Steering system, method for mid-position calibration, vehicle, storage medium

Abstract

This invention discloses a steering system, a centering calibration method, a vehicle, and a storage medium. The steering system centering calibration method includes the following steps: performing centering calibration on the steering system; operating the steering system and monitoring centering parameters; if the centering parameters deviate from the centering calibration threshold, causing the steering system to enter a centering verification state; operating the steering system to its left and right extreme positions and recording the results; calculating the theoretical geometric centering based on the left and right physical extreme positions; calculating the theoretical centering deviation between the theoretical geometric centering and the current calibrated centering; and recalibrating the steering system based on the theoretical centering deviation. The electric power steering system includes a steering control module; a status recording module; a centering detection module; a centering calibration module; and a calibration feedback module. The vehicle is equipped with the aforementioned electric power steering system. The storage medium stores the aforementioned steering system centering calibration method.

Description

Technical Field

[0001] This invention relates to the technical field of vehicle testing, specifically to steering systems, center calibration methods, vehicles, and storage media. Background Technology

[0002] After the electric power steering system of a vehicle is calibrated at its center position on the production line, inaccurate center position calibration can occur due to mechanical stress on the chassis components during four-wheel alignment or instability of the calibration device, leading to vehicle deviation during actual driving. Current technology primarily relies on post-production road testing to identify such center position deviations, which suffers from drawbacks such as long testing cycles, high costs, and the inability to perform online closed-loop error correction, severely limiting production line efficiency and first-pass yield improvement. Summary of the Invention This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention provides a steering system, a centering calibration method, a vehicle, and a storage medium.

[0003] According to a first aspect of the present invention, a center calibration method for a steering system includes the following steps: Perform a center-position calibration on the steering system to obtain the current calibration center position, and then put the steering system into the calibration completion state. To operate the steering system and monitor the median parameters of the steering system in real time; If the median parameter deviates from the preset median calibration threshold, a median calibration deviation warning signal is issued, and the steering system enters the median verification state. The steering system is operated to its left and right extreme positions respectively, and the left and right extreme positions are recorded. The theoretical geometric midpoint of the steering system is calculated based on the left and right physical limit positions. Calculate the median theoretical deviation between the theoretical geometric median and the current calibrated median; The steering system is recalibrated based on the median theoretical deviation, and the steering system is brought back to the calibration completion state.

[0004] The steering system center calibration method according to embodiments of the present invention has at least the following beneficial effects: This invention, through an effective center calibration feedback logic in the steering system, can avoid situations where center offset can only be detected after a road test following production line operation. This reduces the detection cycle and cost, and enables online closed-loop error correction, thereby effectively improving production line efficiency and first-pass yield.

[0005] According to some embodiments of the present invention, the median parameter is obtained by collaborative acquisition of a motor position sensor, a steering angle sensor, and a torque sensor integrated into the steering system.

[0006] According to some embodiments of the present invention, in the median verification state, the process of driving the steering system to the left and right extreme positions is performed multiple times; and the left and right extreme positions recorded multiple times are averaged to determine the theoretical geometric median.

[0007] According to some embodiments of the present invention, during the process of repeatedly driving the steering system to the left and right physical limit positions, the speed at which the steering system moves from the middle position to the left and right physical limit positions is different.

[0008] According to some embodiments of the present invention, before performing center-position calibration on the steering system, the following steps are further included: Record the mechanical stress data generated during the four-wheel alignment process on the production line; The median calibration threshold is adjusted using the mechanical stress data.

[0009] According to some embodiments of the present invention, after performing a center calibration step on the steering system, if the mechanical stress data exceeds a preset stress threshold, a center calibration deviation warning signal is forcibly issued.

[0010] According to a second aspect of the present invention, a vehicle includes an electric power steering system, characterized in that it comprises: The steering control module is used to control the steering execution of the steering system; The status recording module is used to collect and record the median parameters of the steering system in real time; The median detection module is used to monitor the median parameter and issue a median deviation warning signal when the median parameter deviates from the preset median calibration threshold. The center calibration module is used to drive the steering system to the left and right physical limit positions to obtain the theoretical center position, and to recalibrate the center position based on the theoretical center position, and then send a center recalibration completion signal. The calibration feedback module is connected to the center detection module and the center recalibration module respectively. After receiving the center calibration deviation warning signal, it controls the steering system to jump to the center verification state, and after receiving the center recalibration completion signal, it controls the steering system to jump back to the calibration completion state.

