Automobile Toe-in Detection Method, Device, Equipment and Storage Medium

Abstract

The present invention relates to the technical field of automobiles, and discloses an automobile toe-in detection method, device, equipment and storage medium. The present invention detects the toe-in of a vehicle to be detected under a target load through a four-wheel alignment detection device of the vehicle, obtains a target toe-in corresponding to the target load, then fits the target load and the target toe-in to obtain a fitting curve, and then detects the toe-in of the vehicle to be detected at the current moment according to the fitting curve. By fitting the target load and the target toe-in and then detecting the toe-in of the vehicle to be detected at the current moment according to the fitting curve, compared with the existing method of measuring the toe-in of a vehicle through an optical positioning device when the vehicle is static, the above method of the present invention can dynamically detect the toe-in of a vehicle according to the fitting curve between the load and the toe-in during the running process of the vehicle, and can improve the detection efficiency of the automobile toe-in.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and in particular to an automobile toe-in detection method, device, equipment and storage medium. Background Art

[0002] Toe-in, as an important parameter of four-wheel alignment, is detected together with the four-wheel alignment measurement. At present, the four-wheel alignment detection is mainly 3D image detection equipment. By installing optical positioning equipment on the four wheels of the vehicle, the four-wheel alignment parameters of the vehicle (front wheel toe-in, front wheel camber, kingpin inclination, caster) are detected. The 3D image detection equipment has fixed and mobile types, but both need to be measured when the vehicle is static. Therefore, how to dynamically detect the toe-in of the vehicle during the vehicle operation has become an urgent problem to be solved.

[0003] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of the present invention is to provide an automobile toe-in detection method, device, equipment and storage medium, aiming to solve the technical problem of dynamically detecting the toe-in of the vehicle during the vehicle operation.

[0005] To achieve the above purpose, the present invention provides an automobile toe-in detection method, and the automobile toe-in detection method includes the following steps:

[0006] Detect the toe-in of the vehicle to be detected under the target load through the vehicle four-wheel alignment detection equipment, and obtain the target toe-in corresponding to the target load;

[0007] Fit the target load and the target toe-in to obtain a fitting curve;

[0008] Detect the toe-in of the vehicle to be detected at the current moment according to the fitting curve.

[0009] Optionally, the step of detecting the toe-in of the vehicle to be detected under the target load through the vehicle four-wheel alignment detection equipment and obtaining the target toe-in corresponding to the target load specifically includes:

[0010] Obtain the target loads corresponding to the vehicle to be detected under different load conditions, where the load conditions include: no-load condition, standard-load condition, and heavy-load condition, and the target loads include: no-load load, standard-load load, and heavy-load load;

[0011] Detect the toe-in of the vehicle to be detected under the no-load load, the standard-load load, and the heavy-load load respectively through the vehicle four-wheel alignment detection equipment to obtain the target toe-in, where the target toe-in includes: no-load toe-in, standard-load toe-in, and heavy-load toe-in.

[0012] Optionally, the step of respectively detecting the toe-in of the vehicle to be detected under the no-load load, the standard load, and the heavy load by the vehicle four-wheel alignment detection device to obtain the target toe-in, where the target toe-in includes: no-load toe-in, standard-load toe-in, and heavy-load toe-in, specifically includes:

[0013] Detect the left toe-in and the right toe-in of the vehicle to be detected under the no-load load by the vehicle four-wheel alignment detection device to obtain the no-load toe-in, where the no-load toe-in includes: no-load left toe-in and no-load right toe-in;

[0014] Detect the left toe-in and the right toe-in of the vehicle to be detected under the standard load by the vehicle four-wheel alignment detection device to obtain the standard-load toe-in, where the standard-load toe-in includes: standard-load left toe-in and standard-load right toe-in;

[0015] Detect the left toe-in and the right toe-in of the vehicle to be detected under the heavy load by the vehicle four-wheel alignment detection device to obtain the heavy-load toe-in, where the heavy-load toe-in includes: heavy-load left toe-in and heavy-load right toe-in.

