement value and the actual steering angle, thereby ensuring that the output of the steering system is consistent with the driver's input.

[0058] The aforementioned historical calibration cycle can refer to the time interval during which the control system completes a full steering wheel angle calibration operation before the current calibration cycle. The length of this cycle can be preset by the control system or dynamically determined according to the vehicle's operating status. Only one set of valid calibration values ​​is generated within one cycle.

[0059] The aforementioned current calibration value can be a new offset correction parameter calculated by a calibration algorithm based on the collected steering wheel angle data within the current calibration cycle. It is used to replace or update the historical calibration value to address system deviations caused by zero-point drift of the steering wheel angle sensor, assembly errors, or changes in ambient temperature.

[0060] The aforementioned current calibration cycle can refer to the time period during which the calibration function performs the steering wheel angle calibration process at the current moment. It can start from the activation of the calibration function and continue until sufficient steering wheel angle data is collected and the calibration value is calculated, verified, and saved, as well as the steering wheel angle is calibrated.

[0061] In one optional embodiment, the degree of zero-point offset of the steering wheel angle directly determines the level of calibration operation required by the calibration function. Based on this, the control system can obtain the calibration values ​​used by the calibration function in historical calibration cycles (i.e., historical calibration values) as a reference benchmark, and determine the calibration values ​​used by the calibration function in the current calibration cycle (i.e., current calibration values) based on the steering wheel angle data to reflect the current actual zero-point offset. Subsequently, the control system can quantify the degree of steering wheel angle drift by comparing the deviation between the current calibration value and the historical calibration value, thereby determining the target state that the calibration function needs to enter now, and performing targeted calibration for the current degree of drift.

[0062] For example, the control system can continuously collect steering wheel angle data over N seconds and calculate the average value of this data as the current calibration value. Simultaneously, the control system can read historical calibration values ​​stored in memory and calculate the absolute difference between the current calibration value and the historical calibration values. If this difference is less than or equal to a preset difference, and the current calibration value is less than or equal to a preset value, the control system can set the target state to abandon updating the calibration value. If the difference is greater than the preset difference, and the current calibration value is less than or equal to the preset value, the control system can set the target state to require updating the calibration value. If the current calibration value is greater than the preset value, the control system can set the target state to remind the driver to perform a manual check. These different target states correspond to different calibration operations.

[0063] Furthermore, based on the current calibration value and historical calibration values, the target state is determined, including: if the current calibration value is greater than the preset calibration value, the target state is determined to be an over-limit warning state, wherein the over-limit warning state is used to characterize the current calibration value as exceeding the upper limit of the calibration capability of the calibration function; if the current calibration value is less than or equal to the preset calibration value, the deviation value between the current calibration value and the historical calibration value is determined, and the target state is determined based on the deviation value.

[0064] The aforementioned over-limit warning state can be the state that the calibration function enters when the current calibration value of the steering wheel angle exceeds the range of values ​​that the designed or calibrated calibration function can effectively handle. It is used to indicate that the calibration parameters have exceeded the linear response range or safe operating boundary of the sensor, actuator or control algorithm, and an alarm needs to be triggered to prompt manual inspection, or a degradation strategy needs to be triggered to prevent measurement inaccuracy or control failure.

[0065] The aforementioned calibration capability limit refers to the upper limit of the input or output values ​​allowed by the calibration function to ensure measurement accuracy, response linearity, or control stability. This calibration capability limit can be preset by hardware characteristics, signal processing range, software quantization accuracy, or safety redundancy design. Exceeding this calibration capability limit will result in calibration function failure or large errors.

[0066] The aforementioned deviation value can be the algebraic difference between the current calibration value and the historical calibration value. It can be used to quantify the degree of deviation of the current measurement value from the historical calibration value. The magnitude of this deviation value can reflect the drift or abnormal trend of the steering wheel angle.

[0067] In one optional embodiment, considering the physical or algorithmic limitations of the calibration function, if the current calibration value exceeds a preset calibration value, the control system can determine that the deviation of the current steering wheel angle has exceeded the dynamic range that the calibration function can effectively calibrate, posing a risk of loss of control or sensor malfunction. In this case, the control system can determine the target state as an over-limit warning state to trigger an alarm or degrade the response.

[0068] When the current calibration value is less than or equal to the preset calibration value, the control system can determine that the deviation of the current steering wheel angle is within the adjustable range. At this time, the control system can calculate the deviation between the current calibration value and the historical calibration value to determine the specific deviation of the steering wheel angle. Based on this specific deviation, the control system can identify the target state that the calibration function is about to enter, so as to achieve precise calibration of the steering wheel angle.

[0069] For example, if the current calibration value is greater than the preset calibration value, the control system can determine that the current calibration value exceeds the design limit of the calibration function, directly enter the over-limit warning state, trigger the instrument alarm signal and record the fault log, and at the same time stop the subsequent calibration value storage operation, keep the currently stored historical calibration value unchanged, until manual intervention or system reset.

