Vehicle controller and vehicle steering zero marking system

Abstract

The utility model relates to a vehicle controller and a vehicle steering zero marking system, which can be used for conveniently carrying out zero marking operation on a steering system of a vehicle by one person and improving the operation efficiency. The vehicle controller remotely controls a steering system of a vehicle, the steering system is provided with wheels, a driving source for driving the wheels to steer, and a control unit for controlling the driving source, the control unit comprises a detection part for detecting the steering angle of the wheels based on the zero position of the control unit, and the vehicle controller is provided with a controller main body; the direction operation part is arranged on the controller main body and is operated to send a steering instruction to the control unit so as to drive the driving source through the control unit, so that the wheels are steered; and the zero marking operation piece is arranged on the controller main body and is operated to send a zero marking instruction to the control unit so as to carry out zero marking operation.

Description

Technical Field

[0001] The utility model relates to a vehicle controller and a vehicle steering zeroing system comprising the vehicle controller. Background Art

[0002] At present, many vehicles (especially unmanned vehicles, which are also called autonomous driving vehicles) have a driving source for driving the steering of the wheels and a control unit for controlling the driving source. The control unit has a detection unit (usually a steering angle sensor) that directly or indirectly detects the steering angle of the wheel based on its own zero position.

[0003] In the above-mentioned vehicle, the control unit controls the action of the driving source according to the detection results of the detection unit. Therefore, when the vehicle leaves the factory, it is necessary to perform a zeroing operation to calibrate the zero position of the detection unit to ensure that the vehicle can perform actions such as straight-line driving as set.

[0004] In the above-mentioned zeroing operation, static zeroing is sometimes performed, and sometimes the following operation is performed: the calibrator opens the calibration software on the computer and connects the calibration hardware to the communication port of the vehicle. On the other hand, the driver drives the vehicle. When the vehicle is driving in a straight line, the driver holds the steering wheel steady. At the same time, the calibrator, for example, sends a zeroing instruction to the vehicle's control unit (usually a wire-controlled steer controller) by operating the calibration software to perform zeroing.

[0005] However, no matter which of the above situations is true, the zeroing operation usually requires at least two people to operate simultaneously, which is inefficient. Utility Model Content

[0006] The present invention is completed in view of the above problems, and its purpose is to provide a vehicle controller and a vehicle steering homing system including the vehicle controller, which can conveniently perform the homing operation of the vehicle steering system by one person, thereby improving the working efficiency.

[0007] In order to achieve the above-mentioned purpose, the utility model provides a vehicle controller for remotely controlling the steering system of a vehicle, wherein the steering system has wheels, a driving source for driving the wheels to turn, and a control unit for controlling the driving source, the control unit including a detection unit for detecting the steering angle of the wheels based on its own zero position, wherein the controller comprises: a controller body; a direction operating member, which is arranged on the controller body and issues a steering instruction to the control unit when operated, so as to use the control unit to drive the driving source to steer the wheels; and a homing operating member, which is arranged on the controller body and issues a homing instruction to the control unit when operated, so as to perform a homing operation.

[0008] According to the vehicle controller of the present invention, for example, a calibration personnel can conveniently operate the direction operating member to make the vehicle travel in a straight line, and complete the zeroing operation of the vehicle's steering system by operating the zeroing operating member, thereby improving operation efficiency.

[0009] In addition, in the vehicle controller of the present invention, it is preferred that one or more of a start-stop operating member, a speed control member and a prompt portion are also provided on the controller body. The start-stop operating member issues instructions to the control unit when operated to start or stop the vehicle, and the speed control member issues instructions to the control unit when operated to control the speed of the vehicle. The prompt portion provides prompt information in conjunction with the action of the zero operating member.

[0010] According to the vehicle controller of the present invention, with the help of the start-stop operating element and the speed control element, the calibration personnel can control the vehicle's driving more freely when performing the zeroing operation of the vehicle's steering system. In particular, with the help of the speed control element, by reducing the vehicle's driving speed, the zeroing operation of the vehicle's steering system can be easily and accurately performed; on the other hand, with the help of the prompt part, it is possible to easily confirm whether the zeroing operating element is operated correctly, thereby improving the reliability of the zeroing operation.

[0011] Furthermore, in the vehicle controller of the present invention, it is preferred that at least one of the direction operating element, the start / stop operating element, and the speed control element is any one of a lever, a button, and a touch screen.

