CN116893071A

CN116893071A - Calibration method and device of steering system, vehicle control method and device, vehicle and electronic equipment

Info

Publication number: CN116893071A
Application number: CN202311095662.7A
Authority: CN
Inventors: 周大伟; 黄刚; 李�杰; 朱庆帅; 李文进; 邵静
Original assignee: Jidu Technology Wuhan Co ltd
Current assignee: Jidu Technology Wuhan Co ltd
Priority date: 2023-08-28
Filing date: 2023-08-28
Publication date: 2023-10-17

Abstract

The disclosure provides a calibration method and device of a steering system, a vehicle control method and device, a vehicle and electronic equipment, wherein the calibration method comprises the following steps: in a first production link of a vehicle, carrying out primary calibration on a steering system of the vehicle to obtain first calibration information of the steering system, and enabling the vehicle subjected to primary calibration to be driven to a production position corresponding to a second production link; and in a second production link of the vehicle, carrying out secondary calibration on a steering system of the vehicle to obtain second calibration information of the steering system, and enabling the vehicle subjected to secondary calibration to carry out steering control on the steering system based on the first calibration information and the second calibration information. The scheme that this disclosure provided can avoid carrying whole car to four-wheel location station through the mode of transmission device transmission on, has promoted the production efficiency of vehicle production line, also need not to adjust current vehicle production line structure simultaneously.

Description

Calibration method and device of steering system, vehicle control method and device, vehicle and electronic equipment

Technical Field

The disclosure relates to the technical field of automobiles, in particular to a calibration method and device of a steering system, a vehicle control method and device, a vehicle, electronic equipment and a storage medium.

Background

In the traditional vehicle production line, a steering system is required to be installed in a vehicle first, before the whole vehicle is taken off line, the steering system is driven to a station with four-wheel positioning to calibrate the middle position of the steering system, and then the whole vehicle is taken off line; however, the steering-by-wire system cannot provide a steering control function before calibration, namely the vehicle does not have a steering function, so that the calibration of the steering-by-wire system cannot be performed after the whole vehicle is driven to the four-wheel positioning station, and the calibration can only be performed after the whole vehicle is transmitted to the four-wheel positioning station through the transmission device; the automobile is large in size and heavy in mass, so that the transmission is difficult, and the production line needs to be adjusted.

Disclosure of Invention

The embodiment of the disclosure at least provides a calibration method and device of a steering system, a vehicle control method and device, a vehicle, electronic equipment and a storage medium.

In a first aspect, an embodiment of the present disclosure provides a calibration method for a steering system, including:

in a first production link of a vehicle, carrying out primary calibration on a steering system of the vehicle to obtain first calibration information of the steering system, and enabling the vehicle subjected to primary calibration to be driven to a production position corresponding to a second production link;

And in a second production link of the vehicle, carrying out secondary calibration on a steering system of the vehicle to obtain second calibration information of the steering system, and enabling the vehicle subjected to secondary calibration to carry out steering control on the steering system based on the first calibration information and the second calibration information.

In this way, the steering system is respectively subjected to primary calibration and secondary calibration in different production links of the vehicle, so that first calibration information and second calibration information are respectively obtained. After the first calibration is finished, although some steering errors possibly occur after the first calibration information is obtained, the first calibration information can be used for controlling the vehicle to steer, so that the first calibration information can be used for driving the vehicle to a production position corresponding to the second production link for carrying out the second calibration, the whole vehicle is prevented from being carried to other production positions in a transmission mode through the transmission device, the production efficiency of a vehicle production line is improved, and meanwhile, the structure of the existing vehicle production line is not required to be adjusted.

In an alternative embodiment, the first calibration of the steering system of the vehicle to obtain the first calibration information of the steering system includes:

Controlling the steering drive member in the vehicle to move towards a mechanical limit position of the target bearing;

acquiring a limit absolute angle value output by an angle sensor associated with the steering drive member in the case where the steering drive member movement reaches the mechanical limit position;

first calibration information corresponding to the steering drive member is determined based on the limit absolute angle value.

Thus, the primary calibration of the steering system can be realized quickly.

In an alternative embodiment, the performing the second calibration on the steering system of the vehicle to obtain the second calibration information of the steering system includes:

reading a centering absolute angle value of an angle sensor associated with the steering drive member while centering the steering wheel;

and determining the second calibration information based on the centering absolute angle value.

In an alternative embodiment, the first calibration information and the second calibration information are ranked and/or stored in separate storage spaces;

the first calibration information is in a state of prohibiting modification after the whole vehicle is off line; and the second calibration information is in a state allowing modification after the whole vehicle is off line.

Therefore, the first calibration information can be ensured not to be lost, and further under the condition that the second calibration information is lost, the first calibration information can be directly read, steering control is carried out, and the safety of the vehicle driving process is ensured.

In an alternative embodiment, the steering system includes: an upper steering mechanism and a lower steering mechanism;

the first calibration of the steering system of the vehicle is carried out to obtain first calibration information of the steering system, and the first calibration information comprises the following steps: performing primary calibration on the upper steering mechanism to obtain first calibration information corresponding to the upper steering mechanism; and

and performing primary calibration on the lower steering mechanism to obtain first calibration information corresponding to the lower steering mechanism.

In a second aspect, an embodiment of the present disclosure provides a vehicle control method for a vehicle calibrated based on the calibration method of the steering system described in the first aspect or any one of the first aspects; the control method comprises the following steps:

acquiring a real-time absolute angle value output by an angle sensor associated with a steering driving member in a vehicle steering mechanism;

determining a relative angle value of the steering drive member compared with the middle position based on the first calibration information and the real-time absolute angle value of the angle sensor;

Performing error correction processing on the relative angle value by using second calibration information to obtain a target relative angle value corresponding to the steering driving component;

and generating steering control information based on the target relative angle value, and controlling the steering of the vehicle based on the steering control information.

Thus, the first calibration information and the second calibration information are utilized to realize accurate control of vehicle steering.