[0070] For example, if the current calibration value is less than or equal to the preset calibration value, the control system can calculate the absolute deviation between the current calibration value and the historical calibration value. If the deviation is less than or equal to the preset threshold, it is determined to be a minor fluctuation, and there is no need to update the historical calibration value. The system then enters a state where updating the calibration value is abandoned.

[0071] For example, if the current calibration value is less than or equal to the preset calibration value, the control system can calculate the absolute deviation between the current calibration value and the historical calibration value. If the deviation value is greater than the preset threshold, the control system can determine that the historical calibration value is insufficient to calibrate the current steering wheel angle deviation, and the historical calibration value needs to be updated. The system will then enter a state where the historical calibration value needs to be updated, and the current calibration value can be written into the non-volatile memory as the new historical calibration value.

[0072] Further, based on the deviation value, the target state is determined, including: if the deviation value is greater than a preset deviation value, the target state is determined to be a calibration update state, wherein the calibration update state is used to characterize the state of updating the calibration value used by the calibration function; if the deviation value is less than or equal to the preset deviation value, the target state is determined to be a calibration maintenance state, wherein the calibration maintenance state is used to characterize the state of maintaining the calibration value used by the calibration function.

[0073] The aforementioned calibration update state can be the state that the calibration function enters when the deviation between the current measured value and the reference value is detected to exceed a preset deviation value. In this state, the calibration function can recalculate and update the current calibration value used to compensate for the steering wheel angle error, and can use the current calibration value to replace the historical calibration value for subsequent measurement or calibration processes, thereby ensuring that the error between the actual value and the expected value of the steering wheel angle can always be maintained within the allowable range.

[0074] The aforementioned calibration maintenance state can be the state that the calibration function enters when the deviation between the current measured value and the reference value is detected to be less than the preset deviation value. In this state, the calibration function may not perform parameter update operations and maintain the currently used historical calibration value unchanged.

[0075] In one optional embodiment, considering that the deviation value is greater than a preset deviation value, indicating a significant inconsistency between the current calibration value and the historical calibration value, this inconsistency suggests a drift in the steering system output. Using historical calibration values ​​will make it difficult to effectively calibrate the current steering wheel angle deviation. Based on this, the control system can update the calibration value used by the calibration function, that is, replace the historical calibration value with the current calibration value as the basis for calibrating the steering wheel angle. At this time, the control system can determine the target state as the calibration update state to ensure the real-time validity of the calibration value.

[0076] If the deviation value is less than or equal to the preset deviation value, it indicates that the difference between the current calibration value and the historical calibration value is within an acceptable and stable range, and the steering wheel angle offset has not changed significantly. In this case, the historical calibration value can continue to be used to calibrate the current steering wheel angle. Therefore, the control system can maintain the calibration value used by the calibration function, that is, use the historical calibration value as the basis for calibrating the steering wheel angle. At this time, the control system can determine the target state as the calibration maintenance state to terminate unnecessary parameter updates, thereby avoiding parameter oscillations and wasted computing resources caused by noise or minor fluctuations.

[0077] For example, if the deviation value is greater than the preset deviation value, the control system can determine that the current steering wheel angle error has significant change characteristics and trigger the calibration update state. At this time, the control system can write the current calibration value as the new calibration reference value into the non-volatile memory to replace the original historical calibration value, which can be called by the subsequent lane centering control function to ensure that the correction logic runs based on the latest perception data.

[0078] For example, if the deviation value is less than or equal to the preset deviation value, the control system can determine that the current steering angle error fluctuation is within the normal allowable range, and can maintain the historical calibration value unchanged without performing any storage update operation. The calibration function can continue to use the historical calibration value for steering wheel angle compensation.

[0079] For ease of understanding, Figure 2 This is a schematic diagram of an optional target state determination process according to an embodiment of this application, such as... Figure 2 As shown, first, the control system determines the current calibration value, and then checks whether the current calibration value is greater than the preset calibration value. If the current calibration value is greater than the preset calibration value, the target state is determined to be an over-limit warning state. If the current calibration value is less than or equal to the preset calibration value, the deviation between the current calibration value and the historical calibration value needs to be determined, and then it is checked whether the deviation value is greater than the preset deviation value. If the deviation value is greater than the preset deviation value, the target state is determined to be a calibration update state. If the deviation value is less than or equal to the preset deviation value, the target state is determined to be a calibration maintenance state.

[0080] Furthermore, the steering wheel angle is calibrated using the calibration function, including: when the target state is not an over-limit warning state, determining the target calibration value of the steering wheel angle based on the target state, and calibrating the steering wheel angle based on the target calibration value.

[0081] The aforementioned target calibration value can refer to the calibration value determined from the current calibration value and historical calibration values ​​when the calibration function is not in an over-limit warning state.

