CN108327782B - Control method and device of vehicle steering system and vehicle - Google Patents
Control method and device of vehicle steering system and vehicle Download PDFInfo
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- CN108327782B CN108327782B CN201810053478.9A CN201810053478A CN108327782B CN 108327782 B CN108327782 B CN 108327782B CN 201810053478 A CN201810053478 A CN 201810053478A CN 108327782 B CN108327782 B CN 108327782B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a control method and a control device of a vehicle steering system and a vehicle, wherein the method comprises the following steps: detecting whether an ignition signal is acquired; if the ignition signal is acquired, controlling a vehicle steering system to start; and under the condition that the vehicle steering system is started, if the vehicle is detected to finish power-off processing, controlling the vehicle steering system to stop working after a preset delay time. The invention avoids the problem that no power is assisted when the engine signal can not be received under the condition that the vehicle runs at high speed or on a normal road, and avoids the phenomenon that the steering wheel is heavy when the vehicle is powered off or the engine signal can not be received due to the engine fault, thereby ensuring the running safety of the vehicle and improving the safety performance of the whole vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a control method and device of a vehicle steering system and a vehicle.
Background
As the amount of vehicles kept increases, the demands of users on the safety and comfort of the vehicles are also increasing. At present, the electric automobile judges whether the electric steering system starts to work according to an ignition signal and a simulation engine signal. In addition, in the case that the vehicle is parked and powered off when the steering wheel of the vehicle is not returned, since the position of the steering wheel is fixed according to the position of the parked vehicle after the vehicle is parked, a phenomenon of deviating from a normal driving track may occur when the vehicle is restarted, which is not favorable for the driving comfort of the vehicle. And if the steering wheel is not placed in the middle position for a long time, the suspension and the tire are in a stressed state for a long time, and the service life is influenced.
Disclosure of Invention
The invention provides a control method and a control device of a vehicle steering system and a vehicle, and aims to solve the problem that the control method of the vehicle steering system in the prior art is not beneficial to the safety and the comfort of vehicle running.
In order to solve the above technical problem, an embodiment of the present invention provides a control method for a vehicle steering system, including:
detecting whether an ignition signal is acquired;
if the ignition signal is acquired, controlling a vehicle steering system to start;
and under the condition that the vehicle steering system is started, if the vehicle is detected to finish power-off processing, controlling the vehicle steering system to stop working after a preset delay time.
Preferably, after the step of controlling the vehicle steering system to start if the ignition signal is acquired, the method further comprises:
acquiring a deflection angle of a steering wheel of a vehicle relative to a preset position;
and if the deflection angle exceeds a preset threshold and the vehicle is detected to finish power-off processing, controlling the steering wheel of the vehicle to be adjusted to the preset position from the position of the deflection angle.
Preferably, the step of acquiring the deflection angle of the vehicle steering wheel relative to the predetermined position includes:
and acquiring the deflection angle of the vehicle steering wheel relative to a preset position, which is acquired by a rotation angle sensor in the vehicle steering system.
Preferably, the step of controlling the steering wheel of the vehicle to adjust from the position of the yaw angle to the predetermined position includes:
controlling, by a steering assist motor in the vehicle steering system, an adjustment of a steering wheel of the vehicle from a position of the yaw angle to the predetermined position.
Preferably, the power supply in the vehicle steering system is normally electrically connected with a battery in the vehicle.
An embodiment of the present invention further provides a control device for a vehicle steering system, including:
the detection module is used for detecting whether an ignition signal is acquired;
the first control module is used for controlling a vehicle steering system to start if the ignition signal is acquired;
and the second control module is used for controlling the vehicle steering system to stop working after a preset delay time if the vehicle is detected to finish power-off processing under the condition that the vehicle steering system is started.
Preferably, the apparatus further comprises:
the acquisition module is used for acquiring the deflection angle of a steering wheel of the vehicle relative to a preset position;
and the third control module is used for controlling the steering wheel of the vehicle to be adjusted to the preset position from the position of the deflection angle if the deflection angle exceeds a preset threshold and the vehicle is detected to finish power-off processing.