[0011] According to some embodiments of the present invention, the status recording module is signal-connected to the four-wheel alignment device of the production line, and the parameters recorded by the status recording module further include: mechanical stress data generated by the four-wheel alignment process of the production line; The median detection module dynamically corrects the preset median calibration threshold based on the mechanical stress data, or directly triggers the median calibration deviation warning signal based on the mechanical residual stress data.

[0012] According to a third aspect of the present invention, a vehicle is equipped with the electric power steering system described in any of the preceding claims.

[0013] According to a fourth aspect of the present invention, a computer-readable storage medium stores computer-executable instructions for causing a computer to perform the aforementioned steering system center calibration method.

[0014] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a flowchart of the center calibration method in the steering system according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating the execution process when mechanical stress data is abnormal, according to an embodiment of the present invention. Detailed Implementation

[0016] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0017] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0018] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0019] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0020] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of the present invention, not all embodiments.

[0021] This embodiment provides an electric power steering system, which includes: a steering control module, a status recording module, a center position detection module, a center position calibration module, and a calibration feedback module.

[0022] The steering control module is used to control the steering of the steering system.

[0023] The status recording module is connected to multiple sensor signals within the steering system (such as motor position sensor, steering angle sensor, torque sensor, etc.), and is used to collect and record the center position parameters of the steering system in real time. Simultaneously, the status recording module is connected to the four-wheel alignment device on the production line, and the parameters recorded by the status recording module also include mechanical stress data generated during the four-wheel alignment process on the production line.

[0024] During four-wheel alignment, the operator or robotic arm tightens the steering tie rods. Stress accumulates between multiple components of the four-wheel alignment equipment. When the steering system leaves the four-wheel alignment stand and is subjected to friction or vibration, these stresses are released, causing slight elastic deformation of the mechanical structure, which in turn causes a slight deviation in the centering of the steering system.

[0025] The median detection module monitors the median parameter and issues a median deviation warning signal when the median parameter deviates from the preset median calibration threshold. The median detection module is signal-connected to the status recording module.

[0026] If the recorded mechanical stress data exceeds the preset stress threshold, the mechanical stress is considered to be too high. In subsequent processes, the steering system may cause a large deviation in the center calibration structure due to rebound. The center detection module will forcibly issue a center calibration deviation warning signal, causing the steering system to enter the center calibration state.

[0027] The center position calibration module is used to drive the steering system to the left and right physical limit positions to obtain the theoretical center position, and then recalibrate the center position based on the theoretical center position, and then issue a center position recalibration completion signal.

[0028] The calibration feedback module is connected to the center detection module and the center recalibration module respectively. It is used to control the steering system to jump to the center verification state after receiving the center calibration deviation warning signal, and to control the steering system to jump back to the calibration completion state after receiving the center recalibration completion signal.

[0029] The center position detection module dynamically corrects the preset center position calibration threshold based on mechanical stress data, or directly triggers a center position deviation warning signal based on mechanical residual stress data.

[0030] This embodiment provides a center calibration method for a steering system, including the following steps: S001. Record the mechanical stress data generated by the four-wheel positioning process of the production line, and adjust the median calibration threshold based on the mechanical stress data.

[0031] S100. Perform center-position calibration on the steering system, obtain the current calibration center position, and put the steering system into the calibration completion state.

[0032] S002. If the mechanical stress data exceeds the preset stress threshold, a midpoint deviation warning signal will be forcibly issued.

[0033] S200 enables the steering system to operate and monitors the midpoint parameters of the steering system in real time.

[0034] S300: If the center position parameter deviates from the preset center position calibration threshold, a center position deviation warning signal is issued, and the steering system enters the center position verification state. The center position parameter is obtained through collaborative acquisition by the motor position sensor, steering angle sensor, and torque sensor integrated into the steering system.

[0035] S400: Run the steering system to the left and right extreme positions respectively, and record the left and right extreme positions.

[0036] Specifically, in step S400, during the multiple drives of the steering system to its left and right physical limit positions, the speed at which the steering system moves from the middle position to the left and right physical limit positions is different. This is to avoid collisions caused by steering speed affecting the outcome.

[0037] S500, the theoretical geometric midpoint of the steering system is calculated based on the left and right physical limit positions.