[0082] In one optional embodiment, considering that the target state is not an over-limit warning state, it means that the deviation of the steering wheel angle is within the deviation range that the calibration function can effectively calibrate. The target state can help the control system determine the corresponding calibration strategy, thereby improving the calibration accuracy of the steering wheel angle. Based on this, the control system can determine the target calibration value according to the specific calibration state. Subsequently, the calibration function can compensate the output of the steering wheel angle sensor based on the target calibration value to achieve accurate calibration of the steering wheel angle, thereby improving the vehicle's trajectory tracking accuracy and control stability.

[0083] For example, if the target state is not an over-limit warning state, the control system determines the target calibration value of the steering wheel angle based on the current target state. Specifically, if the target state is a calibration update state, the control system can use the calculated current calibration value as the target calibration value and write it to the non-volatile memory after the vehicle is powered off.

[0084] If the target state is in calibration update state, the control system can retain the target calibration value as the historical calibration value successfully stored in the last calibration process without updating it.

[0085] Subsequently, when the lane centering control function is activated and the vehicle is driving in a stable straight line, the calibration function can overlay the target calibration value onto the steering wheel angle control command to correct the output angle of the steering actuator, so that the actual driving trajectory of the vehicle is aligned with the center line of the lane.

[0086] Preferably, the method further includes: when the target state is an over-limit warning state, outputting a warning message, wherein the warning message is used to prompt the steering wheel angle to be checked.

[0087] The aforementioned warning message can be a prompt message output by the calibration function when the calibration function enters the over-limit warning state. This message indicates that the current steering wheel angle error has exceeded the calibration function's calibration capability limit and can be used to prompt the driver to manually check the steering wheel angle and steering system.

[0088] In one optional embodiment, considering that the target state is an over-limit warning state, it means that the deviation of the steering wheel angle exceeds the calibration capability limit of the calibration function. Based on this, in order to avoid the calibration function forcibly calibrating and thus introducing new control errors, the control system can output a warning message to notify the driver to manually check the steering wheel angle, thereby avoiding continuing to drive the vehicle in an uncorrected high-error state, which would increase the risk of loss of vehicle trajectory control.

[0089] For example, when the target state is in an over-limit warning state, the control system can display text prompts on the instrument panel or issue acoustic alarm signals to remind the driver that there is an abnormal deviation in the steering wheel angle and that manual inspection and calibration are required. The warning information can be continuously output until the vehicle is powered off or the driver manually confirms that the fault has been eliminated.

[0090] Preferably, determining the target calibration value of the steering wheel angle based on the target state includes: determining the current calibration value as the target calibration value when the target state is a calibration update state; and determining the historical calibration value as the target calibration value when the target state is a calibration maintenance state.

[0091] In one optional embodiment, considering that the calibration update status indicates the steering wheel angle deviation is within the calibration capability range of the calibration function, and there is a significant difference between the current calibration value and the historical calibration value, the control system can use the current calibration value as the target calibration value to replace the historical calibration value stored in the control system as the new calibration parameter. Further considering that the calibration maintenance status indicates the steering wheel angle deviation is within an acceptable range and has not reached the threshold for updating the historical calibration value, the control system can retain the historical calibration value as the target calibration value to maintain the stability of the calibration function and avoid invalid parameter fluctuations.

[0092] Furthermore, controlling the calibration function to enter the standby state from the target state includes: obtaining the target duration of the calibration function in the target state; and controlling the calibration function to enter the standby state when the target duration is greater than or equal to the preset duration.

[0093] The aforementioned target duration can refer to the duration during which the calibration function is in the target state. This time can be counted from the moment the calibration function enters the target state until the current system time, and can be used to determine the actual running time of the calibration function being in the target state and continuously performing related operations.

[0094] In one optional embodiment, considering that continuous operation of the calibration function in the target state may introduce redundant calculations and resource consumption, and that continuous calibration is unnecessary when vehicle driving conditions are stable and the steering wheel angle has no significant deviation, the control system can obtain the target duration of the calibration function in the target state. If the target duration is greater than or equal to a preset duration, the control system can control the calibration function to enter a standby state from the target state. This terminates unnecessary data acquisition and correction calculations, reduces the load on the control system, avoids erroneous updates caused by long-term low-amplitude fluctuations, and ensures that the calibration logic of the calibration function is triggered only when necessary.

[0095] For example, when the calibration function is in the target state, the control system can continuously accumulate the runtime of that target state. When the accumulated runtime reaches or exceeds A seconds, the control system can terminate the current calibration process and allow the calibration function to exit the target state and enter standby mode.

[0096] For ease of understanding, Figure 3 This is a schematic diagram illustrating an optional calibration function state switching according to an embodiment of this application, such as... Figure 3 As shown, when the calibration function is active, the control system continuously checks whether the driving parameters meet preset conditions before entering the target state. If they do, the active state is maintained; otherwise, it enters standby mode. After the calibration function transitions from active to over-limit warning, calibration update, or calibration maintenance states, the control system checks whether the execution time of the calibration function in the current state is greater than N seconds. If the execution time is greater than N seconds, it enters standby mode; otherwise, it maintains the original state. Even when the calibration function is in standby mode, the control system can still continuously check whether the driving parameters meet preset conditions. If they do, it enters active mode; otherwise, it remains in standby mode.