Preferably, the obtaining module includes:
and the acquisition unit is used for acquiring the deflection angle of the vehicle steering wheel relative to a preset position, which is acquired by a rotation angle sensor in the vehicle steering system.
Preferably, the third control module includes:
a control unit for controlling the steering wheel of the vehicle to adjust from the position of the yaw angle to the predetermined position by a steering assist motor in the vehicle steering system.
Preferably, the power supply in the vehicle steering system is normally electrically connected with a battery in the vehicle.
Embodiments of the present invention further provide a vehicle, where the vehicle includes a processor, a memory, and a computer program stored in the memory and operable on the processor, and when the processor executes the computer program, the steps of the control method of the vehicle steering system are implemented.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the control method for a vehicle steering system as described above.
The embodiment of the invention has the beneficial effects that:
in the scheme, the ignition signal is used as the only signal for judging whether the power assistance is promoted by the vehicle steering system, so that the problem that the power assistance is not available for steering when the engine signal cannot be received under the condition that the vehicle runs at a high speed or on a normal road is avoided; and the vehicle steering system stops working after the preset delay time after the vehicle finishes power-off processing, so that the phenomenon that the steering wheel is heavy after the vehicle is powered off can be avoided, a driver can stably park the vehicle to a preset position due to the fact that an engine fails or cannot receive an engine signal or the vehicle runs on a common road, the running safety of the vehicle is further guaranteed, and the safety performance of the whole vehicle is improved.
Drawings
FIG. 1 shows one of flowcharts of a control method of a vehicle steering system of an embodiment of the invention;
FIG. 2 shows a schematic diagram of an electronic control unit of an embodiment of the present invention;
FIG. 3 shows a second flowchart of a method of controlling a steering system of a vehicle according to an embodiment of the present invention;
FIG. 4 shows a third flowchart of a control method of a vehicle steering system according to an embodiment of the present invention;
fig. 5 shows a block diagram of a control device of a vehicle steering system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a control method of a vehicle steering system, including:
As shown in fig. 2, a schematic diagram of an Electronic Control Unit 201 (ECU) is shown. The first terminal CN1 is used for being connected with a power supply and supplying power to the ECU; the second terminal CN2 is used for acquiring vehicle-mounted signals (including an ignition signal, a CAN _ H signal and a CAN _ L signal); the third terminal CN3 is used for acquiring signals sent by the torque angle sensor; the fourth terminal CN4 is used for acquiring a motor rotor signal; the fifth terminal CN5 is used to supply power to the motor.
In this embodiment, the ignition signal in the on-vehicle signal acquired through the second terminal CN2 of the ECU is the only signal for determining whether the vehicle steering system is boosting.
And step 102, if the ignition signal is acquired, controlling a vehicle steering system to start.
In the embodiment, the ignition signal is used as the only signal for judging whether the power-assisted steering system of the vehicle is used for promoting the power-assisted steering, so that the problem of no power-assisted steering can be avoided when the engine signal or the Ready signal of the whole vehicle cannot be received under the condition that the vehicle runs at a high speed or on a normal road, the vehicle can be ensured to run safely, and the safety performance of the whole vehicle is improved.
And 103, under the condition that the vehicle steering system is started, if the vehicle is detected to finish power-off processing, controlling the vehicle steering system to stop working after a preset delay time.
In the embodiment, the power supply in the vehicle steering system is in constant electrical connection with the storage battery in the vehicle, so that the vehicle steering system can stop working after a preset delay time after the vehicle finishes power-off processing. By setting the preset delay time after the vehicle finishes the power-off processing, the vehicle steering system stops working, so that the situation that the vehicle runs at high speed or runs on a common road due to the fact that an engine fails or cannot receive an engine signal or the steering wheel is heavy after the vehicle is powered off can be avoided, a driver can stably park the vehicle to a preset position, and the running safety of the vehicle is further guaranteed.
Preferably, the delay time may be set to 30 s. Of course, the number of the segments may be set to 5s, 10s, 15s, 20s, etc., and the present invention is not limited thereto.