In an alternative embodiment, the determining the relative angle value of the steering driving member compared to the median position based on the first calibration information and the real-time absolute angle value of the angle sensor includes:

based on the first calibration information, the rotation angle travel of the steering driving member and the sensor range of the angle sensor, determining a median absolute angle value corresponding to the steering driving member, and determining a determination mode corresponding to the relative angle value; the determining mode is used for describing the association relation among the median absolute angle value, the real-time absolute angle value and the relative angle value;

and determining the relative angle value based on the median absolute angle value and the real-time absolute angle value according to the determination mode.

In an alternative embodiment, the method further comprises: when the second calibration information is not lost in the process of driving the vehicle, the steering system is utilized to control the steering of the vehicle based on the first calibration information and the second calibration information;

and under the condition that the second calibration information is lost, carrying out steering control on the vehicle by using the steering system based on the first calibration information.

Therefore, under the condition that the second calibration information is lost in the steering control system, the first calibration information can be read from the storage space for storing the first calibration information, and the steering of the vehicle is controlled by utilizing the first calibration information, so that the safety of the vehicle in the driving process is ensured.

In a third aspect, an embodiment of the present disclosure further provides a calibration device of a steering system, including: a first controller; the first controller is used for: in a first production link of a vehicle, carrying out primary calibration on a steering system of the vehicle to obtain first calibration information of the steering system, and enabling the vehicle subjected to primary calibration to be driven to a production position corresponding to a second production link;

In a possible implementation manner, the first controller is specifically configured to, when performing a first-level calibration on a steering system of a vehicle to obtain first calibration information of the steering system:

controlling the steering drive member in the vehicle to move towards a mechanical limit position of the target bearing; wherein the steering drive member includes: a steering drive member corresponding to the upper steering mechanism or a steering drive member corresponding to the lower steering mechanism;

In a possible implementation manner, the first controller is specifically configured to, when performing a second calibration on a steering system of the vehicle to obtain second calibration information of the steering system:

In a possible implementation manner, the first calibration information and the second calibration information are graded and/or stored in separate storage spaces; the first calibration information is in a state of prohibiting modification after the whole vehicle is off line; and the second calibration information is in a state allowing modification after the whole vehicle is off line.

In one possible embodiment, the steering system comprises: an upper steering mechanism and a lower steering mechanism; the first controller is specifically configured to, when performing first-level calibration on a steering system of a vehicle to obtain first calibration information of the steering system: performing primary calibration on the upper steering mechanism to obtain first calibration information corresponding to the upper steering mechanism; and

In a fourth aspect, an embodiment of the present disclosure further provides a vehicle control apparatus, including: a second controller; the second controller is configured to:

In a possible embodiment, the second controller is specifically configured to, when determining the relative angle value of the steering driving member compared to the neutral position based on the first calibration information and the real-time absolute angle value of the angle sensor:

In a possible implementation manner, the second controller is further configured to, during driving of the vehicle, perform steering control on the vehicle by using the steering system based on the first calibration information and the second calibration information, in a case where the second calibration information is not lost;

In a fifth aspect, embodiments of the present disclosure further provide a vehicle comprising a calibration device of the steering system as in the third aspect, or any one of the third aspects, or a vehicle control device as in the fourth aspect, or any one of the fourth aspects.

In a sixth aspect, an optional implementation manner of the disclosure further provides an electronic device, a processor, and a memory, where the memory stores machine-readable instructions executable by the processor, and the processor is configured to execute the machine-readable instructions stored in the memory, and when executed by the processor, the machine-readable instructions perform the steps in the first aspect, or any of the possible implementation manners of the first aspect, or perform the steps in the second aspect, or any of the possible implementation manners of the second aspect.

In a seventh aspect, an optional implementation manner of the disclosure further provides a computer readable storage medium, where a computer program is stored, the computer program when executed performs the steps of the first aspect, or any of the possible implementation manners of the first aspect, or performs the steps of the second aspect, or any of the possible implementation manners of the second aspect.

The description of the effects of the vehicle control device, the electronic device, and the computer-readable storage medium is referred to the description of the calibration method, and is not repeated here.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the aspects of the disclosure.

The foregoing objects, features and advantages of the disclosure will be more readily apparent from the following detailed description of the preferred embodiments taken in conjunction with the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the embodiments are briefly described below, which are incorporated in and constitute a part of the specification, these drawings showing embodiments consistent with the present disclosure and together with the description serve to illustrate the technical solutions of the present disclosure. It is to be understood that the following drawings illustrate only certain embodiments of the present disclosure and are therefore not to be considered limiting of its scope, for the person of ordinary skill in the art may admit to other equally relevant drawings without inventive effort.

FIG. 1 illustrates a schematic diagram of the structure of an upper steering mechanism and a lower steering mechanism provided by some embodiments of the present disclosure;

FIG. 2 illustrates a flow chart of a calibration method for a steering system provided by some embodiments of the present disclosure;

FIG. 3 illustrates a flow chart of a particular manner of primary calibration of a steer-by-wire system provided by some embodiments of the present disclosure;

FIG. 4 illustrates a flow chart of vehicle control provided by some embodiments of the present disclosure;

FIG. 5 illustrates a flow chart of a particular method of determining relative angle values provided by some embodiments of the present disclosure;

FIG. 6 illustrates a flow chart of a particular method of determining a median absolute angle value provided by some embodiments of the present disclosure;

FIG. 7 illustrates a specific example of a corner travel falling within one sensor range, or falling within two sensor ranges provided by some embodiments of the present disclosure;

FIG. 8 illustrates a specific example of determining a neutral absolute angle value, and a relative angle value, of a steering drive member provided by some embodiments of the present disclosure;

FIG. 9 illustrates a schematic diagram of a steer-by-wire system provided by some embodiments of the present disclosure;

fig. 10 illustrates a schematic structure of an electronic device provided by some embodiments of the present disclosure.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. The components of the disclosed embodiments generally described and illustrated herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be made by those skilled in the art based on the embodiments of this disclosure without making any inventive effort, are intended to be within the scope of this disclosure.