[0012] According to the vehicle controller of the present invention, at least one of the direction operating element, the start / stop operating element, and the speed control element can be formed with a simple structure.

[0013] Furthermore, in the vehicle controller of the present invention, it is preferred that the prompting unit include any one of a buzzer, an indicator light, and a display screen.

[0014] According to the vehicle controller of the present invention, the prompting unit can be constructed with a simple structure.

[0015] In addition, in the vehicle controller of the present invention, an encoding unit and a sending unit are preferably provided on the controller body, the encoding unit encodes the operations of the direction operating member, the zero operating member, the start-stop operating member and the speed control member, and the sending unit sends the encoding information generated by the encoding unit to the control unit.

[0016] Furthermore, in the vehicle controller of the present invention, it is preferred that the vehicle controller is a handheld remote controller.

[0017] According to the vehicle controller of the present invention, when performing steering zero calibration, the calibration personnel can conveniently change their own position so as to avoid obstacles in front of them.

[0018] In addition, in order to achieve the above-mentioned purpose, the utility model provides a vehicle steering zeroing system, including: a vehicle, the vehicle having a steering system, the steering system having wheels, a driving source for driving the steering of the wheels, and a control unit for controlling the driving source, the control unit including a detection unit for detecting the steering angle of the wheels based on its own zero position; and a vehicle controller described in any one of the above items.

[0019] According to the vehicle steering zeroing system of the present invention, for example, a calibration personnel can conveniently operate the direction operating member of the vehicle controller to make the vehicle drive in a straight line, and complete the zeroing operation of the vehicle's steering system by operating the zeroing operating member of the vehicle controller, thereby improving work efficiency.

[0020] Furthermore, in the vehicle steering zeroing system of the present invention, preferably, the driving source includes a steering driving source for driving the wheels to steer, and the control unit includes a steering control unit for controlling the steering driving source.

[0021] According to the vehicle steering zeroing system of the present invention, the steering drive source and the steering control unit are provided separately, which helps to simplify the steering control.

[0022] Furthermore, in the vehicle steering zeroing system of the present invention, it is preferred that the steering drive source is a motor.

[0023] According to the vehicle steering zeroing system of the present invention, a steering drive source can be formed with a simple structure.

[0024] Furthermore, in the vehicle steering zeroing system of the present invention, preferably, the steering system further includes a transmission device, which transmits the driving force of the steering drive source to the wheels to steer the wheels.

[0025] According to the vehicle steering zeroing system of the present invention, compared with a case where no transmission device is provided, it is easy to increase the degree of freedom in the arrangement of the drive source relative to the wheels.

[0026] In addition, in the vehicle steering zeroing system of the present invention, the transmission device preferably includes: a bridge portion, the wheels are connected to both ends of the bridge portion; a straight pull rod, one end of which is connected to the bridge portion; and a steering vertical wall, the steering vertical wall is connected to the other end of the straight pull rod, and the steering drive source drives the straight pull rod via the steering vertical wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 12 is a block diagram schematically showing a vehicle steering zeroing system according to an embodiment of the present invention.

[0028] Figure 2 It is a perspective view schematically showing a vehicle steering system in a vehicle steering zeroing system according to an embodiment of the present invention.

[0029] Figure 3 FIG. 1 is a block diagram schematically showing a vehicle steering controller in a vehicle steering zeroing system according to an embodiment of the present invention.

[0030] Figure 4 This is an explanatory diagram schematically showing a vehicle controller in a vehicle steering zeroing system according to an embodiment of the present invention.

[0031] (Explanation of Symbols)

[0032] 1 Vehicle steering zeroing system

[0033] 10 vehicles

[0034] 11 wheels

[0035] 12. Drive source

[0036] 121 Steering drive source

[0037] 13 Control Unit

[0038] 131 Steering Control Unit

[0039] 14 Receiver

[0040] 15 Transmission

[0041] 151 Bridge

[0042] 152 straight pull rod

[0043] 153 Turn to vertical wall

[0044] 16 Steering Wheel

[0045] 17 String

[0046] 18 Auxiliary devices

[0047] 180 Power boost circuit

[0048] 181 Oil Can

[0049] 182 Electric power steering oil pump

[0050] 19 Radiator

[0051] 20 Vehicle Controller

[0052] 21 Controller body

[0053] 22 direction operating parts

[0054] 23 Zero operating parts

[0055] 24 Start / Stop Operating Elements

[0056] 25 Speed ​​control

[0057] 26 Switching operation element

[0058] 27 Tips

[0059] SS steering system

[0060] ECU Steering Controller DETAILED DESCRIPTION

[0061] Next, combine Figures 1 to 4 A vehicle steering zeroing system including an embodiment of the present invention will be described.