[0016] Optionally, the fitting curve includes: a first fitting curve, a second fitting curve, and a third fitting curve;

[0017] The step of fitting the target load and the target toe-in to obtain a fitting curve specifically includes:

[0018] Obtain the target left toe-in in the target toe-in, where the target left toe-in includes: the no-load left toe-in, the standard-load left toe-in, and the heavy-load left toe-in;

[0019] Fit the no-load load, the standard load, and the heavy load with the no-load left toe-in, the standard-load left toe-in, and the heavy-load left toe-in to obtain a first fitting curve;

[0020] Obtain the target right toe-in in the target toe-in, where the target right toe-in includes: the no-load right toe-in, the standard-load right toe-in, and the heavy-load right toe-in;

[0021] Fit the no-load load, the standard load, and the heavy load with the no-load right toe-in, the standard-load right toe-in, and the heavy-load right toe-in to obtain a second fitting curve;

[0022] Fit the no-load load, the standard load, and the heavy load with the no-load toe-in, the standard-load toe-in, and the heavy-load toe-in to obtain a third fitting curve.

[0023] Optionally, the step of detecting the toe-in of the vehicle to be detected at the current moment according to the fitting curve specifically includes:

[0024] Detecting the deviation risk of the vehicle to be detected at the current moment according to the first fitting curve and the second fitting curve;

[0025] Detecting the abnormal toe-in condition of the vehicle to be detected at the current moment according to the third fitting curve.

[0026] Optionally, the step of detecting the deviation risk of the vehicle to be detected at the current moment according to the first fitting curve and the second fitting curve specifically includes:

[0027] Obtaining the current load corresponding to the vehicle to be detected;

[0028] Determining the current left toe-in corresponding to the vehicle to be detected according to the current load and the first fitting curve;

[0029] Determining the current right toe-in corresponding to the vehicle to be detected according to the current load and the second fitting curve;

[0030] Detecting the deviation risk of the vehicle to be detected at the current moment according to the current left toe-in and the current right toe-in.

[0031] Optionally, the step of detecting the abnormal toe-in condition of the vehicle to be detected at the current moment according to the third fitting curve specifically includes:

[0032] Determining the current total toe-in corresponding to the vehicle to be detected according to the current load and the third fitting curve;

[0033] Determining the current load condition corresponding to the vehicle to be detected according to the current load;

[0034] Detecting the abnormal toe-in condition of the vehicle to be detected at the current moment according to the current load condition and the current total toe-in.

[0035] In addition, to achieve the above object, the present invention also provides an automobile toe-in detection device, and the automobile toe-in detection device includes:

[0036] A toe-in acquisition module, configured to detect the toe-in of a vehicle to be detected under a target load through a vehicle four-wheel alignment detection device, and obtain a target toe-in corresponding to the target load;

[0037] A curve fitting module, configured to fit the target load and the target toe-in to obtain a fitting curve;

[0038] The toe-in detection module is used to detect the toe-in of the vehicle to be detected at the current moment according to the fitting curve.

[0039] In addition, to achieve the above object, the present invention also provides an automobile toe-in detection device, which includes: a memory, a processor, and an automobile toe-in detection program stored on the memory and operable on the processor. The automobile toe-in detection program is configured to implement the steps of the automobile toe-in detection method as described above.

[0040] In addition, to achieve the above object, the present invention also provides a storage medium, on which an automobile toe-in detection program is stored. When the automobile toe-in detection program is executed by a processor, it implements the steps of the automobile toe-in detection method as described above.

[0041] The present invention detects the toe-in of the vehicle to be detected under the target load through a vehicle four-wheel alignment detection device, obtains the target toe-in corresponding to the target load, then fits the target load and the target toe-in to obtain a fitting curve, and then detects the toe-in of the vehicle to be detected at the current moment according to the fitting curve. By fitting the target load and the target toe-in and then detecting the toe-in of the vehicle to be detected at the current moment according to the fitting curve, compared with the existing method of measuring the toe-in of a vehicle through an optical positioning device when the vehicle is static, the above method of the present invention can dynamically detect the toe-in of the vehicle according to the fitting curve between the load and the toe-in during the vehicle operation, and can improve the detection efficiency of the automobile toe-in. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a schematic structural diagram of an automobile toe-in detection device in the hardware operating environment related to the embodiment solution of the present invention;

[0043] Figure 2 is a schematic flowchart of the first embodiment of the automobile toe-in detection method of the present invention;

[0044] Figure 3 is a schematic flowchart of the second embodiment of the automobile toe-in detection method of the present invention;

[0045] Figure 4 is a schematic flowchart of the third embodiment of the automobile toe-in detection method of the present invention;

[0046] Figure 5 is a schematic diagram of the third fitting curve of an embodiment of the automobile toe-in detection method of the present invention;

[0047] Figure 6 is a block diagram of the structure of the first embodiment of the automobile toe-in detection device of the present invention.