The automobile steer-by-wire system comprises a controller, an upper steering mechanism and a lower steering mechanism. The main function of the upper steering mechanism is to detect steering control of a driver on a steering wheel by using a steering wheel angle sensor, obtain a real-time steering wheel angle and transmit the obtained real-time steering wheel angle to a main controller; and meanwhile, a moment signal sent by the main controller is received, and a steering wheel aligning moment is generated by utilizing the hand feeling feedback motor so as to provide a corresponding mechanical hand feeling for a driver. The lower steering mechanism is used for receiving the command of the main controller, and controlling the rack to move leftwards or rightwards through the steering motor controller so as to drive the wheels to rotate, so that the steering intention of a driver is realized.

As an example shown in fig. 1, there is provided a structure example of a steer-by-wire system in which: an upper steering mechanism 10 and a lower steering mechanism 20.

Wherein the upper steering mechanism 10 includes: a steering wheel 11, a column 12 connected to the steering wheel 11 and capable of being controlled to rotate by the steering wheel, a steering wheel angle sensor 13 connected to the column 12, a feel feedback motor 14, and a mechanical damping device 15.

The lower steering mechanism 20 includes: a steering actuator motor 21, a rack 22, a rack-engaged pinion 23, and a pinion angle sensor 24.

The rack 22 and the gear 23 have a certain linear angle transmission ratio, and the rotation angle of the gear can be converted into the movement distance of the rack according to the linear angle transmission ratio. Between the gear 23 and the electronic rotor of the steering actuator motor 21, there is a certain rotation angle ratio, and the rotation angle of the motor rotor of the steering actuator motor is converted into the rack moving distance according to the rotation angle ratio and the linear angle transmission ratio.

When the steering wheel 11 is controlled to rotate by a driver, the pipe column 12 connected with the steering wheel synchronously rotates, so that the steering wheel angle sensor 13 can detect the real-time rotation angle of the steering wheel 11; the real-time rotation angle is sent to a controller; the controller generates steering control information for the steering execution motor according to the real-time rotation angle, and the steering execution motor outputs torque according to the received steering control information to control the rack 22 to move in the corresponding steering direction so as to drive the wheels to turn left or right at the corresponding angle, thereby realizing the control of the steering of the vehicle.

Therefore, accurate acquisition of the real-time rotation angle of the steering wheel and accurate determination of the real movement displacement of the rack are preconditions for controlling accurate steering of the vehicle, which requires calibration of the steering wheel angle and the rack position. Furthermore, before calibration, the steer-by-wire system cannot provide a steering control function because the real-time rotation angle of the steering wheel cannot be acquired and the real movement displacement of the rack is determined. Whereas conventional vehicle production lines typically require stations in the assembly shop for the assembly of the steering mechanical system, the mechanical steering system in the vehicle is assembled; after the whole vehicle is assembled, the assembled mechanical steering system is utilized to control the vehicle to drive to a four-wheel positioning station, and then the calibration of the mechanical steering system is completed at the four-wheel positioning station. However, unlike mechanical steering systems, the steer-by-wire system cannot provide steering control functions before calibration, so that a vehicle cannot be driven from a final assembly station to a four-wheel positioning station, and the vehicle can only be transported to the four-wheel positioning station through a transport device and then calibrated; the automobile is large in size, heavy in mass and difficult to transmit, so that the production efficiency of the automobile production line is reduced, and the production line needs to be adjusted.

Based on the above study, the disclosure provides a calibration method, which performs primary calibration on a steering control system in a first production link of a vehicle to obtain first calibration information with lower precision, and performs secondary calibration on the steering control system in a second production link of the vehicle to obtain second calibration information for performing error correction on steering control information. After the first calibration is finished, the first calibration information is obtained, and although some steering errors possibly occur, the first calibration information can be used for controlling the vehicle to steer, so that the first calibration information can be used for driving the vehicle to the four-wheel positioning station for secondary calibration, the whole vehicle is prevented from being conveyed to the four-wheel positioning station in a transmission mode through the transmission device, the production efficiency of the vehicle production line is improved, and meanwhile, the structure of the existing vehicle production line is not required to be adjusted.

The present invention is directed to a method for manufacturing a semiconductor device, and a semiconductor device manufactured by the method.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

For the sake of understanding the present embodiment, a calibration method disclosed in the embodiments of the present disclosure will be described in detail first. The execution subject of the calibration method provided by the embodiments of the present disclosure includes, for example, a controller in a steer-by-wire system.

Referring to fig. 2, a flowchart of a calibration method provided in an embodiment of the disclosure includes:

s201: and in a first production link of the vehicle, carrying out primary calibration on a steering system of the vehicle to obtain first calibration information of the steering system, so that the vehicle subjected to primary calibration can be driven to a production position corresponding to a second production link.

In a specific implementation, the first production link of the vehicle is, for example, a steering system assembly link of the vehicle. In addition, the first production link can also be a link after the whole vehicle is assembled, and in the first production link, the first-level calibration is performed on the steering system, and certain errors possibly exist between the first calibration information of the first-level calibration and the accurate calibration information; the error can cause potential safety hazards in the driving process of the vehicle, so that normal driving of the vehicle is affected, but the error can be used as an input parameter of a steer-by-wire system and used for generating steering control information to control wheels of the vehicle to steer.

Specifically, referring to fig. 3, an embodiment of the disclosure provides a specific manner of performing a first-level calibration of a steer-by-wire system, including:

s301: the steering drive member in the vehicle is controlled to move toward a mechanical limit position of the target bearing.

Wherein the steering drive member includes: the steering driving component corresponding to the upper steering mechanism or the steering driving component corresponding to the lower steering mechanism.

In a specific implementation, the steering drive member includes, for example: steering wheel and/or rack.

(1): in the case where the steering drive member includes a steering wheel, as in the steer-by-wire system shown in fig. 1, a feel feedback motor is connected to a column connected to the steering wheel. The hand feedback motor can be controlled by a controller to drive the pipe column to turn, and the pipe column and the steering wheel coaxially rotate. Therefore, when the steering wheel is driven to move to the mechanical limit position of the target azimuth, the steering wheel can be driven to move to the mechanical limit position of the target azimuth by controlling the rotation of the hand feeling feedback motor.

The target orientations include, for example, a steering wheel clockwise rotation orientation (steering wheel right side), and/or a steering wheel counterclockwise rotation orientation (steering wheel left side).