In the scheme, the ignition signal is used as the only signal for judging whether the power assistance is promoted by the vehicle steering system, so that the problem that the power assistance is not available for steering when the engine signal cannot be received under the condition that the vehicle runs at a high speed or on a normal road is avoided; and the vehicle steering system stops working after the preset delay time after the vehicle finishes power-off processing, so that the phenomenon that the steering wheel is heavy after the vehicle is powered off can be avoided, a driver can stably park the vehicle to a preset position due to the fact that an engine fails or cannot receive an engine signal or the vehicle runs on a common road, the running safety of the vehicle is further guaranteed, and the safety performance of the whole vehicle is improved.
As shown in fig. 3, an embodiment of the present invention further provides a control method of a vehicle steering system, wherein when the vehicle steering system is started, if it is detected that the vehicle completes power-off processing, the vehicle steering system is controlled to stop operating after a predetermined delay time.
Further, the method specifically comprises the following steps:
Specifically, the deflection angle of the vehicle steering wheel relative to a predetermined position, which is acquired by a rotation angle sensor in the vehicle steering system, is acquired.
In this embodiment, the predetermined position refers to a 0 degree position where the steering wheel is not deflected, or a position deflected by an angle within a predetermined range with respect to the 0 degree position, such as: the angle of deflection is in the range of 5 degrees relative to the 0 degree position.
Step 302, if the deflection angle exceeds a preset threshold and it is detected that the vehicle completes power-off processing, controlling the steering wheel of the vehicle to adjust from the position of the deflection angle to the preset position.
Specifically, if the deflection angle exceeds a preset threshold and the vehicle is detected to finish power-off processing, a steering wheel of the vehicle is controlled to be adjusted to the preset position from the position of the deflection angle through a power steering motor in the vehicle steering system.
As one implementation, if it is detected that the steering wheel of the vehicle is deflected by M degrees in the clockwise direction with respect to the predetermined position, the deflection angle is marked as + M degrees; if the steering wheel of the vehicle is detected to be deflected by M degrees in a counterclockwise direction with respect to the predetermined position, the deflection angle is marked as-M degrees. Wherein, the clockwise deflection means that when the driver is at the driving position, the clockwise deflection corresponds to the clockwise direction of the driver; yaw in the counterclockwise direction refers to when the driver is in the driving position, corresponding to the driver's counterclockwise direction.
In this way, in the case that it is detected that the steering wheel of the vehicle has a yaw angle of + M degrees with respect to the predetermined position, if the M degrees is greater than the preset threshold and it is detected that the vehicle has completed the power-off process, the steering wheel of the vehicle is controlled by the power steering motor in the vehicle steering system to rotate M degrees in the counterclockwise direction to be adjusted from the position of the yaw angle to the predetermined position.
Under the condition that the deflection angle of the steering wheel of the vehicle relative to the preset position is detected to be-M degrees, if the M degrees are larger than a preset threshold and the vehicle is detected to finish power-off processing, the steering wheel of the vehicle is controlled to rotate clockwise by M degrees through a power steering motor in the vehicle steering system so as to be adjusted to the preset position from the deflection angle.
In the scheme, the vehicle steering system stops working after the preset delay time after the vehicle finishes power-off processing, so that the phenomenon that the steering wheel is heavy after the vehicle is powered off or the vehicle runs on a common road at a high speed can be avoided, and the driver can stably park the vehicle to a preset position and further ensure the safety of vehicle driving due to the fact that an engine fails or cannot receive an engine signal or the steering wheel is heavy after the vehicle is powered off.
Further, when the situation that the deflection angle of the steering wheel of the vehicle relative to a preset position exceeds a preset threshold and the situation that the vehicle finishes power-off processing is detected, the steering wheel of the vehicle is controlled to be adjusted to the preset position from the deflection angle, the situation that the deflection angle of the steering wheel of the vehicle relative to the preset position exceeds the preset threshold and the vehicle stops and is powered off is avoided, the steering wheel may deviate from a normal running track when the vehicle is restarted, and if the steering wheel is not in the middle position and is placed for a long time, the problem that the service life of a suspension and tires is influenced due to the fact that the steering wheel is in a stressed state for a long time is possibly caused, and the driving comfort is favorably.