[0097] Furthermore, the method also includes: acquiring the vehicle status, wherein the vehicle status is used to indicate whether the vehicle's preset functions are enabled, wherein the preset functions are used to indicate the functions that support the operation of the calibration function; when the calibration function is in the off state and the vehicle status indicates that the vehicle's preset functions are enabled, controlling the calibration function to enter the standby state from the off state; when the calibration function is not in the off state and the vehicle status indicates that the vehicle's preset functions are not enabled, controlling the calibration function to enter the off state from the current state.

[0098] The aforementioned vehicle status can be a set of discrete or continuous variables reflecting the activation status of preset functions in the vehicle. This status can be in the form of a digital signal or a Boolean value, and can be updated by the ECU (Electronic Control Unit) based on sensor inputs, user operation commands, and system diagnostic results.

[0099] The aforementioned preset functions may be prerequisite functions required to enable the calibration function. For example, the preset functions may include vehicle power-on, vehicle lane centering control function, etc.

[0100] The aforementioned "off state" can refer to a state where the calibration function is disabled or the logical path is cut off. In this state, all computational tasks, data acquisition, parameter updates, and communication interfaces of the calibration function cease to operate.

[0101] In one optional embodiment, considering that the operation of the calibration function depends on the enabled state of a preset function, the control system can first determine whether the preset function supporting the calibration function is enabled by acquiring the vehicle status when the calibration function is disabled. If the calibration function is disabled and the preset function is enabled, it indicates that the calibration function has the necessary operating conditions, and the control system can put the calibration function into a standby state to prepare for responding to subsequent calibration trigger requests that meet the conditions. If the calibration function is not disabled and the preset function is not enabled, it indicates that the vehicle cannot provide the operating conditions required for the calibration function, and the control system can force the calibration function to be disabled to terminate the calibration process without functional support, preventing invalid calculations, resource waste, or potential control conflicts caused by functional deficiencies.

[0102] For example, the control system can acquire the vehicle's status, including the activation status of the lane centering assist function and the vehicle's power status. When the calibration function is off, and the vehicle status indicates that the lane centering assist function is activated and the vehicle is powered on, the control system can switch the calibration function from off to standby. Conversely, if the calibration function is not off, and the vehicle status indicates that the lane centering assist function is not activated or the vehicle is powered off, the control system can immediately force the calibration function to switch from its current state to off.

[0103] Preferably, the method further includes: acquiring the vehicle's fault status when the calibration function is not turned off, wherein the fault status is used to characterize whether the vehicle has a preset type of fault; and controlling the calibration function to switch states based on the fault status.

[0104] The aforementioned fault status can be a binary or enumerated flag bit obtained by the ECU through sensors, diagnostic modules, or bus communication, used to characterize whether there is a preset type of hardware or software fault during the current operation of the vehicle. This flag bit can be determined by the ECU based on the preset fault code logic.

[0105] The aforementioned preset types of faults can be fault categories predefined by the control system and stored in the diagnostic protocol or functional safety specification. These may include, but are not limited to, intelligent driving controller faults, vehicle speed sensor faults, IMU faults, vehicle power supply faults, etc. During the operation of the calibration function, these fault types can be continuously detected by the control system and trigger the update of the fault status.

[0106] In one optional embodiment, considering that the normal operation of the calibration function depends on the stable operation of components such as the intelligent driving controller, vehicle speed sensor, IMU, and vehicle power supply, if any of these components malfunctions, it will lead to distorted perception data or unreliable control commands, resulting in incorrect updates or false triggers of the steering wheel angle calibration value, affecting vehicle driving safety. Therefore, the control system can continuously acquire fault status even when the calibration function is not disabled to determine if the vehicle has a preset type of fault. It can also directly control the calibration function to switch between different states based on the fault status, ensuring that the calibration function can immediately exit the calibration logic and enter the correct state in the event of a preset type of fault, thereby preventing erroneous calibration behavior from interfering with vehicle control.

[0107] For example, when the calibration function is not turned off, the control system can continuously monitor the operating status of the intelligent driving controller, vehicle speed sensor, IMU and vehicle power supply. If any of these devices is detected to be faulty, the control system can immediately switch the calibration function from the current state to a passive waiting state, stop the calibration function's calibration behavior, and only allow the calibration function to re-enter the standby state and resume the standby monitoring of the calibration function after the fault signal is eliminated and all key sensors return to normal.