When the hand feeling feedback motor is driven to drive the pipe column to rotate, under the conditions that the torque of the hand feeling feedback motor is detected to be larger than a preset first torque threshold value, the rotating speed of the hand feeling feedback motor is 0, the torque value of the steering wheel angle sensor is 0 and the duration time of the condition is larger than a preset time threshold value, the steering wheel is considered to move to a mechanical limit position of a target azimuth.

(2): for the case where the steering drive member includes a rack, as in the steer-by-wire system shown in fig. 1, the rack is connected with a steering execution motor; the steering execution motor can be controlled by the controller to drive the rack to move left and right; therefore, when the drive rack is moved to the mechanical limit position of the target direction displacement, the steering execution motor can be controlled to drive the rack to the mechanical limit position of the target direction displacement.

At this time, the target azimuth includes, for example: left side of the rack, and/or right side of the rack.

When the steering execution motor is driven to drive the rack to move, and when the torque of the steering execution motor is detected to be larger than the preset second torque threshold value and the rotating speed of the steering execution motor is 0 and the torque value of the gear angle sensor is also 0, the rack is considered to move to the mechanical limit position of the target azimuth.

Further, in another embodiment of the present disclosure, when driving the mechanical limit position movement of the steering drive member in the target direction in the vehicle steering device, for example, the following manner may be adopted:

receiving a first-level calibration instruction;

detecting whether the vehicle meets a first target condition;

and driving a steering driving member in a vehicle steering device to move to a mechanical limit position of a target azimuth when the vehicle meets the first target condition.

Here, the first-level calibration command may be, for example, a command sent to the controller by an external electronic device capable of communicating with the controller in the steer-by-wire system. The external electronic device is, for example, an electronic device used by a worker in the first production link; in the external electronic device, for example, a control page can be provided for a worker; the staff can trigger to send a first-level calibration instruction to a controller in the steer-by-wire system through the control page.

After receiving the first-level calibration instruction, the controller detects whether the vehicle meets a first target condition.

Here, the first target condition includes, for example, at least one of the following conditions: the steering wheel angle range is within the effective range, the vehicle speed of the vehicle is 0, the steer-by-wire system is free from faults, and the like.

When the first target condition is satisfied, the controller drives a motor associated with the steering drive member to output torque at a target rotational speed such that the steering drive member moves toward a mechanical limit position of the target orientation.

S302: in the case where the steering drive member moves to the mechanical limit position, a limit absolute angle value of an angle sensor output associated with the steering drive member is acquired.

S303: first calibration information corresponding to the steering drive member is determined based on the limit absolute angle value.

Wherein, for the case that the steering drive member is the steering wheel, the angle sensor associated with the steering wheel is: a steering wheel angle sensor;

for the case where the steering drive member is a rack, the sensors associated with the rack are: and a gear angle sensor.

After determining that the steering drive member movement has reached a mechanical limit position, the absolute limit angle value output by the angle sensor associated with the steering drive member is read when the steering drive member is in the mechanical limit position.

The obtained limit absolute angle value comprises the following steps: left limit absolute angle value and/or right limit absolute angle value.

When the first calibration information is determined based on the limit absolute angle value, the left limit absolute angle value and/or the right limit absolute angle value may be directly determined as the first calibration information, or a median absolute angle value when the steering drive member is in the neutral position may be calculated from the left limit absolute angle value and/or the right limit absolute angle value, and the median absolute angle value may be determined as the first calibration information.

Then, when the steering driving member moves to any position, the relative angle value of the steering driving member movement can be calculated according to the real-time absolute angle value output by the angle sensor associated with the steering driving member and the first calibration information, wherein the relative angle value is the real-time position of the steering driving member and is compared with the relative angle when the steering driving member is in the middle position. After the relative angle value is obtained, the controller can generate corresponding steering control information.

The determination process of the median absolute angle value may be determined by the embodiment corresponding to fig. 6, which is not described herein.

It should be noted here that, in the case where the median absolute angle value is used as the first calibration information, the determination method corresponding to the relative angle value needs to be predetermined, and power-down saving is performed. The determination method corresponding to the relative angle value may be described in the following embodiments, and will not be described herein.

With the above S201 in mind, the calibration method provided in the embodiment of the present disclosure further includes the following S202:

s202: and in a second production link of the vehicle, carrying out secondary calibration on a steering system of the vehicle to obtain second calibration information of the steering system, and enabling the vehicle subjected to secondary calibration to carry out steering control on the steering system based on the first calibration information and the second calibration information.

The second-level calibration information is used for carrying out error correction on steering control information generated by the steer-by-wire system, and the steering control information is control information determined based on the first-level calibration information when the steer-by-wire system controls the steering of the wheel row of the vehicle.

In a specific implementation, the second production link includes, for example, a four-wheel positioning link of the vehicle, or other production links after the whole vehicle is assembled and before the whole vehicle is taken off line, so as to complete the secondary calibration of the steering system before the whole vehicle is taken off line.

Specifically, for example, the secondary calibration may be performed in the following manner: receiving a second-level calibration instruction under the condition that the steering wheel is centered and fixed;

detecting whether the vehicle meets a second target condition;

and acquiring the second calibration information under the condition that the vehicle meets the second target condition.

Specifically, taking the second production link as the four-wheel positioning link as an example, the vehicle can be driven to the four-wheel positioning station to perform four-wheel positioning on the vehicle, and the steering wheel is fixed at the middle position, namely, is centered and fixed by means of tools such as a level meter. And then, sending a secondary calibration instruction to the controller by using external electronic equipment.

And after receiving the second-level calibration instruction, the controller detects whether the vehicle meets a second target condition. Wherein the second target condition comprises, for example, at least one of: the primary calibration is completed, the vehicle speed is 0, and the angle value output by the angle sensor associated with the steering driving member is within the effective range.

If the vehicle satisfies the second target condition, a centering absolute angle value of the angle sensor associated with the steering drive member in this case is acquired, and the centering absolute angle value is determined as the second calibration information.

And after the second calibration information is obtained, the second calibration information is stored in a power-down mode.

In the embodiment of the disclosure, the first calibration information and the second calibration information may be stored in a hierarchical manner and/or separate storage spaces, for example.

