CN110758544B - Method and device for correcting positional deviation of steering column, storage medium, and vehicle - Google Patents
Method and device for correcting positional deviation of steering column, storage medium, and vehicle Download PDFInfo
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- CN110758544B CN110758544B CN201810837460.8A CN201810837460A CN110758544B CN 110758544 B CN110758544 B CN 110758544B CN 201810837460 A CN201810837460 A CN 201810837460A CN 110758544 B CN110758544 B CN 110758544B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
- B62D1/18—Steering columns yieldable or adjustable, e.g. tiltable
- B62D1/181—Steering columns yieldable or adjustable, e.g. tiltable with power actuated adjustment, e.g. with position memory
Abstract
The present disclosure relates to a method, an apparatus, a storage medium, and a vehicle for correcting a positional deviation of a steering column, the method including: in the adjusting process of the steering column, taking the zero rotation turn number of a motor of the steering column as a reference, recording the variation of the rotation turn number of the motor relative to the zero rotation turn number in real time, wherein the zero rotation turn number is the preset rotation turn number when the motor rotates along the preset direction to reach a locked-rotor state, and the variation is used for determining the adjusting position of the steering column; when the change amount is zero and the motor does not reach the locked-rotor state, the motor is controlled to rotate along the preset direction until the locked-rotor state is reached, and the number of rotation turns of the motor when the locked-rotor state is reached is taken as a new zero rotation number of turns. Through the technical scheme disclosed, the deviation between the actually detected steering column position and the actual position can be corrected, so that the position adjusting precision of the steering column is improved, the adjusting fault caused by position deviation is avoided, and the adjusting process of the steering column is more stable and reliable.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a method and an apparatus for correcting a positional deviation of a steering column, a storage medium, and a vehicle.
Background
A steering column is an important component of a vehicle, and includes an actuator connected to a steering wheel or the like of the vehicle and a motor for driving the actuator to move. The motor driving the steering column rotates and detects the position of the actuating mechanism, so that the position of the steering column can be adjusted, and then the mechanisms such as a steering wheel and the like can be adjusted, so that the requirements of drivers and passengers are met.
However, due to the mechanical play of the actuator, a deviation exists between the detected adjustment position of the actuator and its actual position, which gradually accumulates with multiple adjustments of the steering column, eventually resulting in inaccurate position adjustment of the steering column.
Disclosure of Invention
The present disclosure provides a method, an apparatus, a storage medium, and a vehicle for correcting a positional deviation of a steering column, which is used to correct a deviation between an actually detected position of the steering column and an actual position thereof.
In order to achieve the above object, the present disclosure provides a positional deviation correction method of a steering column, including:
in the adjusting process of the steering column, taking the zero point rotation turns of a motor of the steering column as a reference, recording the variation of the rotation turns of the motor relative to the zero point rotation turns in real time, wherein the zero point rotation turns are the preset rotation turns when the motor rotates along a preset direction to reach a locked-rotor state, and the variation is used for determining the adjusting position of the steering column;
the change amount is zero just when the motor does not reach the locked-rotor state, control the motor is followed predetermine the direction and rotate to reaching the locked-rotor state, and will the number of rotations of motor when reaching this locked-rotor state is regarded as new zero point and is rotated the number of rotations.
Optionally, the method further comprises:
the motor along with predetermine the opposite direction rotate to reaching the locked-rotor state just when the change amount is less than first predetermined threshold value, control the motor is followed predetermine the direction and rotate to reaching the locked-rotor state, and will the rotation number of turns of motor when reaching this locked-rotor state is as new zero point rotation number of turns, wherein, first predetermined threshold value is the motor along with predetermine the opposite direction rotate to reach the locked-rotor state when predetermined the number of turns for the change amount of zero point rotation number of turns.
Optionally, the method further comprises:
acquiring the adjusting times of the steering column;
and if the times reach a second preset threshold value, controlling the motor to rotate along the preset direction until a locked-rotor state is reached, and taking the number of rotation turns of the motor when the locked-rotor state is reached as a new zero rotation number.