[0048] The realization, functional features, and advantages of the present invention will be further described in conjunction with embodiments with reference to the accompanying drawings. Detailed implementation manners

[0049] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0050] Refer to Figure 1 , Figure 1 which is a schematic structural diagram of a front-wheel alignment detection device for the hardware operating environment involved in the embodiment solution of the present invention.

[0051] As Figure 1 shown, the front-wheel alignment detection device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless-fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0052] Those skilled in the art can understand that Figure 1 the structure shown in

[0053] As Figure 1 shown, in the memory 1005 as a storage medium, there may be included an operating system, a network communication module, a user interface module, and a front-wheel alignment detection program.

[0054] In Figure 1In the shown front-end alignment detection device of an automobile, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the front-end alignment detection device of the present invention can be arranged in the front-end alignment detection device of the automobile. The front-end alignment detection device of the automobile calls the front-end alignment detection program stored in the memory 1005 through the processor 1001 and executes the front-end alignment detection method provided by the embodiments of the present invention.

[0055] Based on the above front-end alignment detection device of an automobile, the embodiments of the present invention provide a front-end alignment detection method, referring to Figure 2 , Figure 2 which is a schematic flowchart of the first embodiment of the front-end alignment detection method of the present invention.

[0056] In this embodiment, the front-end alignment detection method includes the following steps:

[0057] Step S10: Detect the front-end alignment of a vehicle to be detected under a target load through a vehicle four-wheel alignment detection device, and obtain a target front-end alignment corresponding to the target load;

[0058] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, etc., or an electronic device or a front-end alignment detection device of an automobile that can implement the above functions. Hereinafter, the front-end alignment detection device of the automobile will be taken as an example to illustrate this embodiment and the following embodiments.

[0059] It can be understood that the vehicle to be detected refers to a vehicle that needs to be detected for front-end alignment. The vehicle four-wheel alignment detection device refers to a device that can perform four-wheel alignment of a vehicle. In this embodiment, an optical positioning sensor in a 3D image detection device can be selected to respectively position the positions of the four wheels of the vehicle, so as to obtain the front-end distance and the rear-end distance of the two front wheels of the vehicle, and further obtain the front-wheel front-end alignment of the vehicle according to the distance difference between the front-end distance and the rear-end distance. The rear-wheel front-end alignment of the vehicle refers to the distance difference between the front-end distance and the rear-end distance of the two rear wheels of the vehicle.

[0060] In a specific implementation, the target load can be multiple loads corresponding to the vehicle to be detected set in advance, and then the target front-end alignment corresponding to the target load is obtained through the optical positioning sensor. The target front-end alignment can be the target front-wheel front-end alignment or the target rear-wheel front-end alignment. This embodiment does not make specific limitations on this.

[0061] Step S20: Fit the target load and the target front-end alignment to obtain a fitting curve;

[0062] It is understandable that fitting is to connect a series of points on a plane with a smooth curve. In this embodiment, the target load and the target toe-in can be fitted. The target toe-in can be the target front wheel toe-in or the target rear wheel toe-in. This embodiment does not make specific limitations on this.

[0063] Step S30: Detect the toe-in of the vehicle to be detected at the current moment according to the fitting curve.

[0064] It is understandable that in this embodiment, the toe-in of the vehicle to be detected at the current moment can be detected according to the fitting curve. The specific detection method can be to obtain the load of the vehicle to be detected at the current moment and then substitute the load into the fitting curve to obtain the toe-in of the vehicle to be detected at the current moment.

[0065] In this embodiment, the toe-in of the vehicle to be detected under the target load is detected by a vehicle four-wheel alignment detection device to obtain the target toe-in corresponding to the target load. Then, the target load and the target toe-in are fitted to obtain a fitting curve, and then the toe-in of the vehicle to be detected at the current moment is detected according to the fitting curve. By fitting the target load and the target toe-in and then detecting the toe-in of the vehicle to be detected at the current moment according to the fitting curve, compared with the existing method of measuring the vehicle toe-in by an optical positioning device when the vehicle is static, the above method in this embodiment can dynamically detect the vehicle toe-in according to the fitting curve between the load and the toe-in during the vehicle operation process, and can improve the detection efficiency of the vehicle toe-in.