Here, the hierarchical storage means that the security level of the first calibration information is higher than the security level of the second calibration information.

The storage in the separate storage space is, for example, to fixedly store the first calibration information in a storage space which can only be accessed but cannot be modified, or to write the first calibration information into a system code of the steer-by-wire system, that is, the first calibration information is in a state of prohibiting modification after the whole vehicle is off line.

The second calibration information can be written into a memory space which can be accessed or modified, for example, as an input variable of the steer-by-wire system. When steering control is performed on the vehicle, the parameter is transmitted to the steer-by-wire system. That is, the second calibration information is in a state allowing modification after the whole vehicle is taken off line.

Therefore, the first calibration information is ensured to be the information which cannot be changed after the whole vehicle is off line, so that the maintenance and repair process of the vehicle after the vehicle is put into operation cannot be changed. The second calibration information can be changed after the whole vehicle is taken off line, so that certain deviation can occur to the calibration information of the steering driving component along with the use of the vehicle after the vehicle is put into operation, and the second calibration information can be adjusted after the vehicle is put into operation, so that the accuracy of steering control in the life cycle of the vehicle is ensured.

In addition, under the condition that the second calibration information is lost in the steering control system, the first calibration information can be read from a storage space for storing the first calibration information, and the steering of the vehicle is controlled by utilizing the first calibration information, so that the safety of the vehicle in the driving process is ensured.

Referring to fig. 4, an embodiment of the disclosure further provides a vehicle control method, which is used for a vehicle calibrated by the calibration method of the steering system according to any embodiment of the disclosure, and the control method includes:

s401: a real-time absolute angle value of an angle sensor output associated with a steering drive member in a vehicle steering mechanism is acquired.

S402: based on the first calibration information, the real-time absolute angle value of the angle sensor, a relative angle value of the steering drive member compared to the neutral position is determined.

In a specific implementation, the first calibration information includes, for example: the absolute limit angle value of the mechanical limit position of the steering drive member at the target azimuth. Alternatively, it may further include: the median limit absolute angle value of the steering drive member.

The embodiment of the disclosure takes a steering driving member as a steering wheel and corresponding first calibration information as a left limit absolute angle value as an example, and a specific process based on determining the absolute angle value of the steering driving member compared with the middle position is described in detail.

As shown in fig. 5, the specific method for determining the relative angle value of the steering driving member compared with the median position based on the first calibration information and the real-time absolute angle value of the angle sensor provided by the embodiment of the disclosure includes:

S501: based on the first calibration information, the rotation angle travel of the steering driving member and the sensor range of the angle sensor, determining a median absolute angle value corresponding to the steering driving member, and determining a determination mode corresponding to the relative angle value; the determining mode is used for describing the association relation among the median absolute angle value, the real-time absolute angle value and the relative angle value;

in a specific implementation, after the automobile is powered on and started, the step S105 may be executed only once, and after the median absolute angle value and the determination mode are determined, the median absolute angle value and the determination mode are stored in a preset storage space; in the subsequent steering control process, the median absolute angle value and the determination mode can be read from the preset storage space, and the relative angle value of the steering driving component is obtained by utilizing the absolute angle value of the angle sensor which is acquired in real time and is related to the steering driving component.

In addition, the median absolute angle value and the determination mode can be stored in a power-off mode, so that the vehicle steering control can be performed by directly calling the median absolute value and the corresponding determination mode when the vehicle drives for multiple times.

Specifically, as shown in fig. 6, the embodiment of the disclosure provides a specific method for determining a median absolute angle value corresponding to the steering driving member based on first calibration information, a steering angle travel of the steering driving member, and a sensor range of the angle sensor, including:

s601: and determining that the rotation angle travel falls into one sensor range or two sensor ranges based on the first calibration information, the rotation angle travel of the steering driving member and the sensor range of the angle sensor.

Here, taking the steering drive member as an example of a steering wheel, the steering angle stroke of the steering wheel is, for example, the maximum angle at which the steering wheel turns, i.e. the total angle at which the steering wheel turns from the left mechanical limit to the right mechanical limit.

Taking the steering drive member as a rack, the angular travel of the rack is, for example, the total angle of rotation of the gear wheel with which the rack is engaged, as the rack moves from the left mechanical limit to the right mechanical limit.

The angular travel of the steering drive member is generally less than the sensor range of the corresponding angle sensor; however, in the actual assembly process of the steering driving member, the assembly position cannot be determined during assembly, so that the angular travel of the steering driving member may fall into one sensor range or into two sensor ranges.

Illustratively, taking the first calibration information as the left limit absolute angle value steeeangle_tasleft as an example, the following manner may be used to determine that the angular travel falls within one sensor range, or within two sensor ranges:

the left limit absolute angle value steeeangle_tasleft and the steering drive member rotational stroke SteeringStroke are added, and the result of the addition is compared with the sensor range SteerSensorRange.

If: steerAngle_TasLeft+SteeringStroke is less than or equal to SteerSensorRange, then the angular travel is determined to fall within a sensor range.

If: steerAngle_TasLeft+SteeringStroke > SteerSensorRange, then it is determined that the corner travel falls within two sensor ranges.

Illustratively, assume that the steering drive member has a rotational travel of 1480 degrees and that the angular sensor associated with the steering drive member has a sensor range of: 1600 degrees, assuming that the corresponding sensor angle is 15 degrees when the steering drive member is in the left mechanical limit position, then the corresponding sensor angle is when it moves to the right mechanical limit position: 15+1480=1495 degrees, which is less than 1600 degrees of sensor range, where the angular travel of the steering drive member falls within one sensor range.

Assuming that the corresponding sensor angle is 300 degrees when the steering drive member is in the left mechanical limit position, the corresponding sensor angle is when it is moved to the right mechanical limit position: 300+1480=1780 degrees, greater than 1600 degrees of sensor range, where the steering drive member's angular travel falls into two sensor ranges.