Optionally, the recording, in real time, a variation of the number of rotations of the motor relative to the number of rotations of the zero point includes:
when the motor rotates along the preset direction, increasing the variable quantity by one circle when receiving a pulse signal triggered in the rotation process of the motor;
when the motor rotates along the direction opposite to the preset direction, the variation is reduced by one circle when a pulse signal triggered in the rotation process of the motor is received.
The present disclosure also provides a positional deviation correction device of a steering column, including:
the recording module is used for recording the variation of the number of rotation turns of the motor relative to the number of rotation turns of a zero point in real time by taking the number of rotation turns of the motor of the steering column as a reference in the adjustment process of the steering column, wherein the number of rotation turns of the zero point is the preset number of rotation turns when the motor rotates along a preset direction to reach a locked-rotor state, and the variation is used for determining the adjustment position of the steering column;
the first correction module is used for controlling the motor to rotate to the locked-rotor state in the preset direction and taking the rotation number of turns of the motor when reaching the locked-rotor state as a new zero rotation number of turns when the variable quantity is zero and the motor does not reach the locked-rotor state.
Optionally, the apparatus further comprises:
the second correction module is used for the motor along with predetermine opposite direction's direction and rotate to reaching the locked-rotor state just when the change amount is less than first predetermined threshold value, control the motor is followed predetermine the direction and rotate to reaching the locked-rotor state, and will the number of turns of rotation of motor when reaching this locked-rotor state is regarded as new zero point and is rotated the number of turns, wherein, first predetermined threshold value be the motor along with predetermine opposite direction rotate reach the locked-rotor state when predetermined the number of turns of rotation for the change amount of zero point and rotate the number of turns of turn.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring the adjusting times of the steering column;
and the third correction module is used for controlling the motor to rotate along the preset direction until reaching a locked-rotor state when the frequency reaches a second preset threshold value, and taking the number of rotation turns of the motor when reaching the locked-rotor state as a new zero-point rotation number.
Optionally, the recording module includes:
the first recording submodule is used for increasing the variable quantity by one turn when receiving a pulse signal triggered in the rotation process of the motor when the motor rotates along the preset direction;
and the second recording submodule is used for reducing the variable quantity by one circle when the motor rotates along the direction opposite to the preset direction and every time a pulse signal triggered in the rotation process of the motor is received.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steering column position offset correction method provided by the present disclosure.
The present disclosure also provides a positional deviation correction device of a steering column, including: a computer-readable storage medium provided by the present disclosure; and one or more processors for executing the program in the computer-readable storage medium.
The present disclosure also provides a vehicle comprising: the steering column and the position deviation correction device of the steering column provided by the disclosure.
Through the technical scheme, through in the adjustment process at steering column, use the zero point of steering column's motor to rotate the number of turns for the change of zero point rotation number of turns of real-time recording motor as the benchmark, and control motor when the change is zero and the motor does not reach the locked-rotor state and rotate to reaching the locked-rotor state along predetermineeing the direction, and regard the number of turns of motor when reaching this locked-rotor state as new zero point and rotate the number of turns, can revise the deviation between the steering column position that actually detects and its actual position, thereby improve the position control precision of steering column, and avoid the regulation trouble because of position migration brings, make steering column's accommodation process more stable, reliable.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic offset view of a steering column;
FIG. 2 is a flow chart of a method of correcting a positional offset of a steering column according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of another method of correcting a position offset of a steering column provided by an embodiment of the present disclosure;
fig. 4 is a block diagram of a positional deviation correcting apparatus of a steering column according to an embodiment of the present disclosure;
fig. 5 is a block diagram of another steering column position deviation correction apparatus according to an embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
It is noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In order to make it easier for those skilled in the art to understand the improvement of the disclosed embodiments over the prior art, a brief description will first be given of the position offset that occurs during steering column adjustment.