[0062] (Overall structure of vehicle steering zeroing system)

[0063] like Figure 1 As shown, the vehicle steering zeroing system 1 includes: a vehicle 10 having a steering system SS; and a vehicle controller 20 for remotely controlling the steering system SS of the vehicle 10 .

[0064] Here, if Figure 2 and Figure 3 As shown, the steering system SS of the vehicle 10 includes wheels 11 , a driving source 12 for steering the wheels 11 , and a control unit 13 for controlling the driving source 12 . The control unit 13 includes a detection unit for detecting the steering angle of the wheels 11 based on its own zero position.

[0065] In addition, if Figure 1 and Figure 4 As shown, the vehicle controller 20 is a handheld remote controller that wirelessly communicates with the vehicle 10, and comprises: a controller body 21; a direction operating member 22, which is provided on the controller body 21 and is operated to issue a steering instruction to the control unit 13, so that the control unit 13 drives the driving source 12, thereby steering the wheel 11; and a homing operating member 23, which is provided on the controller body 21 and is operated to issue a homing instruction to the control unit 13 to perform a homing operation.

[0066] (Vehicle Structure)

[0067] As described above, the vehicle 10 has the steering system SS having the wheels 11 , the drive source 12 , and the control unit 13 .

[0068] Here, if Figure 3 As shown, the driving source 12 includes a steering driving source 121 for driving the wheel 11 to steer, and the control unit 13 includes a steering control unit 131 for controlling the steering driving source 121. Specifically, the steering driving source 121 is a motor. The steering control unit 131 includes: a steering angle sensor for detecting the steering angle of the wheel 11 based on its own zero position; and a control circuit for controlling the steering driving source 121 based on the steering angle sensor. Figure 2 and Figure 3 As shown, the steering drive source 121 and the steering control unit 131 constitute the main body of a steering controller ECU (e.g., a steer-by-wire controller). (The steering controller ECU may also include an output component such as a gear mechanism for outputting the steering drive source 121.) Although not shown, the drive source 12 also includes, for example, a rotational speed drive source for controlling the rotational speed of the wheels 11, and the control unit 13 also includes a rotational speed control unit for controlling the rotational speed drive source.

[0069] In addition, if Figure 1 As shown, the vehicle 10 further includes a receiver 14, and the control unit 13 of the steering system SS communicates with the vehicle controller 20 via the receiver 14. Specifically, the steering control unit 131 of the steering controller ECU communicates with the receiver 14 via a wired communication via the CAN (Controller Area Network) bus of the vehicle 10. The vehicle controller 20 communicates with the receiver 14 wirelessly.

[0070] In addition, if Figure 2 As shown, the vehicle 10 further includes a transmission device 15 that transmits the driving force of the steering drive source 121 to the wheels 11 to steer them. Specifically, the transmission device 15 includes a bridge portion 151, with the wheels 11 connected at both ends; a straight tie rod 152, one end of which is connected to the bridge portion 151; and a steering vertical wall 153, the other end of which is connected to the straight tie rod 152. The steering drive source 121 drives the straight tie rod 152 via the steering vertical wall 153 (in the illustrated example, the driving force of the steering drive source 121 is transmitted via the output component to the steering vertical wall 153, thereby driving the straight tie rod 152), thereby steering the wheels 11 via the bridge portion 151.

[0071] In addition, if Figure 2As shown, the vehicle 10 also has a steering wheel 16 that is linked to the steering controller ECU. Specifically, the steering wheel 16 is linked to the operation of the steering drive source 121 of the steering controller ECU via a column 17, thereby driving the wheels 11 of the vehicle 10 to steer. More specifically, the upper end of the column 17 is fixedly connected to the steering wheel 16, and the lower end of the column 17 is cooperatively connected to the output component that outputs the driving force of the steering drive source 121. When the steering wheel 16 rotates, the column 17 drives the output component that outputs the driving force of the steering drive source 121 to operate accordingly, thereby driving the straight tie rod 152 via the steering vertical wall 153, thereby steering the wheels 11 via the bridge portion 151.