[0108] Preferably, the calibration function is controlled to switch states based on the fault status, including: when the calibration function is in a passive waiting state and the fault status indicates that the vehicle does not have a preset type of fault, the calibration function is controlled to switch from the passive waiting state to a standby state, wherein the passive waiting state is used to indicate the state of waiting for the fault to be repaired; when the calibration function is in a standby state or an active state and the fault status indicates that the vehicle has a preset type of fault, the calibration function is controlled to switch from the current state to a passive waiting state.

[0109] The aforementioned passive waiting state can be the state that the calibration function enters when a preset type of fault is detected in the vehicle. It is used to wait for the fault to be repaired or cleared. In this state, the calibration function may not actively initiate a calibration action, but will only be in a low-power listening or ready-to-wait mode until the fault state is cleared.

[0110] In one optional embodiment, considering that the fault state directly affects the reliability and safety of the calibration function, when the calibration function is in a passive waiting state and the fault state indicates that the vehicle does not have a preset type of fault, it means that the preset type of fault in the vehicle has been repaired. At this time, the control system can restore the normal responsiveness of the calibration function. Therefore, the control system can control the calibration function to enter a standby state from the passive waiting state to prepare for the subsequent calibration process.

[0111] When the calibration function is in standby or active state, and the fault status indicates that the vehicle has a preset type of fault, in order to prevent the calibration function from performing calibration calculations under abnormal hardware or signal conditions and resulting in the output of incorrect calibration values, the control system can control the calibration function to enter a passive waiting state from the current state, so as to stop all calibration operations and wait for the fault to be repaired.

[0112] Furthermore, the method also includes: acquiring the vehicle's driving status when the calibration function is in standby or active state, wherein the driving status is used to characterize whether the vehicle's driving parameters meet preset conditions; and controlling the calibration function to switch states based on the driving status.

[0113] The aforementioned driving state can be the dynamic operating status of the vehicle at the current moment, which may include, but is not limited to, a collection of comprehensive parameters such as vehicle speed, acceleration, steering angle, lateral displacement, longitudinal position, engine speed, braking status, and environmental perception information, used to characterize the vehicle's current motion characteristics and operating conditions.

[0114] The aforementioned driving parameters can be numerical indicators used to quantify various physical quantities during vehicle operation, including but not limited to specific values ​​such as vehicle speed, acceleration, deceleration, lateral acceleration, longitudinal displacement, steering wheel angle, wheel speed, braking pressure, throttle opening, distance to the vehicle in front, and relative speed. These parameters can serve as input for the calibration function's status judgment.

[0115] In one optional embodiment, considering that the accuracy of steering wheel angle calibration depends on the vehicle being in a stable straight-line driving condition, the control system can continuously acquire driving parameters such as vehicle speed, lane curvature radius, rear axle position deviation, and heading angle deviation, even when the calibration function is in standby or active state. These parameters can be compared with preset conditions to obtain the vehicle's driving state. Subsequently, the control system can control the calibration function to switch states based on this driving state, ensuring that the calibration values ​​are learned based on real, interference-free straight-line driving data. This avoids introducing noise or erroneous calibration values ​​in unstable states such as curves, low speeds, or yaw, thereby ensuring the reliability and effectiveness of the calibration results.

[0116] For example, when the calibration function is in standby mode, the control system can continuously collect four types of driving parameters: vehicle speed, lane curvature radius, rear axle position deviation, and heading angle deviation, and compare these parameters with preset thresholds in real time. If the vehicle speed is not lower than 'a', the lane curvature radius is not less than 'b', the rear axle position deviation is not greater than 'c', and the heading angle deviation is not greater than 'd', the control system can determine that the driving parameters meet the preset conditions, thereby triggering the calibration function to switch from standby mode to active mode.

[0117] For example, when the calibration function is active, if any parameter does not meet the preset conditions—that is, the vehicle speed is lower than 'a', the lane curvature radius is less than 'b', the rear axle position deviation is greater than 'c', or the heading angle deviation is greater than 'd'—the control system can switch the calibration function from active to standby mode without performing a state switch, ensuring that the calibration function only starts when the vehicle is traveling in a stable straight line. Conversely, when the calibration function is in standby mode, if any parameter does not meet the preset conditions, the control system can maintain the calibration function in standby mode without performing a state switch.

[0118] Preferably, the calibration function is controlled to switch states based on the driving status, including: when the calibration function is in standby state and the driving parameters of the vehicle, which represent the driving status, meet the preset conditions, the calibration function is controlled to switch from standby state to active state; when the calibration function is in active state and the driving parameters of the vehicle, which represent the driving status, do not meet the preset conditions, the calibration function is controlled to switch from active state to standby state.

[0119] In one optional embodiment, considering that steering wheel angle calibration depends on the vehicle being in a stable straight-line driving state, and that driving status can reflect whether the vehicle is in a stable straight-line driving state, the control system can activate the calibration function from the standby state to the active state when the calibration function is in standby mode and driving parameters such as vehicle speed, lane curvature radius, rear axle position deviation, and heading angle deviation all meet preset conditions, so as to collect effective data and avoid calibration value distortion due to perceived noise or control command interference in curves, low speeds, or offset conditions.