As shown in FIG. 1, the actuator of the steering column has a fixed maximum stroke and is driven to move toward one end when the motor is rotating in the forward direction and reaches a limit position L at the end of the actuatorminThen blocking the rotor; when the motor rotates reversely, the actuator is driven to move towards the other end and reaches the limit position L of the end when the actuator reaches the endmaxAnd (4) rear locked rotor, wherein the distance between the two extreme positions is the maximum stroke of the actuating mechanism, namely L is Lmax-Lmin。
During the process of driving the actuating mechanism to move by the motor, the position of the actuating mechanism can be detected in real timeHowever, since the actuator has a mechanical clearance, there is a deviation between the detected position (as indicated by the dashed line in fig. 1) and the actual position (as indicated by the solid line in fig. 1), which may gradually accumulate with multiple adjustments to the steering column, eventually resulting in inaccurate position adjustment of the steering column. At the same time, the accumulation of such positional deviations can also lead to the detection of the limit position L of the actuatormin' with its actual limit position LminThere is a large offset between and the other limit position L cannot be reached due to mechanical limitationmaxAt this time, the maximum stroke L' available for the actuator is L ═ Lmax-Lmin' is shortened compared to its actual maximum stroke.
The embodiment of the present disclosure provides a method for correcting a position offset of a steering column, as shown in fig. 2, the method includes the following steps:
in step S201, in the adjusting process of the steering column, a change amount of a number of zero-point turns of a motor of the steering column relative to a number of zero-point turns is recorded in real time by using the number of zero-point turns as a reference, where the number of zero-point turns is a predetermined number of turns when the motor is rotated in a preset direction until a locked-rotor state is reached, and the change amount is used to determine an adjusting position of the steering column.
In one embodiment, as shown in fig. 3, before the position of the steering column is adjusted, the zero position of the steering column may be calibrated, that is, the motor of the steering column is controlled to rotate in a preset direction (e.g., a forward rotation direction), and when the motor rotates to reach a locked-rotor state, it may be determined that the actuator of the steering column has reached a limit position at one end, which may be used as the zero position of the steering column (e.g., L shown in fig. 1)min) At this time, the number of rotation turns of the motor may be set to a certain value (for example, zero), which is the number of zero rotation turns of the motor. Therefore, the zero point position of the steering column is calibrated.
When an adjusting instruction for the steering column is received, the steering column is adjusted, in the adjusting process, the variable quantity of the number of rotation turns of the motor relative to the number of rotation turns of the zero point is recorded in real time based on the preset number of rotation turns of the zero point, and the position of the executing mechanism can be determined according to the corresponding relation between the variable quantity of the number of rotation turns of the motor and the position of the executing mechanism which are calibrated in advance and the variable quantity recorded in real time.
Considering that the motor is triggered to generate a pulse signal every time the motor rotates for one circle in the process of adjusting the steering column, the variable quantity of the number of turns of the motor relative to the number of turns of the zero point can be recorded in real time by counting the pulse signals triggered in the process of rotating the motor.
In one embodiment, when the motor rotates along a preset direction, every time a pulse signal triggered in the rotation process of the motor is received, the change quantity of the rotation number of the motor relative to the rotation number of the zero point is increased by one turn; when the motor rotates in the direction opposite to the preset direction and does not receive a pulse signal triggered in the rotation process of the motor, the number of rotation turns of the motor is reduced by one turn relative to the variation of the number of rotation turns of a zero point.
In step S202, when the variation is zero and the motor does not reach the locked-rotor state, the motor is controlled to rotate in the preset direction until the locked-rotor state is reached, and the number of rotations of the motor when the locked-rotor state is reached is used as a new zero-point rotation number.
Normally, when the variation is zero, it may be determined that the steering column has reached a pre-calibrated zero position, however, due to a mechanical clearance in an actuator of the steering column, there is a certain deviation between the adjusted position of the steering column determined from the variation and its actual adjusted position, and this positional deviation gradually accumulates with multiple adjustments of the steering column, and finally the pre-calibrated zero position is shifted, i.e. the detection result shows that the steering column has reached the zero position but it does not actually reach the zero position. Therefore, in this case, it is also necessary to determine whether the motor reaches the locked-rotor state to determine whether the steering column actually reaches the zero point position.