As shown in fig. 4, an embodiment of the present invention further provides a control method of a vehicle steering system, including:
In this embodiment, the ignition signal in the on-vehicle signal acquired through the second terminal CN2 of the ECU is the only signal for determining whether the vehicle steering system is boosting.
And step 402, if the ignition signal is acquired, controlling a vehicle steering system to start.
In the embodiment, the ignition signal is used as the only signal for judging whether the power-assisted steering system of the vehicle is used for promoting the power-assisted steering, so that the problem that the power-assisted steering is not carried out can be avoided when the engine signal (or the Ready signal of the whole vehicle) cannot be received under the condition that the vehicle runs at a high speed or on a normal road, the vehicle can be ensured to run safely, and the safety performance of the whole vehicle is improved.
And 403, acquiring the deflection angle of the steering wheel of the vehicle relative to the preset position under the condition that the vehicle steering system is started.
Specifically, the deflection angle of the vehicle steering wheel relative to a predetermined position, which is acquired by a rotation angle sensor in the vehicle steering system, is acquired.
In this embodiment, the predetermined position refers to a 0 degree position where the steering wheel is not deflected, or a position deflected by an angle within a predetermined range with respect to the 0 degree position, such as: the angle of deflection is in the range of 5 degrees relative to the 0 degree position.
And step 404, detecting whether the vehicle finishes power-off processing or not under the condition that the vehicle steering system is started.
Specifically, when the ignition signal is acquired, the vehicle is controlled to be powered on, and the vehicle steering system is controlled to be started, the ECU continuously detects the ignition signal in a polling ignition signal detection mode. And if a power-off signal for controlling the vehicle to perform power-off processing is detected or an ignition signal is not detected in the polling period, controlling the vehicle to perform power-off processing.
And 405, when the vehicle finishes power-off processing, controlling the vehicle steering system to stop working after a preset delay time, and if the deflection angle exceeds a preset threshold, controlling the steering wheel of the vehicle to be adjusted to the preset position from the position of the deflection angle.
In the embodiment, the vehicle steering system stops working after the preset delay time after the vehicle is powered off is set, so that the phenomenon that the steering wheel is heavy when the vehicle runs at a high speed or runs on a common road due to the fact that an engine fails or cannot receive an engine signal or the vehicle is powered off can be avoided, the running safety of the vehicle is further ensured, and the safety performance of the whole vehicle is improved.
In addition, under the precondition that the vehicle steering system stops working after a preset delay time, if the deflection angle exceeds a preset threshold, the steering wheel of the vehicle is controlled to be adjusted to the preset position from the position of the deflection angle.
Specifically, if the deflection angle exceeds a preset threshold and the vehicle is detected to finish power-off processing, a steering wheel of the vehicle is controlled to be adjusted to the preset position from the position of the deflection angle through a power steering motor in the vehicle steering system.
As one implementation, if it is detected that the steering wheel of the vehicle is deflected by M degrees in the clockwise direction with respect to the predetermined position, the deflection angle is marked as + M degrees; if the steering wheel of the vehicle is detected to be deflected by M degrees in a counterclockwise direction with respect to the predetermined position, the deflection angle is marked as-M degrees. Wherein, the clockwise deflection means that when the driver is at the driving position, the clockwise deflection corresponds to the clockwise direction of the driver; yaw in the counterclockwise direction refers to when the driver is in the driving position, corresponding to the driver's counterclockwise direction.
In this way, in the case that it is detected that the steering wheel of the vehicle has a yaw angle of + M degrees with respect to the predetermined position, if the M degrees is greater than the preset threshold and it is detected that the vehicle has completed the power-off process, the steering wheel of the vehicle is controlled by the power steering motor in the vehicle steering system to rotate M degrees in the counterclockwise direction to be adjusted from the position of the yaw angle to the predetermined position.