[0120] If the calibration function is active and any of the aforementioned operating parameters does not meet the preset conditions, the control system can determine that the conditions for effective calibration are no longer met. Based on this, the control system can immediately deactivate the calibration function and return it to standby mode to stop data acquisition, prevent erroneous calibration values ​​from being stored, and ensure that the calibration process is performed only under conditions of high signal-to-noise ratio and low dynamic disturbance, thereby improving the reliability and generalization ability of the calibration results.

[0121] For ease of understanding, Figure 4 This is a schematic diagram of the state switching logic of an optional calibration function according to an embodiment of this application, such as... Figure 4As shown, the status names include: Off, Passive Waiting, Standby, Activated, Calibration Update, Calibration Maintenance, and Over-Limit Warning. Off indicates the calibration function is off; Passive Waiting indicates the calibration function is passively monitored; Standby indicates the calibration function is in standby mode; Activated indicates the calibration function is activated and calibration work has begun; Calibration Update indicates the calibration value needs to be updated; Calibration Maintenance indicates the calibration value does not need to be updated; and Over-Limit Warning indicates the current steering wheel angle deviation exceeds the calibration function's calibration capability limit.

[0122] The entry condition for the "closed" state is that the vehicle is powered off or the lane centering assist function is not activated. The exit condition for the "closed" state is that the vehicle is powered on and the lane centering assist function is activated. The entry condition for the "passive waiting" state is a fault in the intelligent driving controller, vehicle speed sensor, IMU, or vehicle power supply. The exit condition for the "passive waiting" state is that the intelligent driving controller, vehicle speed sensor, IMU, and vehicle power supply are all functioning correctly. The entry condition for the "standby" state is that the vehicle is powered on and the lane centering assist function is activated. The exit conditions for the "standby" state are divided into two cases. If the intelligent driving controller, vehicle speed sensor, IMU, or vehicle power supply is faulty, the vehicle enters the passive waiting state. If the vehicle speed, lane curvature radius, rear axle position deviation, and heading angle deviation meet their respective conditions, the vehicle enters the active state. Specifically, if any of the driving parameters—vehicle speed, lane curvature radius, rear axle position deviation, and heading angle deviation—does not meet the corresponding condition, the vehicle remains in the standby state. The entry condition for the "active" state is a transition from the standby state. The exit conditions for the "active" state are divided into two cases. If the intelligent driving controller, vehicle speed sensor, IMU, or vehicle power supply malfunctions, the system enters a passive waiting state. If the calibration function is active for a duration greater than or equal to a first preset time, it enters a calibration update state, calibration maintenance state, or over-limit warning state based on the calibration value. The calibration update state is entered when the calibration value meets the update conditions, transitioning from the active state. It exits when the calibration function remains in this state for a duration greater than or equal to a second preset time, returning to standby. The calibration maintenance state is entered when the calibration value does not meet the update conditions, transitioning from the active state. It exits when the calibration function remains in this state for a duration greater than or equal to a second preset time, returning to standby. The over-limit warning state is entered when the calibration value exceeds the limit, transitioning from the active state. It exits when the calibration function remains in this state for a duration greater than or equal to a second preset time, returning to standby.

[0123] Figure 5 This is a schematic diagram illustrating the state switching process of an optional calibration function according to an embodiment of this application, such as... Figure 5As shown, after the vehicle's preset functions are enabled, the calibration function enters standby mode from the off state.

[0124] If a preset type of fault exists in the vehicle while the calibration function is in standby mode, the calibration function will switch from standby mode to passive waiting mode.

[0125] When the calibration function is in standby mode, if the vehicle's driving parameters meet the preset conditions, the calibration function will switch from standby mode to active mode.

[0126] If the preset function is not enabled when the calibration function is in standby mode, the calibration function will switch from standby mode to off mode.

[0127] If a preset type of fault exists in the vehicle while the calibration function is active, the calibration function will switch from active to passive waiting state.

[0128] If the vehicle's driving parameters do not meet the preset conditions while the calibration function is active, the calibration function will switch from active to standby mode.

[0129] If the vehicle's default functions are not enabled when the calibration function is active, the calibration function will switch from active to disabled.

[0130] When the calibration function is active, if enough steering wheel angle data is collected, the calibration function will determine the target state based on the steering wheel angle data and enter the target state.

[0131] If the target duration of the calibration function in the target state is greater than or equal to the preset duration, the calibration function will enter the standby state from the target state when the calibration function is in the target state.

[0132] If the preset function is not enabled when the calibration function is in the target state, the calibration function will switch from the target state to the off state.

[0133] If there is no preset type of fault in the vehicle while the calibration function is in a passive waiting state, the calibration function will enter a standby state from the passive waiting state.

[0134] If the preset function is not enabled when the calibration function is in a passive waiting state, the calibration function will switch from the passive waiting state to the off state.

