CN116373986A - Vehicle wheel alignment control method and device, vehicle and storage medium - Google Patents
Vehicle wheel alignment control method and device, vehicle and storage medium Download PDFInfo
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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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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The application relates to the technical field of vehicles, in particular to a vehicle wheel alignment control method, a vehicle wheel alignment control device, a vehicle and a storage medium, wherein the method comprises the following steps: when a vehicle locking signal is received, detecting whether the actual position of the current vehicle steering wheel is a preset zero position, and when the actual position is not the preset zero position, generating a wheel correction instruction according to the difference value between the actual position and the preset zero position, and correcting the wheel so that the actual position of the current vehicle steering wheel is at the preset zero position. Therefore, when the vehicle locks and the wheels are not in a correcting state, the wheels cannot be automatically corrected, so that the vehicle suspension system is in a steering posture, the elastic element is continuously stressed and deformed, the service life of the suspension system is further reduced, and the like.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a method and apparatus for controlling alignment of a vehicle wheel, a vehicle, and a storage medium.
Background
With the rapid development of vehicle intellectualization, the parking and locking functions of the vehicle are also continuously perfected, and if the vehicle is in a locked state and the wheels are still in a steering state, the service life of a vehicle suspension system is not facilitated, so that the automatic wheel return during the vehicle locking becomes an important topic for the development of the locking technology.
In the related art, when a vehicle is in a locked state, if a wheel of the vehicle is in a steering state, the wheel cannot be automatically aligned.
However, when the wheels of the vehicle are in a steering state, that is, the vehicle torque angle sensor is not in the zero position, the elastic element of the vehicle suspension system is continuously stressed and deformed to be in the steering state, so that the service life of the vehicle suspension system is influenced, and the driving experience of a user is reduced.
Disclosure of Invention
The application provides a vehicle wheel alignment control method, device, vehicle and storage medium, so as to solve the problems that when a vehicle locks, if the wheel is not in an alignment state, the wheel cannot be automatically aligned, so that a vehicle suspension system is in a steering posture, an elastic element is continuously stressed and deformed, and the service life of the suspension system is reduced.
An embodiment of a first aspect of the present application provides a method for controlling return of a vehicle wheel, including the steps of:
judging whether a vehicle locking signal is received or not;
if the vehicle locking signal is received, detecting the actual position of the current vehicle steering wheel, and judging whether the actual position is a preset zero position or not; and
if the actual position is not the preset zero position, generating a wheel correction instruction according to the difference between the actual position and the preset zero position, and correcting the wheel according to the wheel correction instruction so that the actual position of the current vehicle steering wheel is located at the preset zero position.
According to an embodiment of the present application, when the wheel is corrected according to the wheel correction instruction, the method includes:
acquiring the return resistance of the wheel in the return process;
judging whether the aligning resistance is larger than the maximum aligning moment of the wheel or not;
and if the aligning resistance is larger than the maximum aligning moment of the wheel, stopping correcting the wheel, otherwise, continuing correcting the wheel according to the wheel correcting instruction.
According to an embodiment of the present application, the determining whether the actual position is a preset zero position includes:
acquiring a difference value between the actual position and the preset zero position;
judging whether the difference value is in a preset correcting interval or not;
and if the difference value is in the preset correcting interval, judging that the actual position is the preset zero position.
According to one embodiment of the present application, after the wheel is corrected according to the wheel correction command so that the actual position of the current vehicle steering wheel is at the preset zero position, the method further includes:
the power-off of the steering power-assisted motor is controlled by an EPS (Electric Power Steering) controller, and the vehicle is controlled to directly enter a locking state.
According to the vehicle wheel alignment control method, when the vehicle locking signal is received, whether the actual position of the current vehicle steering wheel is the preset zero position is detected, and when the actual position is not the preset zero position, a wheel correction instruction is generated according to the difference value between the actual position and the preset zero position, and the wheel is corrected, so that the actual position of the current vehicle steering wheel is in the preset zero position. Therefore, when the vehicle locks and the wheels are not in a correcting state, the wheels cannot be automatically corrected, so that the vehicle suspension system is in a steering posture, the elastic element is continuously stressed and deformed, the service life of the suspension system is further reduced, and the like.