[0072] In addition, if Figure 2 As shown, the vehicle 10 also has an auxiliary device 18 for assisting the rotation of the steering wheel 16. Specifically, the auxiliary device 18 includes a power-assist circuit 180, which supplies a working fluid such as oil to flow, and generates a force to assist the rotation of the steering wheel 16 and the movement of the above-mentioned output components according to the instructions from the control unit 13 of the vehicle 10. An oil pot 181 and an electric power-assist oil pump 182 are provided in the power-assist circuit 180. The oil pot 181 is used to store working fluids such as oil. The electric power-assist oil pump 182 is used to transfer the hydraulic pressure formed by the oil in the oil pot 181 to the above-mentioned output components, thereby driving the output components to move, thereby assisting the rotation of the steering wheel 16.

[0073] In addition, if Figure 2 As shown, the vehicle 10 further includes a radiator 19 . The radiator 19 cools a working fluid such as oil flowing in the power assist circuit 180 .

[0074] Although not shown, the vehicle 10 may further include a power source such as a battery for supplying power to the drive source 12 and the control unit 13 .

[0075] (Structure of vehicle controller)

[0076] As described above, the vehicle controller 20 includes the controller body 21 , the direction operating member 22 , and the home operating member 23 .

[0077] Although not shown, the vehicle controller 20 also includes an encoder and a transmitter. These are, for example, located within the controller body 21. The encoder encodes (e.g., in binary format) the information generated by the various operating elements of the vehicle controller 20. The transmitter transmits the information encoded by the encoder to the receiver 14.

[0078] In addition, if Figure 4 As shown, the vehicle controller 20 is substantially rectangular. That is, the controller body 21 is substantially rectangular (in the example shown in the figure). The controller body 21 is, for example, a plastic housing.

[0079] In addition, the direction operating member 22 is for the calibration personnel to operate and is exposed from the controller body 21. The direction operating member 22 can be composed of any one of a rod, a button and a touch screen. In the example shown in the figure, the direction operating member 22 is composed of a rod. When the direction operating member 22 is operated, a signal corresponding to the operation is sent to the receiver 14 of the vehicle 10 via the above-mentioned transmitter, and then to the steering controller ECU of the vehicle 10, thereby driving the wheel 11 to perform a steering action. For example, when the direction operating member 22 is moved toward the left, the drive wheel 11 is turned to the left; on the other hand, when the direction operating member 22 is moved toward the right, the drive wheel 11 is turned to the right.

[0080] In addition, the zeroing operating member 23 is for the calibration personnel to operate and is exposed from the controller body 21. The zeroing operating member 23 can be composed of any one of a rod, a button and a touch screen. In the illustrated example, the zeroing operating member 23 is composed of a button. When the zeroing operating member 23 is operated, the signal corresponding to the operation will be sent to the receiver 14 of the vehicle 10 via the above-mentioned transmitter, and then sent to the steering controller ECU of the vehicle 10, thereby performing zeroing by the steering controller ECU (for example, setting the current detection value of the detection unit to zero). In addition, the zeroing operating member 23 and the direction operating member 22 are arranged along the length direction of the vehicle controller 20, and the direction operating member 22 is located on the right side of the zeroing operating member 23.

[0081] In addition, if Figure 4 As shown, the vehicle controller 20 further includes a start / stop operating element 24 , a speed control element 25 , a switching operating element 26 and a prompting unit 27 .

[0082] The start-stop operating member 24 controls the start and stop of the vehicle 10 by being operated. The start-stop operating member 24 is for operation by the calibration personnel and is exposed from the controller body 21. The start-stop operating member 24 can be composed of any one of a rod, a button and a touch screen. In the example shown in the figure, the start-stop operating member 24 is composed of a button. When the start-stop operating member 24 is operated, the signal corresponding to the operation will be sent to the receiver 14 of the vehicle 10 via the above-mentioned transmitter, and then to the control unit 13 of the vehicle 10, thereby starting or stopping the vehicle 10. In the longitudinal direction of the vehicle controller 20, the start-stop operating member 24 is located on the right side of the direction operating member 22.

[0083] The speed control member 25 is operated to issue instructions to the control unit 13 to control the speed of the vehicle 10. The speed control member 25 can be composed of any one of a rod, a button, and a touch screen. In the illustrated example, the speed control member 25 is composed of a button. When the speed control member 25 is operated, a signal corresponding to the operation is sent to the receiver 14 of the vehicle 10 via the above-mentioned transmitter, and then to the control unit 13 of the vehicle 10, thereby accelerating or decelerating the vehicle 10. For example, when the speed control member 25 is slid upward, the vehicle 10 accelerates; on the other hand, when the speed control member 25 is slid downward, the vehicle 10 decelerates or brakes. In the longitudinal direction of the vehicle controller 20, the speed control member 25 is located between the direction operating member 22 and the zero operating member 23.