Under the condition that the deflection angle of the steering wheel of the vehicle relative to the preset position is detected to be-M degrees, if the M degrees are larger than a preset threshold and the vehicle is detected to finish power-off processing, the steering wheel of the vehicle is controlled to rotate clockwise by M degrees through a power steering motor in the vehicle steering system so as to be adjusted to the preset position from the deflection angle.
In the above solution, the first aspect uses the ignition signal as the only signal for determining whether the vehicle steering system is promoting the power assistance, so as to avoid the problem that no power assistance is available for steering when the engine signal cannot be received in the case of high-speed or normal road running of the vehicle.
According to the second aspect, the vehicle steering system stops working after the preset delay time after the vehicle is powered off is set, so that the phenomenon that the steering wheel is heavy when the vehicle runs at a high speed or runs on a common road due to the fact that an engine fails or cannot receive an engine signal or the vehicle is powered off can be avoided, a driver can be guaranteed to park the vehicle to a preset position stably, and the running safety of the vehicle is further guaranteed.
In the third aspect, the steering wheel of the vehicle is controlled to be adjusted to the preset position from the position of the deflection angle by detecting that the deflection angle of the steering wheel of the vehicle relative to the preset position exceeds a preset threshold and detecting that the vehicle finishes power-off processing, so that the problem that the service life of a suspension and a tire is influenced due to long-time stress state when the vehicle is restarted under the condition of power-off when the vehicle is stopped is avoided, and the driving comfort is favorably improved.
As shown in fig. 5, an embodiment of the present invention further provides a control apparatus for a vehicle steering system, including:
a detection module 510 is configured to detect whether an ignition signal is acquired.
And the first control module 520 is used for controlling the starting of the vehicle steering system if the ignition signal is acquired.
The second control module 530 is configured to, when the vehicle steering system is started, control the vehicle steering system to stop working after a predetermined delay time if it is detected that the vehicle completes power-off processing.
Wherein the apparatus further comprises:
the acquisition module is used for acquiring the deflection angle of the steering wheel of the vehicle relative to a preset position.
And the third control module is used for controlling the steering wheel of the vehicle to be adjusted to the preset position from the position of the deflection angle if the deflection angle exceeds a preset threshold and the vehicle is detected to finish power-off processing.
Wherein the acquisition module comprises:
and the acquisition unit is used for acquiring the deflection angle of the vehicle steering wheel relative to a preset position, which is acquired by a rotation angle sensor in the vehicle steering system.
Wherein the third control module includes:
a control unit for controlling the steering wheel of the vehicle to adjust from the position of the yaw angle to the predetermined position by a steering assist motor in the vehicle steering system.
Wherein, the power supply in the vehicle steering system is normally electrically connected with the storage battery in the vehicle.
In the steering device of the vehicle control system in the above scheme, in the first aspect, the ignition signal is used as the only signal for judging whether the vehicle steering system promotes the power assistance, so as to avoid the problem that the steering is not power assisted when the engine signal cannot be received under the condition that the vehicle runs at a high speed or on a normal road.
According to the second aspect, the vehicle steering system stops working after the preset delay time after the vehicle is powered off is set, so that the phenomenon that the steering wheel is heavy when the vehicle runs at a high speed or runs on a common road due to the fact that an engine fails or cannot receive an engine signal or the vehicle is powered off can be avoided, a driver can be guaranteed to park the vehicle to a preset position stably, and the running safety of the vehicle is further guaranteed.
In the third aspect, the steering wheel of the vehicle is controlled to be adjusted to the preset position from the deflection angle position by detecting that the deflection angle of the steering wheel of the vehicle relative to the preset position exceeds a preset threshold and detecting that the vehicle finishes power-off processing, so that the problem that the service life of a suspension and a tire is influenced due to the fact that the suspension and the tire are in a stressed state for a long time if the steering wheel is not in the middle position and is placed for a long time is avoided, and the driving comfort is improved.