If the variable quantity is zero and the motor does not reach the locked-rotor state, the fact that the steering column does not actually reach the zero point position can be judged, the zero point position of the steering column can be corrected, the motor can be controlled to rotate along the preset direction until the locked-rotor state is reached, and the number of rotation turns of the motor when the locked-rotor state is reached is used as a new zero point rotation turn number, so that the variable quantity of the number of rotation turns of the motor can be recorded in real time by taking the new zero point position as a reference in the subsequent position adjustment process of the steering column.
By adopting the method, the deviation between the actually detected steering column position and the actual position can be corrected, so that the position adjusting precision of the steering column is improved, the adjusting fault caused by the position deviation is avoided, and the adjusting process of the steering column is more stable and reliable.
In another embodiment, it is also possible to calibrate the maximum position of the steering column and to correct the positional offset of the steering column on the basis of the calibrated maximum position, before the position adjustment of the steering column, taking into account that the actual maximum stroke of the actuator is fixed. Specifically, as shown in fig. 3, after the calibration of the zero point position is completed, the motor controlling the steering column rotates from the zero point position in the direction opposite to the preset direction and records the variation of the number of rotation turns of the motor relative to the number of rotation turns of the zero point in real time during the rotation of the motor. When the motor is rotated to reach the locked-rotor state, it can be determined that the actuator of the steering column has reached the extreme position of the other end, which is the maximum position of the steering column (L shown in fig. 1)max) And taking the variation of the number of rotation turns of the motor relative to the number of zero rotation turns as a first preset threshold. Thereby, the calibration of the maximum position of the steering column is completed.
Based on this, in the process of carrying out position adjustment on the steering column, when the motor rotates in the direction opposite to the preset direction until reaching the locked-rotor state, the steering column reaches the maximum position, if the variation of the number of rotation turns of the motor relative to the number of rotation turns of the zero point is smaller than a first preset threshold value at the moment, the fact that the steering column does not reach the maximum position is detected, namely, the position of the steering column deviates, the zero point position of the steering column can be corrected at the moment, the motor can be controlled to rotate in the preset direction until reaching the locked-rotor state, and the number of rotation turns of the motor when reaching the locked-rotor state is used as a new number of rotation turns of the zero point, so that in the subsequent position adjustment process of the steering column, the variation of the number of rotation turns of the motor is recorded in real time by taking the new zero point position as a reference.
In other embodiments, as shown in fig. 3, the maximum position of the steering column may also be corrected, that is, when the motor rotates in the direction opposite to the preset direction to reach the locked-rotor state and the variation is smaller than the first preset threshold, the variation recorded at this time is forcibly set as the first preset threshold, so as to mark the position as the maximum position of the steering column.
In addition, in consideration of the fact that the detected deviation between the position of the actuator and the actual position of the actuator is accumulated along with the adjustment times of the steering column, in order to correct the deviation in time so as to avoid the gradual accumulation of the deviation and influence the adjustment precision of the steering column, in another embodiment, as shown in fig. 3, before the position adjustment of the steering column, the adjustment times of the steering column can be obtained, if the times reach a second preset threshold value, the zero position of the steering column is corrected, namely the motor is controlled to rotate along the preset direction until a locked-rotor state is reached, and the number of rotation turns of the motor when the locked-rotor state is reached is taken as a new zero rotation number; if the number of times is smaller than the second preset threshold, whether the zero position or the maximum position of the steering column has an offset or not can be detected according to the method to determine whether the position offset correction is performed on the steering column or not.