[0084] The switch operating member 26 switches the steering member 22 between a first steering mode and a second steering mode. In the first steering mode, the steering angle change of the wheel 11 per unit movement of the steering member 22 is smaller than the steering angle change of the wheel 11 per unit movement of the steering member 22 in the second steering mode. The switch operating member 26 can be comprised of any of a lever, a button, and a touch screen. In the illustrated example, the switch operating member 26 comprises a lever. When the switch operating member 26 is operated, a signal corresponding to the operation is transmitted via the transmitter to the receiver 14 of the vehicle 10 and then to the steering controller ECU of the vehicle 10, thereby causing the vehicle 10 to steer quickly or slowly. For example, moving the switch operating member 26 upward causes the vehicle 10 to steer quickly; moving the switch operating member 26 downward causes the vehicle 10 to steer slowly. The switch operating member 26 is located on one side of the steering member 22 in the width direction of the vehicle controller 20.

[0085] The prompting unit 27 provides prompt information in conjunction with the movement of the homing operating member 23. The prompting unit 27 can be comprised of any of a buzzer, indicator light, and display screen. Upon successful operation of the homing operating member 23, the prompting unit 27 displays a prompt message or emits a sound. The prompting unit 27 is located on the other side of the direction operating member 22.

[0086] (Main Effects of This Embodiment)

[0087] According to the vehicle steering zeroing system 1 of this embodiment, the vehicle controller 20 includes: a direction operating member 22, which, when operated, issues a steering instruction to the control unit 13 of the vehicle 10, so that the control unit 13 drives the drive source 12, thereby steering the vehicle 10; and a zeroing operating member 23, which, when operated, issues a zeroing instruction to the control unit 13 to perform the zeroing operation. Therefore, a single calibration operator can conveniently operate the direction operating member 22 to cause the vehicle 10 to travel in a straight line, and complete the zeroing operation of the vehicle 10's steering system SS by operating the zeroing operating member 23, thereby improving work efficiency, saving work time, and reducing the use of human resources.

[0088] In addition, according to the vehicle steering zeroing system 1 of this embodiment, the vehicle controller 20 has a speed control member 25 and a switching operating member 26. With the help of the speed control member 25 and the switching operating member 26, by reducing the driving speed and steering speed of the vehicle 10, the steering zeroing operation of the vehicle 10 can be easily and more accurately performed.

[0089] Furthermore, according to the vehicle steering homing system 1 of this embodiment, the vehicle controller 20 has a prompting unit 27 , which can facilitate confirmation of whether the homing operating member 23 is correctly operated, thereby improving the reliability of the steering homing operation.

[0090] In addition, according to the vehicle steering homing system 1 of this embodiment, the vehicle controller 20 is a remote control, and personnel can use the vehicle controller 20 to perform the homing operation of the steering system SS of the vehicle 10 without having to follow the vehicle 10. Therefore, it can reduce safety hazards and further improve the efficiency of the homing operation.

[0091] The present invention has been described above by way of example with reference to the accompanying drawings. It is apparent that the specific implementation of the present invention is not limited to the above-mentioned embodiments.

[0092] For example, in the above embodiment, the vehicle 10 may be an unmanned (automatic) driving vehicle or a manned driving vehicle. In the case where the vehicle 10 is an unmanned driving vehicle, the steering wheel 16 and the column 17 may be omitted.

[0093] Furthermore, in the above-described embodiment, an output member for outputting the driving force of the steering drive source 121 may be provided outside the steering controller ECU.

[0094] Furthermore, in the above-described embodiment, the vehicle controller 20 may further include a homing mode activation element to switch whether or not to initiate the homing operation. Specifically, a homing operation activation function may be provided within the switching operating element 26, allowing the switching operating element 26 to also serve as the homing mode activation element. In this case, a prompting unit may also be provided to provide prompt information in conjunction with the operation of the homing mode activation element. This prompting unit may comprise any of a buzzer, indicator light, and display screen.

[0095] Furthermore, in the above-described embodiment, the overall shape of the vehicle controller 20 is not limited to a rectangle, and may be another shape such as an ellipse.