[0135] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0136] According to an embodiment of this application, a steering wheel angle calibration function control device is provided. It should be noted that this device can be used to execute the aforementioned steering wheel angle calibration function control method. The specific implementation process and application scenarios are the same as those in the above embodiment, and will not be repeated here. Figure 6 This is a schematic diagram of a steering wheel angle calibration function control device according to an embodiment of this application, as shown below. Figure 6 As shown:

[0137] The data acquisition module 602 is used to acquire the vehicle's steering wheel angle data in response to the calibration function entering the active state from the standby state. The calibration function is used to calibrate the vehicle's steering wheel angle.

[0138] The state determination module 604 is used to determine the target state of the calibration function based on the steering wheel angle data.

[0139] The steering angle calibration module 606 is used to control the calibration function to enter the target state from the active state and to calibrate the steering wheel angle using the calibration function.

[0140] The first switching module 608 is used to control the calibration function to enter the standby state from the target state in response to the completion of the steering wheel angle calibration.

[0141] Furthermore, the state determination module is also used to: obtain historical calibration values ​​of the steering wheel angle, wherein the historical calibration values ​​are used to characterize the calibration values ​​used by the calibration function in the historical calibration cycle; determine the current calibration value of the steering wheel angle based on the steering wheel angle data, wherein the current calibration value is used to characterize the calibration value used by the calibration function in the current calibration cycle; and determine the target state based on the current calibration value and the historical calibration values.

[0142] Furthermore, the state determination module is also used to: determine the target state as an over-limit warning state when the current calibration value is greater than the preset calibration value, wherein the over-limit warning state is used to characterize the state where the current calibration value exceeds the upper limit of the calibration capability of the calibration function; and determine the deviation value between the current calibration value and the historical calibration value when the current calibration value is less than or equal to the preset calibration value, and determine the target state based on the deviation value.

[0143] Furthermore, the state determination module is also used to: determine the target state as a calibration update state when the deviation value is greater than a preset deviation value, wherein the calibration update state is used to characterize the state of the calibration value used by the update calibration function; and determine the target state as a calibration maintenance state when the deviation value is less than or equal to the preset deviation value, wherein the calibration maintenance state is used to characterize the state of maintaining the calibration value used by the calibration function.

[0144] Furthermore, the steering angle calibration module is also used to: determine the target calibration value of the steering wheel angle based on the target state when the target state is not an over-limit warning state, and calibrate the steering wheel angle based on the target calibration value.

[0145] Preferably, the device further includes: an information output module, used to output a warning message when the target state is in an over-limit warning state, wherein the warning message is used to prompt the steering wheel angle to be checked.

[0146] Preferably, the corner calibration module is further configured to: determine the current calibration value as the target calibration value when the target state is calibration update state; and determine the historical calibration value as the target calibration value when the target state is calibration maintenance state.

[0147] Furthermore, the first switching module is also used to: obtain the target duration of the calibration function in the target state; and control the calibration function to enter the standby state when the target duration is greater than or equal to the preset duration.

[0148] Furthermore, the device also includes: a vehicle status acquisition module, used to acquire the vehicle status, wherein the vehicle status is used to indicate whether the vehicle's preset functions are enabled, wherein the preset functions are used to indicate the functions that support the operation of the calibration function; and a second switching module, used to control the calibration function to enter a standby state from the off state when the calibration function is in the off state and the vehicle status indicates that the vehicle's preset functions are enabled; and to control the calibration function to enter a off state from the current state when the calibration function is not in the off state and the vehicle status indicates that the vehicle's preset functions are not enabled.

[0149] Preferably, the device further includes: a fault status acquisition module, used to acquire the fault status of the vehicle when the calibration function is not turned off, wherein the fault status is used to characterize whether the vehicle has a preset type of fault; and a third switching module, used to control the calibration function to switch states based on the fault status.

[0150] Preferably, the third switching module is further configured to: control the calibration function to enter a standby state from the passive waiting state when the calibration function is in a passive waiting state and the fault state indicates that the vehicle does not have a preset type of fault, wherein the passive waiting state is used to indicate a state of waiting for the fault to be repaired; and control the calibration function to enter a passive waiting state from the current state when the calibration function is in a standby state or an active state and the fault state indicates that the vehicle has a preset type of fault.

[0151] Furthermore, the device also includes: a driving status acquisition module, used to acquire the driving status of the vehicle when the calibration function is in standby or active state, wherein the driving status is used to characterize whether the driving parameters of the vehicle meet preset conditions; and a fourth switching module, used to control the calibration function to switch states based on the driving status.

[0152] Preferably, the fourth switching module is further configured to: control the calibration function to enter the active state from the standby state when the calibration function is in the standby state and the driving parameters representing the vehicle's driving status meet the preset conditions; and control the calibration function to enter the standby state when the calibration function is in the active state and the driving parameters representing the vehicle's driving status do not meet the preset conditions.

[0153] Embodiments of this application also provide a vehicle, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods described in various embodiments of this application when it runs.