In the example shown in fig. 7, the left end point of the rotational angle stroke M1 is: the left limit absolute angle value SteerAngle_TasLeft_1, the right endpoint is: the sum of the right limit absolute angle value, namely the left limit absolute angle value steerangle_tasleft_1, and the steering drive member rotational stroke SteeringStroke: steerAngle_TasLeft_1+SteeringStroke. The left end point and the right end point of the M1 both belong to the first sensor measuring range, namely the rotation angle stroke of the steering driving component falls into one sensor measuring range;

the left end point of the rotation angle travel M2 is: the left limit absolute angle value steerangle_tasleft_2, the right endpoint is: the sum of the right limit absolute angle value, namely the left limit absolute angle value steerangle_tasleft_2, and the steering drive member rotational stroke SteeringStroke: steerAngle_TasLeft_2+SteeringStroke. The left end point of M1 belongs to the first sensor range and the right end point belongs to the second sensor range, that is, it means that the rotational angle stroke of the steering drive member falls into two sensor ranges.

S602: and determining the median absolute angle value based on the first calibration information and the angular travel in response to the angular travel falling within a sensor range.

At this time, the median absolute angle value steerangle_tasmiddle satisfies, for example:

s603: in response to the angular travel falling within two sensor ranges, it is determined that the median absolute angle value falls within a first sensor range or a second sensor range of the two sensor ranges.

Here, for example, the left limit absolute angle steeeangle_tasleft and the steering drive member steering stroke of one-half may be added, and the result of the addition and the sensor range SteerSensorRange may be compared.

If:the median absolute angle value falls within the first of the two sensor ranges.

If:the median absolute angle value falls within the second of the two sensor ranges.

S604: and in response to the median absolute angle value falling within the first sensor range, determining the median absolute angle value based on the first calibration information and the angular travel.

S605: and in response to the median absolute angle value falling within the second sensor range, determining the median absolute angle value based on the first calibration information, the angular travel, and the sensor range.

。

in the above determination of the median absolute angle value, the determination method corresponding to the relative angle value is also different for different determination cases of the median absolute angle value. Wherein:

(1): in the case where the angular travel falls within a sensor range, the determining means includes:

and subtracting the real-time absolute angle value from the median absolute angle value to obtain the relative angle value.

That is, the relative angle value SteerAngle of the steering drive member satisfies:

SteerAngle＝SteerAngle_Tas-SteerAngle_TasMiddle。

wherein steerangle_tas represents the real-time absolute angle value of the angle sensor associated with the steering drive member; steerangle_tasmiddle represents the median absolute angle value.

(2): under the condition that the rotation angle travel falls into two sensor ranges, the median absolute angle value falls into the first sensor range, and the real-time absolute angle value is smaller than or equal to the first calibration information, the determining mode comprises the following steps:

Subtracting the intermediate absolute angle value from the sensor range, and adding the subtracted intermediate absolute angle value to the real-time absolute angle value to obtain the relative angle value; and under the condition that the real-time absolute angle value is larger than the first calibration information, subtracting the real-time absolute angle value from the median absolute angle value to obtain the relative angle value.

Taking the first calibration information as an example of a left limit absolute angle value, comparing the real-time absolute angle value SteerAngle_Tas with a left limit mechanical angle value SteerAngle_TasLeft;

if: the SteerAngle_Tas is less than or equal to SteerAngle_TasLeft, and the relative angle value SteerAngle of the steering driving member satisfies:

SteerAngle＝SteerSensorRange-SteerAngle_TasMiddle+SteerAngle_Tas。

if: steerAngle_Tas > SteerAngle_TasLeft, the relative angle value SteerAngle of the steering drive member satisfies:

SteerAngle＝SteerAngle_Tas-SteerAngle_TasMiddle。

(3): under the condition that the rotation angle travel falls into two sensor ranges, the median absolute angle value falls into the second sensor range, and the real-time absolute angle value is smaller than or equal to the first calibration information, the determining mode comprises:

subtracting the real-time absolute angle value from the median absolute angle value to obtain the relative angle value; and under the condition that the real-time absolute angle value is larger than the first calibration information, subtracting the sensor range after subtracting the real-time absolute angle value from the median absolute angle value, and obtaining the relative angle value.

Specifically, taking the first calibration information as an example of a left limit absolute angle value, comparing the real-time absolute angle value SteerAngle_Tas with a left limit mechanical angle value SteerAngle_TasLeft;

if: steerAngle_Tas is less than or equal to SteerAngle_TasLeft, the absolute angle value SteerAngle satisfies the following conditions:

SteerAngle＝SteerAngle_Tas-SteerAngle_TasMiddle。

if: steerAngle_Tas > SteerAngle_TasLeft, then the absolute angle value SteerAngle satisfies:

SteerAngle＝SteerAngle_Tas-SteerAngle_TasMiddle-SteerSensorRange。

the determination method can be stored after being obtained, so that the corresponding determination method can be directly called in the vehicle steering control process.

In view of S501 described above, the method for determining a relative angle value of a steering driving member compared to a median position according to an embodiment of the present disclosure further includes:

s502: and determining the relative angle value based on the median absolute angle value and the real-time absolute angle value according to the determination mode.

Here, the real-time absolute angle value steerangle_tas of the angle sensor associated with the steering drive member can be read from the angle sensor in real time, the median absolute angle value steerangle_tasmiddle is predetermined in the above manner and stored, and the sensor range SteerSensorRange is also known, so that the above-described parameter can be transmitted to the corresponding determination manner to obtain the relative angle value corresponding to the steering wheel at the time of steering control.

Based on the embodiments corresponding to fig. 5 and 6, the absolute angle value of the steering wheel relative to the center position and the determination method of the relative angle value corresponding to the steering wheel can be determined based on the left limit absolute angle value of the steering wheel.

In addition, for the case that the first calibration information includes the right limit absolute angle value of the steering wheel, the absolute angle value of the steering wheel compared with the middle position and the determination manner of the corresponding relative angle value of the steering wheel are different, and are not described herein.

In another embodiment of the present disclosure, taking the steering driving member as an example of a rack, for the case that the first calibration information corresponding to the rack includes a left limit angle value of the rack, the length of the rack can be converted into a rotational angle travel of a rotational angle sensor associated with the rack according to a linear angle transmission ratio between the rack and the gear, and the rotational angle travel is regarded as a rotational angle travel corresponding to the rack; further, based on the embodiment corresponding to fig. 5, the determination method corresponding to the relative angle value associated with the rack may be determined by determining the median absolute angle value associated with the rack from the first calibration information, the rotational angle stroke associated with the rack, and the sensor range of the angle sensor associated with the rack.