An embodiment of a second aspect of the present application provides a return control device for a vehicle wheel, including:
the judging module is used for judging whether a vehicle locking signal is received or not;
the detection module is used for detecting the actual position of the current vehicle steering wheel and judging whether the actual position is a preset zero position or not if the vehicle locking signal is received; and
and the correction module is used for generating a wheel correction instruction according to the difference value between the actual position and the preset zero position if the actual position is not the preset zero position, and correcting the wheel according to the wheel correction instruction so that the actual position of the current vehicle steering wheel is positioned at the preset zero position.
According to one embodiment of the present application, the correction module is specifically configured to:
acquiring the return resistance of the wheel in the return process;
judging whether the aligning resistance is larger than the maximum aligning moment of the wheel or not;
and if the aligning resistance is larger than the maximum aligning moment of the wheel, stopping correcting the wheel, otherwise, continuing correcting the wheel according to the wheel correcting instruction.
According to one embodiment of the present application, the detection module is specifically configured to:
acquiring a difference value between the actual position and the preset zero position;
judging whether the difference value is in a preset correcting interval or not;
and if the difference value is in the preset correcting interval, judging that the actual position is the preset zero position.
According to an embodiment of the present application, after the wheel is corrected according to the wheel correction command so that the actual position of the current vehicle steering wheel is at the preset zero position, the correction module is further configured to:
and controlling the power-off of the steering power-assisted motor through the EPS controller, and controlling the vehicle to directly enter a vehicle locking state.
According to the vehicle wheel alignment control device, when the vehicle locking signal is received, whether the actual position of the current vehicle steering wheel is the preset zero position is detected, and when the actual position is not the preset zero position, a wheel correction instruction is generated according to the difference value between the actual position and the preset zero position, and the wheel is corrected, so that the actual position of the current vehicle steering wheel is in the preset zero position. Therefore, when the vehicle locks and the wheels are not in a correcting state, the wheels cannot be automatically corrected, so that the vehicle suspension system is in a steering posture, the elastic element is continuously stressed and deformed, the service life of the suspension system is further reduced, and the like.
An embodiment of a third aspect of the present application provides a vehicle, including: the vehicle wheel alignment control method comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the vehicle wheel alignment control method according to the embodiment.
An embodiment of the fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor for implementing the return control method of a vehicle wheel as described in the above embodiment.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
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The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a method for controlling the return of a vehicle wheel according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a wheel alignment system according to one embodiment of the present application;
FIG. 3 is an exemplary diagram of a return control device for a vehicle wheel according to an embodiment of the present application;
fig. 4 is a schematic structural view of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes a vehicle wheel return control method, device, vehicle and storage medium according to the embodiments of the present application with reference to the accompanying drawings. Aiming at the problems that when the vehicle locks in the background art, if the wheels are not in a correcting state, the wheels cannot be automatically corrected, so that a vehicle suspension system is in a steering posture, an elastic element is continuously stressed and deformed, and the service life of the suspension system is reduced, the application provides a correcting control method for the wheels of the vehicle. Therefore, when the vehicle locks and the wheels are not in a correcting state, the wheels cannot be automatically corrected, so that the vehicle suspension system is in a steering posture, the elastic element is continuously stressed and deformed, the service life of the suspension system is further reduced, and the like.
Specifically, fig. 1 is a schematic flow chart of a method for controlling the return of a vehicle wheel according to an embodiment of the present application.
As shown in fig. 1, the return control method of the vehicle wheel includes the steps of:
in step S101, it is determined whether a lock signal is received.
Specifically, when the vehicle is running, the TAS sensor (Torque Angle Sensor ) continuously sends a torque signal and a rotation angle signal to the EPS controller, and when the EPS controller receives the torque signal and the rotation angle signal of the TAS sensor, the signals are sent to the whole vehicle controller through a CAN (Controller Area Network ) communication network, the whole vehicle controller collects relevant signal information transmitted by the CAN communication network, and automatically judges the running state of the current vehicle and whether a locking signal is received.