[0096] In addition, in the above embodiment, the positional relationship of the direction operating member 22, the zero operating member 23, the start / stop operating member 24, the speed control member 25, the switching operating member 26 and the prompt portion 27 is not limited to the positional relationship shown in the figure, and can be appropriately adjusted as needed.

[0097] In addition, in the above embodiment, the vehicle controller 20 has a start-stop operating member 24, a speed control member 25, a switching operating member 26 and a prompt part 27, but is not limited to this. At least a part of the start-stop operating member 24, the speed control member 25, the switching operating member 26 and the prompt part 27 can also be omitted.

[0098] Furthermore, in the above embodiment, the direction operating member 22 may also be configured to switch between forward and reverse directions of the vehicle 10. For example, when the direction operating member 22 is moved upward, the vehicle 10 moves forward; on the other hand, when the direction operating member 22 is moved downward, the vehicle 10 moves backward. This allows for more flexible control of the vehicle 10.

[0099] Furthermore, in the above embodiment, the vehicle 10 includes the auxiliary device 18 and the radiator 19 , but the present invention is not limited thereto, and at least one of the auxiliary device 18 and the radiator 19 may be omitted depending on circumstances.

[0100] It should be understood that within the scope of the present invention, various parts in the embodiments can be freely combined, or various parts in the embodiments can be appropriately deformed or omitted.

Claims

1. A vehicle controller for remotely controlling a steering system (SS) of a vehicle (10), wherein the steering system (SS) comprises a wheel (11), a driving source (12) for driving the wheel (11) to steer, and a control unit (13) for controlling the driving source (12), wherein the control unit (13) comprises a detection unit for detecting the steering angle of the wheel (11) based on its own zero position, and wherein: have: Controller body (21); a direction operating member (22), which is provided on the controller body (21) and is operated to issue a steering instruction to the control unit (13), so that the control unit (13) drives the driving source (12), thereby steering the wheel (11); as well as A zeroing operating member (23) is provided on the controller body (21) and is operated to issue a zeroing instruction to the control unit (13) to perform a zeroing operation.

2. The vehicle controller according to claim 1, wherein: The controller body (21) is also provided with one or more of a start / stop operating member (24), a speed control member (25) and a prompting member (27). The start / stop operating member (24) issues a command to the control unit (13) by being operated, so as to start or stop the vehicle (10). The speed control member (25) is operated to issue a command to the control unit (13) to control the speed of the vehicle (10). The prompting portion (27) provides prompt information in conjunction with the action of the zeroing operating member (23).

3. The vehicle controller according to claim 2, wherein: At least one of the direction operating member (22), the start / stop operating member (24) and the speed control member (25) is any one of a rod, a button and a touch screen.

4. The vehicle controller according to claim 2, wherein: The prompting part (27) has any one of a buzzer, an indicator light and a display screen.

5. The vehicle controller according to claim 2, wherein: The controller body (21) is provided with an encoding unit and a sending unit. The encoding unit encodes the operations of the direction operating member (22), the zeroing operating member (23), the start / stop operating member (24) and the speed control member (25). The transmitting unit transmits the encoded information generated by the encoding unit to the control unit (13).

6. The vehicle controller according to claim 1, wherein: The vehicle controller (20) is a handheld remote controller.

7. A vehicle steering zeroing system, characterized in that: include: A vehicle (10) having a steering system (SS), the steering system (SS) having wheels (11), a driving source (12) for driving the wheels (11) to steer, and a control unit (13) for controlling the driving source (12), the control unit (13) having a detection unit for detecting the steering angle of the wheels (11) based on its own zero position; as well as The vehicle controller (20) according to any one of claims 1 to 5.

8. The vehicle steering zeroing system according to claim 7, characterized in that: The driving source (12) includes a steering driving source (121) for driving the wheel (11) to steer. The control unit (13) includes a steering control unit (131) for controlling the steering drive source (121).

9. The vehicle steering zeroing system according to claim 8, characterized in that: The steering drive source (121) is a motor, The steering system (SS) further comprises a transmission device (15), The transmission device (15) transmits the driving force of the steering drive source (121) to the wheel (11) to cause the wheel (11) to steer.

10. The vehicle steering zeroing system according to claim 9, characterized in that: The transmission device (15) comprises: a bridge portion (151), with the wheels (11) connected to both ends of the bridge portion (151); a straight pull rod (152), one end of which is connected to the bridge portion (151); and A turning vertical wall (153) is connected to the other end of the straight pull rod (152). The steering drive source drives the straight pull rod via the steering vertical wall.

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