In order to achieve the above technical effects, an embodiment of the present invention further provides a vehicle, where the vehicle includes a processor, a memory, and a computer program stored in the memory and operable on the processor, and the processor implements the steps of the control method of the vehicle steering system when executing the computer program. Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the control method for a vehicle steering system as described above.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (8)
1. A control method of a steering system of a vehicle, characterized by comprising:
detecting whether an ignition signal is acquired;
if the ignition signal is acquired, controlling a vehicle steering system to start, and after the step of controlling the vehicle steering system to start, the method further comprises the following steps: acquiring a deflection angle of a steering wheel of a vehicle relative to a preset position; if the deflection angle exceeds a preset threshold and the vehicle is detected to finish power-off processing, controlling a steering wheel of the vehicle to be adjusted to the preset position from the position of the deflection angle;
under the condition that the vehicle steering system is started, if the vehicle is detected to finish power-off processing, the vehicle steering system is controlled to stop working after a preset delay time, and a power supply in the vehicle steering system is normally electrically connected with a storage battery in the vehicle.
2. The control method of a vehicle steering system according to claim 1, wherein the step of acquiring a yaw angle of a steering wheel of the vehicle with respect to a predetermined position includes:
and acquiring the deflection angle of the vehicle steering wheel relative to a preset position, which is acquired by a rotation angle sensor in the vehicle steering system.
3. The control method of a vehicle steering system according to claim 1, wherein the step of controlling the adjustment of the steering wheel of the vehicle from the position of the yaw angle to the predetermined position includes:
controlling, by a steering assist motor in the vehicle steering system, an adjustment of a steering wheel of the vehicle from a position of the yaw angle to the predetermined position.
4. A control device of a vehicle steering system, characterized by comprising:
the detection module is used for detecting whether an ignition signal is acquired;
the first control module is used for controlling a vehicle steering system to start if the ignition signal is acquired;
the second control module is used for controlling the vehicle steering system to stop working after a preset delay time if the vehicle is detected to finish power-off processing under the condition that the vehicle steering system is started, and a power supply in the vehicle steering system is in constant-current electrical connection with a storage battery in the vehicle;
the device further comprises:
the acquisition module is used for acquiring the deflection angle of a steering wheel of the vehicle relative to a preset position;
and the third control module is used for controlling the steering wheel of the vehicle to be adjusted to the preset position from the position of the deflection angle if the deflection angle exceeds a preset threshold and the vehicle is detected to finish power-off processing.
5. The control device of a vehicle steering system according to claim 4, characterized in that the acquisition module includes:
and the acquisition unit is used for acquiring the deflection angle of the vehicle steering wheel relative to a preset position, which is acquired by a rotation angle sensor in the vehicle steering system.
6. The control device of a vehicle steering system according to claim 4, characterized in that the third control module includes:
a control unit for controlling the steering wheel of the vehicle to adjust from the position of the yaw angle to the predetermined position by a steering assist motor in the vehicle steering system.
7. A vehicle, characterized in that it comprises a processor, a memory, a computer program stored on said memory and executable on said processor, said processor implementing the steps of the control method of the vehicle steering system according to any one of claims 1 to 3 when executing said computer program.
8. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, carries out the steps of a method of controlling a vehicle steering system according to any one of claims 1 to 3.
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| CN201810053478.9A CN108327782B (en) | 2018-01-19 | 2018-01-19 | Control method and device of vehicle steering system and vehicle |
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| CN108327782B true CN108327782B (en) | 2020-09-01 |
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| CN114162212B (en) * | 2020-09-10 | 2023-06-09 | 长城汽车股份有限公司 | Automatic steering return method and automobile |
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| CN105292245A (en) * | 2015-11-13 | 2016-02-03 | 天津同捷汽车设计有限公司 | Automatic automobile wheel righting system |
| CN106585712A (en) * | 2017-01-27 | 2017-04-26 | 丽水市飞天人机械设计有限公司 | Electronic hydraulic power steering pump suitable for electric car |
| CN107444485B (en) * | 2017-07-28 | 2019-06-04 | 安徽江淮汽车集团股份有限公司 | Electricity keeps the system and method for power-assisted steering under a kind of electric vehicle |
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| CN106080452A (en) * | 2016-07-29 | 2016-11-09 | 北京车和家信息技术有限责任公司 | The method of supplying power to of electronic control unit, electronic control unit and vehicle |
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