The disclosed embodiment also provides a device for correcting the offset of the steering column, as shown in fig. 4, the device 400 includes:
the recording module 401 is configured to record, in real time, a variation amount of a number of zero-point rotation turns of a motor of the steering column with respect to the number of zero-point rotation turns, in an adjustment process of the steering column, where the number of zero-point rotation turns is a predetermined number of rotation turns when the motor rotates in a preset direction to reach a locked-rotor state, and the variation amount is used to determine an adjustment position of the steering column;
a first correction module 402, configured to control the motor to rotate to the locked-rotor state in the preset direction and to take the number of rotations of the motor when reaching the locked-rotor state as a new zero rotation number when the variation is zero and the motor does not reach the locked-rotor state.
Optionally, as shown in fig. 5, the apparatus 400 further includes:
the second correction module 403 is used for the motor along with it rotates to reaching the locked-rotor state just to predetermine opposite direction the direction of direction the change is less than first when predetermineeing the threshold value, control the motor is followed it rotates to reaching the locked-rotor state to predetermine the direction, and will the number of turns of rotation when reaching this locked-rotor state of motor is regarded as new zero point number of turns of rotation, wherein, first predetermine the threshold value be the motor along with it rotates the change amount for zero point number of turns of rotation to predetermine the number of turns of rotation when reaching the locked-rotor state of opposite direction the motor.
Optionally, as shown in fig. 5, the apparatus 400 further includes:
an obtaining module 405, configured to obtain the number of times of adjustment of the steering column;
and a third correction module 406, configured to control the motor to rotate in the preset direction until reaching a locked-rotor state when the number of times reaches a second preset threshold, and use the number of rotations of the motor when reaching the locked-rotor state as a new zero-point rotation number.
Optionally, as shown in fig. 5, the recording module 401 includes:
the first recording submodule 411 is configured to increase the variation by one turn when receiving a pulse signal triggered in the rotation process of the motor when the motor rotates in the preset direction;
the second recording sub-module 412 is configured to reduce the variation by one turn when receiving a pulse signal triggered during the rotation of the motor when the motor rotates in a direction opposite to the preset direction.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
By adopting the position deviation correcting device of the steering column, the deviation between the actually detected position of the steering column and the actual position of the steering column can be corrected, so that the position adjusting precision of the steering column is improved, the adjusting fault caused by the position deviation is avoided, and the adjusting process of the steering column is more stable and reliable.
Accordingly, the present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the steering column position offset correction method provided by the present disclosure.
Accordingly, the present disclosure also provides a position deviation correcting device of a steering column, comprising the computer readable storage medium provided by the present disclosure; and one or more processors for executing the program in the computer-readable storage medium.
Correspondingly, the present disclosure also provides a vehicle, which comprises the steering column and the position deviation correction device of the steering column provided by the present disclosure. The steering column position deviation correction device may be a microcontroller ECU implementing a vehicle by software, hardware, or a combination of both.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (9)
1. A method of correcting a positional deviation of a steering column, comprising:
in the adjusting process of the steering column, taking the zero point rotation turns of a motor of the steering column as a reference, recording the variation of the rotation turns of the motor relative to the zero point rotation turns in real time, wherein the zero point rotation turns are the preset rotation turns when the motor rotates along a preset direction to reach a locked-rotor state, and the variation is used for determining the adjusting position of the steering column;
when the variable quantity is zero and the motor does not reach a locked-rotor state, controlling the motor to rotate along the preset direction until the locked-rotor state is reached, and taking the number of rotation turns of the motor when the locked-rotor state is reached as a new zero-point rotation number;
the method further comprises the following steps:
the motor along with predetermine the opposite direction rotate to reaching the locked-rotor state just when the change amount is less than first predetermined threshold value, control the motor is followed predetermine the direction and rotate to reaching the locked-rotor state, and will the rotation number of turns of motor when reaching this locked-rotor state is as new zero point rotation number of turns, wherein, first predetermined threshold value is the motor along with predetermine the opposite direction rotate to reach the locked-rotor state when predetermined the number of turns for the change amount of zero point rotation number of turns.