As shown in fig. 8, the embodiment of the present disclosure provides a specific example of determining the neutral angle absolute value, and the relative angle value, from the left limit absolute angle value steerangle_tasleft of the steering drive member. Comprising the following steps:

s801: the left limit absolute angle value steeeangle_tasleft steering drive member's angular travel SteeringStroke is added.

S802: determining whether the result of the addition of SteerAngle_TasLeft and SteringStroke is greater than the sensor range SteerSensorRange; if not, jump to S803; if so, go to S804.

S803: the median absolute angle value steerangle_tasmiddle is calculated according to the following formula:

and calculating the relative angle value according to the following formula: steerangle=steerangle_tas-steerangle_tasmiddle. And (5) ending.

S804: the left limit absolute angle value steeeangle_tasleft steering drive member one-half the rotational angle stroke SteeringStroke is added. Jump to S805.

S805: determining whether the result of the addition of SteerAngle_TasLeft and one-half SteeringStroke is greater than the sensor range SteerSensorRange; if not, jumping to S806; if so, then go to S810.

S806: the median absolute angle value steerangle_tasmiddle is calculated according to the following formula:

Jump to S807.

S807: determining whether the real-time absolute angle value steeeangle_tas of the angle sensor is greater than the left limit mechanical angle value steeeangle_tasleft; if not, jump to S808; if so, go to S809.

S808: the relative angle value is calculated according to the following formula:

steerangle=steersensorrange-steerangle_tasmiddle+steerangle_tas. And (5) ending.

S809: the relative angle value is calculated according to the following formula:

steerangle=steerangle_tas-steerangle_tasmiddle. And (5) ending.

S810: the median absolute angle value steerangle_tasmiddle is calculated according to the following formula:

。

jump to S811.

S811: determining whether the real-time absolute angle value steeeangle_tas of the angle sensor is greater than the left limit mechanical angle value steeeangle_tasleft; if not, then jump to S812; if so, go to S813.

S812: the relative angle value steeeangle of the steering drive member is calculated according to the following formula:

steerangle=steerangle_tas-steerangle_tasmiddle. And (5) ending.

S813: the relative angle value steeeangle of the steering drive member is calculated according to the following formula:

By using the above process, the relative angle value of the steering driving member can be calculated.

With the S402 described above in mind, the specific method for controlling steering of a vehicle by using the first calibration information and the second calibration information provided in the embodiment of the present disclosure further includes:

s403: and carrying out error correction processing on the relative angle value by using the second calibration information to obtain a target relative angle value corresponding to the steering driving component.

Here, for example, the target relative angle value corresponding to the steering drive member may be obtained by adding the relative angle value and the second calibration information.

S404: and generating steering control information based on the target relative angle value, and controlling the steering of the vehicle based on the steering control information.

In a specific implementation, the steer-by-wire system comprises an upper steering mechanism and a lower steering mechanism, wherein the upper steering mechanism can receive control of a driver on a steering wheel, and by utilizing the technical scheme disclosed in the embodiment of the disclosure, a target relative angle value of the steering wheel compared with the middle position is determined according to a middle position absolute angle value corresponding to the steering wheel and a determination mode of a relative angle value corresponding to the steering wheel.

And a certain proportional relation exists between the target relative angle value of the steering wheel and the target relative angle value corresponding to the rack. According to the proportional relation, converting the target relative angle value of the steering wheel into a target relative angle value to be rotated by a gear meshed with the rack; at this time, the target relative angle value at which the gear is to be rotated is a target result of the gear rotation.

Then, determining an actual angle value to be rotated by the gear according to the target result, the median absolute angle value corresponding to the gear rack, the second calibration information and the determination mode of the relative angle value corresponding to the gear rack; then generating steering control information according to the actual angle value, and outputting the steering control information to a rack driving motor; the rack driving motor outputs torque under the steering control information, the torque enables the rack to move, and when the movement is finished, the real-time angle value of the angle sensor associated with the rack is equal to the calculated actual angle value of the gear, so that the steering control of the vehicle is realized.

In another embodiment of the present disclosure, further comprising: when the second calibration information is not lost in the process of driving the vehicle, the steering system is utilized to control the steering of the vehicle based on the first calibration information and the second calibration information;

In a specific implementation, the method for controlling the steering of the vehicle by using the first calibration information includes:

and generating steering control information based on the relative angle value, and controlling the steering of the vehicle based on the steering control information.

Here, the determination of the relative angle value of the steering driving member compared to the neutral position is similar to that in S402 described above, and will not be described again. In addition, the manner of generating the steering control information based on the camera angle value is similar to S404 described above, and will not be described again here.

Therefore, under the condition that the second calibration information is lost, the first calibration information can be utilized to control the steering of the vehicle, so that the safety of the vehicle in the driving process is improved.

According to the embodiment of the disclosure, the first calibration information and the second calibration information are respectively obtained by respectively carrying out the first calibration and the second calibration on the steering system in different production links of the vehicle. After the first calibration is finished, the first calibration information is obtained, and although some steering errors possibly occur, the first calibration information can be used for controlling the vehicle to steer, so that the first calibration information can be used for driving the vehicle to the four-wheel positioning station for secondary calibration, the whole vehicle is prevented from being conveyed to the four-wheel positioning station in a transmission mode through the transmission device, the production efficiency of the vehicle production line is improved, and meanwhile, the structure of the existing vehicle production line is not required to be adjusted.

Based on the same inventive concept, the embodiments of the present disclosure further provide a calibration device corresponding to the calibration method, and since the principle of solving the problem of the device in the embodiments of the present disclosure is similar to that of the calibration method in the embodiments of the present disclosure, the implementation of the device may refer to the implementation of the method, and the repetition is omitted.