In step S102, if a lock signal is received, an actual position of a current steering wheel of the vehicle is detected, and whether the actual position is a preset zero position is determined.
Further, in some embodiments, determining whether the actual position is a preset zero position includes: acquiring a difference value between an actual position and a preset zero position; judging whether the difference value is in a preset correcting interval or not; if the difference value is in the preset correcting interval, the actual position is judged to be the preset zero position.
The preset zero position and the preset correcting interval can be the zero position and the correcting interval set by a person skilled in the art according to the vehicle correcting test, or can be the zero position and the correcting interval obtained through computer simulation, and the method is not particularly limited.
Specifically, in the embodiment of the present application, if a locking signal of a current vehicle is received, the whole vehicle controller automatically detects a state of a TAS sensor of the current vehicle, and obtains an actual position of a steering wheel of the current vehicle, if the TAS sensor is at a zero position, a difference value between the actual position of the current steering wheel and a preset zero position is in a preset alignment interval, that is, in the steering wheel alignment, and at this time, it is determined that the actual position of the current steering wheel is the preset zero position, that is, wheels of the current vehicle are in an alignment state, so that the whole vehicle controller controls the vehicle to lock directly when the locking signal is received.
In step S103, if the actual position is not the preset zero position, a wheel correction command is generated according to the difference between the actual position and the preset zero position, and the wheel is corrected according to the wheel correction command, so that the actual position of the current vehicle steering wheel is at the preset zero position.
Specifically, in the embodiment of the present application, if an angle difference value exists between the TAS sensor of the current vehicle and a preset zero position, a difference value also exists between an actual position where the steering wheel of the current vehicle is located and the preset zero position, and the difference value between the difference value and the preset zero position is not within a preset alignment interval, that is, the steering wheel is not aligned, at this time, it is determined that the TAS sensor is not located at the zero position, that is, the steering wheel of the vehicle is not located at the zero position, and then it is determined that the wheels of the current vehicle are in an un-aligned state.
Further, when the current vehicle wheel is in the non-alignment state, a wheel alignment instruction is generated according to a difference between the actual position of the current vehicle steering wheel and a preset zero position, and the wheel is aligned according to the wheel alignment instruction, so that the actual position of the current vehicle steering wheel returns to the preset zero position, and the wheel of the vehicle is aligned.
Specifically, as shown in fig. 2, in the embodiment of the present application, if the wheels of the current vehicle are in a non-alignment state, the whole vehicle controller wakes up the EPS controller while receiving the lock signal, and the EPS controller starts the steering assist motor, and controls the steering wheel of the vehicle to automatically steer through the steering assist motor, so that the TAS sensor steers to the zero point, thereby aligning the wheels of the current vehicle.
Further, in some embodiments, when the wheel is corrected according to the wheel correction instruction, the method includes: acquiring the aligning resistance of the wheel in aligning; judging whether the aligning resistance is larger than the maximum aligning moment of the wheel; and if the correcting resistance is larger than the maximum correcting moment of the wheel, stopping correcting the wheel, otherwise, continuing correcting the wheel according to the wheel correcting instruction.
Specifically, in this embodiment of the present application, when the wheel is corrected according to the wheel correction command, if the wheel has a correction resistance at the time of correction, the correction resistance at the time of wheel correction is obtained, and whether the correction resistance is greater than the maximum correction torque of the wheel is determined, if the correction resistance is greater than the maximum correction torque of the wheel, it is said that an obstacle such as a wall or a stone pier, which is not easy to move, exists at the current wheel position, and at this time, the correction torque of the wheel is too large due to the obstruction of the obstacle, and exceeds the maximum torque of the steering assist motor, so that the TAS sensor cannot return to the zero position, and therefore, when the correction torque of the wheel is too large, the correction of the wheel is stopped, and the EPS controller controls the steering assist motor to be automatically powered off, so that the EPS controller automatically enters a sleep state, and controls the vehicle to enter a locked state.