2. The method of claim 1, further comprising:
acquiring the adjusting times of the steering column;
and if the times reach a second preset threshold value, controlling the motor to rotate along the preset direction until a locked-rotor state is reached, and taking the number of rotation turns of the motor when the locked-rotor state is reached as a new zero rotation number.
3. The method of claim 1 or 2, wherein said recording in real time the amount of change in the number of revolutions of the motor relative to the number of zero revolutions comprises:
when the motor rotates along the preset direction, increasing the variable quantity by one circle when receiving a pulse signal triggered in the rotation process of the motor;
when the motor rotates along the direction opposite to the preset direction, the variation is reduced by one circle when a pulse signal triggered in the rotation process of the motor is received.
4. A positional deviation correction apparatus for a steering column, comprising:
the recording module is used for recording the variation of the number of rotation turns of the motor relative to the number of rotation turns of a zero point in real time by taking the number of rotation turns of the motor of the steering column as a reference in the adjustment process of the steering column, wherein the number of rotation turns of the zero point is the preset number of rotation turns when the motor rotates along a preset direction to reach a locked-rotor state, and the variation is used for determining the adjustment position of the steering column;
the first correction module is used for controlling the motor to rotate along the preset direction until the motor reaches a locked-rotor state when the variable quantity is zero and the motor does not reach the locked-rotor state, and taking the number of rotation turns of the motor when the motor reaches the locked-rotor state as a new zero-point rotation number;
the device further comprises:
the second correction module is used for the motor along with predetermine opposite direction's direction and rotate to reaching the locked-rotor state just when the change amount is less than first predetermined threshold value, control the motor is followed predetermine the direction and rotate to reaching the locked-rotor state, and will the number of turns of rotation of motor when reaching this locked-rotor state is regarded as new zero point and is rotated the number of turns, wherein, first predetermined threshold value be the motor along with predetermine opposite direction rotate reach the locked-rotor state when predetermined the number of turns of rotation for the change amount of zero point and rotate the number of turns of turn.
5. The apparatus of claim 4, further comprising:
the acquisition module is used for acquiring the adjusting times of the steering column;
and the third correction module is used for controlling the motor to rotate along the preset direction until reaching a locked-rotor state when the frequency reaches a second preset threshold value, and taking the number of rotation turns of the motor when reaching the locked-rotor state as a new zero-point rotation number.
6. The apparatus of claim 4 or 5, wherein the recording module comprises:
the first recording submodule is used for increasing the variable quantity by one turn when receiving a pulse signal triggered in the rotation process of the motor when the motor rotates along the preset direction;
and the second recording submodule is used for reducing the variable quantity by one circle when the motor rotates along the direction opposite to the preset direction and every time a pulse signal triggered in the rotation process of the motor is received.
7. A computer-readable storage medium, having computer program instructions stored thereon, which, when executed by a processor, implement the method of any one of claims 1 to 3.
8. A positional deviation correction apparatus for a steering column, comprising:
the computer-readable storage medium recited in claim 7; and
one or more processors to execute the program in the computer-readable storage medium.
9. A vehicle, characterized by comprising: a steering column, and the apparatus for correcting positional deviation of a steering column according to any one of claims 4 to 6.
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| CN201810837460.8A CN110758544B (en) | 2018-07-26 | 2018-07-26 | Method and device for correcting positional deviation of steering column, storage medium, and vehicle |
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| CN201810837460.8A CN110758544B (en) | 2018-07-26 | 2018-07-26 | Method and device for correcting positional deviation of steering column, storage medium, and vehicle |
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| CN112158254B (en) * | 2020-08-06 | 2021-09-17 | 东风汽车集团有限公司 | Calibration method of electric adjusting steering column |
| CN114954623B (en) * | 2022-06-30 | 2023-06-06 | 北京汽车研究总院有限公司 | Control method and device for electric adjustment steering column, storage medium and vehicle |
| CN115597473B (en) * | 2022-09-20 | 2024-03-12 | 广州汽车集团股份有限公司 | Position determining method, device, vehicle and storage medium |
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