The embodiment of the disclosure also provides a calibration device of the steering system, comprising: a first controller for: in a first production link of a vehicle, carrying out primary calibration on a steering system of the vehicle to obtain first calibration information of the steering system, and enabling the vehicle subjected to primary calibration to be driven to a production position corresponding to a second production link;

in a second production link of the vehicle, carrying out secondary calibration on a steering system of the vehicle to obtain second calibration information of the steering system, and enabling the vehicle subjected to secondary calibration to carry out steering control of the steering system based on the first calibration information and the second calibration information

As shown in fig. 9, taking an example in which the steering system includes an upper steering mechanism 10 and a lower steering mechanism 20, a first controller 30 is further included;

wherein, the controller 30 is configured to: in a first production link of a vehicle, respectively carrying out primary calibration on an upper steering mechanism 10 and a lower steering mechanism 20 of the steer-by-wire system to obtain first calibration information corresponding to the upper steering mechanism 10 and the lower steering mechanism 20 respectively, so that the vehicle subjected to primary calibration can be driven to a production position corresponding to a second production link; in a second production link of the vehicle, respectively performing secondary calibration on the upper steering mechanism 10 and the lower steering mechanism 20 to obtain second calibration information corresponding to the upper steering mechanism 10 and the lower steering mechanism 20 respectively; the second calibration information is used for performing error correction on steering control information generated by the steer-by-wire system, and the steering control information is control information determined based on the first calibration information when the steer-by-wire system controls the steering of the wheel row of the vehicle; based on the first calibration information and the second calibration information, steering control is performed on the vehicle based on the upper steering mechanism 10 and the lower steering mechanism 20.

The specific structure of the upper steering mechanism 10 and the lower steering mechanism 20 is shown in fig. 1.

In a possible implementation manner, the first controller 30 is specifically configured to, when performing a first-level calibration on a steering system of a vehicle to obtain first calibration information of the steering system:

In a possible implementation manner, the first controller 30 is specifically configured to, when performing the second calibration on the steering system of the vehicle to obtain the second calibration information of the steering system:

The embodiment of the disclosure also provides a vehicle control device, including: a second controller; the second controller is configured to:

The disclosed embodiments also provide a vehicle including: calibration device comprising a steering system as described in any embodiment of the present disclosure, or vehicle control device as described in any embodiment of the present disclosure

The embodiment of the disclosure further provides an electronic device, as shown in fig. 10, which is a schematic structural diagram of the electronic device provided by the embodiment of the disclosure, including:

a processor 1001 and a memory 1002; the memory 1002 stores machine-readable instructions executable by the processor 1001, and the processor 1001 is configured to execute the machine-readable instructions stored in the memory 1002, where the machine-readable instructions, when executed by the processor 1001, cause the processor 1001 to perform the steps of:

Or the following steps are performed: acquiring a real-time absolute angle value output by an angle sensor associated with a steering driving member in a vehicle steering mechanism;

The memory 1002 includes a memory 10021 and an external memory 10022; the memory 10021 is also referred to as an internal memory, and is used for temporarily storing operation data in the processor 1001 and data exchanged with the external memory 10022 such as a hard disk, and the processor 1001 exchanges data with the external memory 10022 via the memory 10021.

The specific execution process of the above instruction may refer to the steps of the calibration method of the steering system described in the embodiments of the present disclosure, which are not described herein.

The disclosed embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the calibration method of a steering system described in the method embodiments above. Wherein the storage medium may be a volatile or nonvolatile computer readable storage medium.

The embodiments of the present disclosure further provide a computer program product, where the computer program product carries a program code, where instructions included in the program code may be used to perform the steps of the calibration method of the steering system described in the foregoing method embodiments, and specifically reference may be made to the foregoing method embodiments, which are not described herein.

Wherein the above-mentioned computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.

The methods in the embodiments of the present disclosure may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions of the present application are performed in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, a network device, a user device, a core network device, an OAM, or other programmable apparatus.

The computer program or instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer program or instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired or wireless means. The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that integrates one or more available media. The usable medium may be a magnetic medium, e.g., floppy disk, hard disk, tape; but also optical media such as digital video discs; but also semiconductor media such as solid state disks. The computer readable storage medium may be volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage medium.

Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present disclosure, and are not intended to limit the scope of the disclosure, but the present disclosure is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, it is not limited to the disclosure: any person skilled in the art, within the technical scope of the disclosure of the present disclosure, may modify or easily conceive changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features thereof; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the disclosure, and are intended to be included within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A method of calibrating a steering system, comprising:

2. The method of claim 1, wherein the first calibration of the steering system of the vehicle to obtain the first calibration information of the steering system comprises:

3. The method according to claim 1, wherein performing the second calibration of the steering system of the vehicle to obtain the second calibration information of the steering system comprises:

4. The method of claim 1, wherein the first calibration information and the second calibration information are ranked and/or stored in separate storage spaces;

5. The method according to any one of claims 1-4, wherein the steering system comprises: an upper steering mechanism and a lower steering mechanism;

6. A vehicle control method for a vehicle after calibration based on the calibration method of a steering system according to any one of claims 1 to 5, the control method comprising:

7. The method of claim 6, wherein the determining the relative angle value of the steering drive member as compared to the neutral position based on the first calibration information, the real-time absolute angle value of the angle sensor, comprises:

8. The method according to claim 6 or 7, characterized in that the method further comprises:

when the second calibration information is not lost in the process of driving the vehicle, the steering system is utilized to control the steering of the vehicle based on the first calibration information and the second calibration information;

9. A calibration device for a steering system, comprising: a first controller;

the first controller is used for:

10. A vehicle control apparatus for a vehicle after calibration based on the calibration method of a steering system according to any one of claims 1 to 5, comprising: a second controller;

the second controller is used for:

11. A vehicle characterized in that it comprises a calibration device of a steering system according to claim 9 or a vehicle control device according to claim 10.

12. An electronic device, comprising: a processor, a memory storing machine readable instructions executable by the processor for executing machine readable instructions stored in the memory, which when executed by the processor, perform the steps of the calibration method of a steering system as claimed in any one of claims 1-5 or the steps of the vehicle control method as claimed in any one of claims 6-8.

13. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by an electronic device, performs the steps of the calibration method of a steering system according to any one of claims 1 to 5 or the steps of the vehicle control method according to any one of claims 6 to 8.