[0038] Specifically, in step S400, the process of the steering system operating to the left and right extreme positions is performed multiple times; and in the subsequent step S500, the recorded left and right extreme positions are averaged to determine the theoretical geometric median. By operating the steering system to the left and right extreme positions multiple times and averaging the multiple left and right extreme positions to determine the theoretical geometric median, the accuracy of the theoretical geometric median can be improved, making the theoretical geometric median much closer to the actual median.

[0039] S600: Calculate the median theoretical deviation between the theoretical geometric median and the current calibrated median.

[0040] S700: The steering system is recalibrated based on the median theoretical deviation, and the steering system is brought back to the calibration completion state.

[0041] This invention, through an effective center calibration feedback logic in the steering system, can avoid situations where center offset can only be detected after a road test following production line operation. This reduces the detection cycle and cost, and enables online closed-loop error correction, thereby effectively improving production line efficiency and first-pass yield.

[0042] This invention also provides a vehicle equipped with the above-described electric power steering system.

[0043] The processor can be implemented using a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0044] Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be a commercial vehicle, such as a van, bus, small truck, or large semi-trailer. The vehicle can be a gasoline-powered vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0045] According to an embodiment of the present invention, a computer-readable storage medium is stored thereon, which, when executed by a processor, implements the above-described steering system center calibration method.

[0046] The computer-readable storage medium of this invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0047] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0048] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0049] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0050] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0051] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A method for calibrating a neutral position in a steering system, characterized in that, Includes the following steps: Perform a center-position calibration on the steering system to obtain the current calibration center position, and then put the steering system into the calibration completion state. To operate the steering system and monitor the median parameters of the steering system in real time; If the median parameter deviates from the preset median calibration threshold, a median calibration deviation warning signal is issued, and the steering system enters the median verification state. The steering system is operated to its left and right extreme positions respectively, and the left and right extreme positions are recorded. The theoretical geometric midpoint of the steering system is calculated based on the left and right physical limit positions. Calculate the median theoretical deviation between the theoretical geometric median and the current calibrated median; The steering system is recalibrated based on the median theoretical deviation, and the steering system is brought back to the calibration completion state.

2. The center calibration method for a steering system according to claim 1, characterized in that, The median parameters are obtained through collaborative acquisition by the motor position sensor, steering angle sensor, and torque sensor integrated into the steering system.

3. The center calibration method for the steering system according to claim 1, characterized in that, In the midpoint verification state, the process of driving the steering system to the left and right extreme positions is performed multiple times; and the left and right extreme positions recorded multiple times are averaged to determine the theoretical geometric midpoint.

4. The center calibration method for the steering system according to claim 3, characterized in that, During the process of repeatedly driving the steering system to the left and right physical limit positions, the speed at which the steering system moves from the middle position to the left and right physical limit positions is different.

5. The center calibration method for a steering system according to claim 1, characterized in that, Before performing center-position calibration on the steering system, the following steps are also included: Record the mechanical stress data generated during the four-wheel alignment process on the production line; The median calibration threshold is adjusted using the mechanical stress data.

6. The center calibration method for a steering system according to claim 5, characterized in that, After performing the center calibration step on the steering system, if the mechanical stress data exceeds the preset stress threshold, a center calibration deviation warning signal will be forcibly issued.

7. An electric power steering system, characterized in that, include: The steering control module is used to control the steering execution of the steering system; The status recording module is used to collect and record the median parameters of the steering system in real time; The median detection module is used to monitor the median parameter and issue a median deviation warning signal when the median parameter deviates from the preset median calibration threshold. The center calibration module is used to drive the steering system to the left and right physical limit positions to obtain the theoretical center position, and to recalibrate the center position based on the theoretical center position, and then send a center recalibration completion signal. The calibration feedback module is connected to the center detection module and the center recalibration module respectively. After receiving the center calibration deviation warning signal, it controls the steering system to jump to the center verification state, and after receiving the center recalibration completion signal, it controls the steering system to jump back to the calibration completion state.

8. The electric power steering system according to claim 7, characterized in that, The status recording module is connected to the four-wheel alignment device of the production line via a signal. The parameters recorded by the status recording module also include: mechanical stress data generated during the four-wheel alignment process of the production line. The median detection module dynamically corrects the preset median calibration threshold based on the mechanical stress data, or directly triggers the median calibration deviation warning signal based on the mechanical residual stress data.

9. A vehicle, characterized in that, It is equipped with an electric power steering system as described in any one of claims 7-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the center calibration method for a steering system as described in any one of claims 1-6.

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