Further, in the embodiment of the present application, if the alignment resistance is smaller than or equal to the maximum alignment torque of the wheel, it is said that an obstacle that is relatively easy to move exists at the wheel position at this time, such as a plastic bottle, a packaging bag, etc., and at this time, since the alignment torque of the wheel does not exceed the maximum torque of the steering assist motor, the wheel can be continuously corrected according to the wheel correction command, so that the TAS sensor returns to the zero position and controls the current wheel alignment of the vehicle, and after the wheel alignment, the steering assist motor is automatically powered off by the EPS controller, so that the EPS controller automatically enters a sleep state and controls the vehicle to enter a locked state.
Further, in some embodiments, after correcting the wheel according to the wheel correction command such that the actual position of the current vehicle steering wheel is at the preset zero position, the method further includes: the EPS controller is used for controlling the power-off of the steering power-assisted motor and controlling the vehicle to directly enter a locking state.
Specifically, after the wheels are corrected and corrected according to the wheel correction instruction, a signal for returning the steering wheel of the vehicle to the zero point is transmitted to the EPS controller through the TAS sensor, and the EPS controller automatically cuts off the power of the steering power-assisted motor, so that the EPS controller automatically enters a sleep state and controls the vehicle to enter a locking state.
According to the vehicle wheel alignment control method, when the vehicle locking signal is received, whether the actual position of the current vehicle steering wheel is the preset zero position is detected, and when the actual position is not the preset zero position, a wheel correction instruction is generated according to the difference value between the actual position and the preset zero position, and the wheel is corrected, so that the actual position of the current vehicle steering wheel is in the preset zero position. Therefore, when the vehicle locks and the wheels are not in a correcting state, the wheels cannot be automatically corrected, so that the vehicle suspension system is in a steering posture, the elastic element is continuously stressed and deformed, the service life of the suspension system is further reduced, and the like.
Next, a return control device for a vehicle wheel according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 3 is a block schematic diagram of a return control device of a vehicle wheel according to an embodiment of the present application.
As shown in fig. 3, the return control device 10 for a vehicle wheel includes: a judgment module 100, a detection module 200 and a correction module 300.
The judging module 100 is configured to judge whether a vehicle locking signal is received;
the detection module 200 is configured to detect an actual position of a current steering wheel of the vehicle and determine whether the actual position is a preset zero position if a vehicle locking signal is received; and
and the correction module 300 is configured to generate a wheel correction command according to a difference between the actual position and the preset zero position if the actual position is not the preset zero position, and correct the wheel according to the wheel correction command so that the actual position of the current vehicle steering wheel is at the preset zero position.
Further, in some embodiments, the correction module 300 is specifically configured to:
acquiring the aligning resistance of the wheel in aligning;
judging whether the aligning resistance is larger than the maximum aligning moment of the wheel;
and if the correcting resistance is larger than the maximum correcting moment of the wheel, stopping correcting the wheel, otherwise, continuing correcting the wheel according to the wheel correcting instruction.
Further, in some embodiments, the detection module 200 is specifically configured to:
acquiring a difference value between an actual position and a preset zero position;
judging whether the difference value is in a preset correcting interval or not;
if the difference value is in the preset correcting interval, the actual position is judged to be the preset zero position.
Further, in some embodiments, after correcting the wheel according to the wheel correction command such that the actual position of the current vehicle steering wheel is at the preset zero position, the correction module 300 is further configured to:
the EPS controller is used for controlling the power-off of the steering power-assisted motor and controlling the vehicle to directly enter a locking state.
According to the vehicle wheel alignment control device, when the vehicle locking signal is received, whether the actual position of the current vehicle steering wheel is the preset zero position is detected, and when the actual position is not the preset zero position, a wheel correction instruction is generated according to the difference value between the actual position and the preset zero position, and the wheel is corrected, so that the actual position of the current vehicle steering wheel is in the preset zero position. Therefore, when the vehicle locks and the wheels are not in a correcting state, the wheels cannot be automatically corrected, so that the vehicle suspension system is in a steering posture, the elastic element is continuously stressed and deformed, the service life of the suspension system is further reduced, and the like.
Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
The processor 402 implements the return control method of the vehicle wheel provided in the above-described embodiment when executing a program.
Further, the vehicle further includes:
a communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing a computer program executable on the processor 402.
If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may perform communication with each other through internal interfaces.
The processor 402 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method for controlling the return of a vehicle wheel as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or part of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, and the program may be stored in a computer readable storage medium, where the program when executed includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented as software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. A method of controlling return of a vehicle wheel, comprising the steps of:
judging whether a vehicle locking signal is received or not;
if the vehicle locking signal is received, detecting the actual position of the current vehicle steering wheel, and judging whether the actual position is a preset zero position or not; and
if the actual position is not the preset zero position, generating a wheel correction instruction according to the difference between the actual position and the preset zero position, and correcting the wheel according to the wheel correction instruction so that the actual position of the current vehicle steering wheel is located at the preset zero position.
2. The method according to claim 1, wherein when the wheel is corrected in accordance with the wheel correction command, comprising:
acquiring the return resistance of the wheel in the return process;
judging whether the aligning resistance is larger than the maximum aligning moment of the wheel or not;
and if the aligning resistance is larger than the maximum aligning moment of the wheel, stopping correcting the wheel, otherwise, continuing correcting the wheel according to the wheel correcting instruction.
3. The method of claim 1, wherein the determining whether the actual position is a preset zero position comprises:
acquiring a difference value between the actual position and the preset zero position;
judging whether the difference value is in a preset correcting interval or not;
and if the difference value is in the preset correcting interval, judging that the actual position is the preset zero position.
4. The method according to claim 1, further comprising, after the correcting the wheel according to the wheel correction command such that the actual position of the current vehicle steering wheel is at the preset zero position:
and controlling the power-off of the steering power-assisted motor through the EPS controller, and controlling the vehicle to directly enter a vehicle locking state.
5. A return control device for a vehicle wheel, comprising:
the judging module is used for judging whether a vehicle locking signal is received or not;
the detection module is used for detecting the actual position of the current vehicle steering wheel and judging whether the actual position is a preset zero position or not if the vehicle locking signal is received; and
and the correction module is used for generating a wheel correction instruction according to the difference value between the actual position and the preset zero position if the actual position is not the preset zero position, and correcting the wheel according to the wheel correction instruction so that the actual position of the current vehicle steering wheel is positioned at the preset zero position.
6. The apparatus of claim 5, wherein the correction module is specifically configured to:
acquiring the return resistance of the wheel in the return process;
judging whether the aligning resistance is larger than the maximum aligning moment of the wheel or not;
and if the aligning resistance is larger than the maximum aligning moment of the wheel, stopping correcting the wheel, otherwise, continuing correcting the wheel according to the wheel correcting instruction.
7. The device according to claim 5, wherein the detection module is specifically configured to:
acquiring a difference value between the actual position and the preset zero position;
judging whether the difference value is in a preset correcting interval or not;
and if the difference value is in the preset correcting interval, judging that the actual position is the preset zero position.
8. The apparatus of claim 5, wherein the correction module, after correcting the wheel according to the wheel correction command such that the actual position of the current vehicle steering wheel is at the preset zero position, is further configured to:
and controlling the power-off of the steering power-assisted motor through the EPS controller, and controlling the vehicle to directly enter a vehicle locking state.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the return control method of a vehicle wheel as claimed in any one of claims 1 to 4.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the return control method of a vehicle wheel according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310257999.7A CN116373986A (en) | 2023-03-14 | 2023-03-14 | Vehicle wheel alignment control method and device, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310257999.7A CN116373986A (en) | 2023-03-14 | 2023-03-14 | Vehicle wheel alignment control method and device, vehicle and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116373986A true CN116373986A (en) | 2023-07-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310257999.7A Pending CN116373986A (en) | 2023-03-14 | 2023-03-14 | Vehicle wheel alignment control method and device, vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116373986A (en) |
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2023
- 2023-03-14 CN CN202310257999.7A patent/CN116373986A/en active Pending
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