[0154] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of this application.

[0155] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of this application.

[0156] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of this application.

[0157] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of this application.

[0158] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0159] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0160] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0161] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0162] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0163] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for controlling the calibration function of a steering wheel angle, characterized in that, include: In response to the calibration function entering the active state from the standby state, the vehicle's steering wheel angle data is acquired, wherein the calibration function is used to calibrate the vehicle's steering wheel angle; Based on the steering wheel angle data, the target state of the calibration function is determined; The calibration function is controlled to switch from the active state to the target state, and the calibration function is used to calibrate the steering wheel angle. In response to the completion of the steering wheel angle calibration, the calibration function is controlled to enter the standby state from the target state.

2. The method according to claim 1, characterized in that, Based on the steering wheel angle data, the target state of the calibration function is determined, including: Obtain the historical calibration value of the steering wheel angle, wherein the historical calibration value is used to characterize the calibration value used by the calibration function in the historical calibration cycle; Based on the steering wheel angle data, the current calibration value of the steering wheel angle is determined, wherein the current calibration value is used to characterize the calibration value used by the calibration function in the current calibration cycle; The target state is determined based on the current calibration value and the historical calibration value.

3. The method according to claim 2, characterized in that, Determining the target state based on the current calibration value and the historical calibration value includes: If the current calibration value is greater than the preset calibration value, the target state is determined to be an over-limit warning state, wherein the over-limit warning state is used to characterize the current calibration value as exceeding the calibration capability limit of the calibration function; If the current calibration value is less than or equal to the preset calibration value, the deviation between the current calibration value and the historical calibration value is determined, and the target state is determined based on the deviation value.

4. The method according to claim 3, characterized in that, Determining the target state based on the deviation value includes: If the deviation value is greater than a preset deviation value, the target state is determined to be a calibration update state, wherein the calibration update state is used to characterize the state of updating the calibration value used by the calibration function; If the deviation value is less than or equal to the preset deviation value, the target state is determined to be a calibration maintenance state, wherein the calibration maintenance state is used to characterize the state of maintaining the calibration value used by the calibration function.

5. The method according to claim 1, characterized in that, The calibration function is used to calibrate the steering wheel angle, including: If the target state is not an over-limit warning state, the target calibration value of the steering wheel angle is determined based on the target state, and the steering wheel angle is calibrated based on the target calibration value; Preferably, the method further includes: When the target state is the over-limit warning state, a warning message is output, wherein the warning message is used to prompt the steering wheel angle to be checked; Preferably, determining the target calibration value of the steering wheel angle based on the target state includes: If the target state is a calibration update state, the current calibration value is determined to be the target calibration value; If the target state is the calibration maintenance state, the historical calibration value is determined to be the target calibration value.

6. The method according to claim 1, characterized in that, Controlling the calibration function to transition from the target state to the standby state includes: Obtain the target duration for which the calibration function is in the target state; When the target duration is greater than or equal to the preset duration, the calibration function is controlled to switch from the target state to the standby state.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: The vehicle status is obtained, wherein the vehicle status is used to indicate whether the preset function of the vehicle is enabled, and the preset function is used to indicate the function that supports the operation of the calibration function. When the calibration function is in the off state and the vehicle status indicates that the vehicle's preset function is enabled, the calibration function is controlled to enter the standby state from the off state. If the calibration function is not in the off state and the vehicle state indicates that the vehicle's preset function is not enabled, control the calibration function to enter the off state from the current state; Preferably, the method further includes: When the calibration function is not in the off state, the fault status of the vehicle is obtained, wherein the fault status is used to characterize whether the vehicle has a preset type of fault; Based on the fault state, the calibration function is controlled to switch states. Preferably, based on the fault state, controlling the calibration function to switch states includes: When the calibration function is in a passive waiting state and the fault state indicates that the vehicle does not have a preset type of fault, the calibration function is controlled to enter the standby state from the passive waiting state, wherein the passive waiting state is used to indicate the state of waiting for the fault to be repaired. When the calibration function is in the standby state or the active state, and the fault state indicates that the vehicle has a preset type of fault, the calibration function is controlled to enter the passive waiting state from the current state.

8. The method according to claim 7, characterized in that, The method further includes: When the calibration function is in the standby or active state, the driving status of the vehicle is acquired, wherein the driving status is used to characterize whether the driving parameters of the vehicle meet preset conditions. Based on the driving state, the calibration function is controlled to switch states. Preferably, based on the driving state, controlling the calibration function to switch states includes: When the calibration function is in the standby state and the driving state indicates that the driving parameters of the vehicle meet the preset conditions, the calibration function is controlled to enter the active state from the standby state. When the calibration function is in the active state and the driving state indicates that the vehicle's driving parameters do not meet the preset conditions, the calibration function is controlled to enter the standby state from the active state.

9. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the storage medium is located to perform the method according to any one of claims 1 to 8.

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