[0066] Reference Figure 3 , Figure 3 is a schematic flowchart of the second embodiment of the vehicle toe-in detection method of the present invention.

[0067] Based on the above first embodiment, in this embodiment, the step S10 includes:

[0068] Step S101: Obtain the target loads corresponding to the vehicle to be detected under different load conditions. The load conditions include: no-load condition, standard-load condition, and heavy-load condition. The target loads include: no-load load, standard-load load, and heavy-load load;

[0069] It is understandable that the load conditions of this embodiment may include: no-load condition, standard-load condition, and heavy-load condition. The no-load condition refers to the condition where there is no load or little load on the vehicle to be detected. For the no-load load corresponding to the no-load condition, it can be set to 4500 kg, 4600 kg, 4700 kg, etc.; the standard-load condition refers to the condition where the load on the vehicle to be detected meets the standard. For the standard-load load corresponding to the standard-load condition, it can be set to 5500 kg, 5600 kg, 5700 kg, etc.; the heavy-load condition refers to the condition where the load on the vehicle to be detected is overweight. For the heavy-load load corresponding to the heavy-load condition, it can be set to 7000 kg, 7100 kg, 7200 kg, etc. The values of the no-load load, standard-load load, and heavy-load load are not specifically limited in this embodiment.

[0070] In a specific implementation, the target load of the vehicle to be detected under different load conditions can be obtained, that is, the no-load load of the vehicle to be detected under the no-load condition, the standard-load load under the standard-load condition, and the heavy-load load under the heavy-load condition. The values of the no-load load, standard-load load, and heavy-load load can be set according to the actual situation.

[0071] Step S102: Use a vehicle four-wheel alignment detection device to respectively detect the toe-in of the vehicle to be detected under the no-load load, the standard-load load, and the heavy-load load, and obtain the target toe-in. The target toe-in includes: no-load toe-in, standard-load toe-in, and heavy-load toe-in.

[0072] It should be understood that the vehicle four-wheel alignment detection device can be used to detect the toe-in of the vehicle to be detected under the no-load load to obtain the no-load toe-in. The no-load toe-in can be the front-wheel toe-in or the rear-wheel toe-in under the no-load load; the vehicle four-wheel alignment detection device can also be used to detect the toe-in of the vehicle to be detected under the standard-load load to obtain the standard-load toe-in. The standard-load toe-in can be the front-wheel toe-in or the rear-wheel toe-in under the standard-load load; the vehicle four-wheel alignment detection device can also be used to detect the toe-in of the vehicle to be detected under the heavy-load load to obtain the heavy-load toe-in. The heavy-load toe-in can be the front-wheel toe-in or the rear-wheel toe-in under the heavy-load load.

[0073] Furthermore, in order to accurately determine the no-load toe-in, standard-load toe-in, and heavy-load toe-in, in this embodiment, step S102 includes: using a vehicle four-wheel alignment detection device to respectively detect the left toe-in and right toe-in of the vehicle to be detected under the no-load load, and obtain the no-load toe-in. The no-load toe-in includes: no-load left toe-in and no-load right toe-in;

[0074] It is understandable that in this embodiment, the vehicle four-wheel alignment detection device can also be used to separately detect the left front toe and the right front toe of the vehicle to be detected under no-load conditions, so as to obtain the no-load front toe. The no-load front toe can include the no-load left front toe and the no-load right front toe. The front toe refers to the distance between the front end and the rear end of the left wheel in the horizontal direction. The left wheel can be the left front wheel or the left rear wheel. The no-load left front toe refers to the front toe of the left wheel under no-load conditions, and can include the front toe of the left front wheel and the front toe of the left rear wheel. Similarly, the no-load right front toe refers to the front toe of the right wheel under no-load conditions, and can include the front toe of the right front wheel and the front toe of the right rear wheel.

[0075] The vehicle four-wheel alignment detection device is used to separately detect the left front toe and the right front toe of the vehicle to be detected under the standard load conditions, so as to obtain the standard load front toe. The standard load front toe includes: the standard load left front toe and the standard load right front toe;

[0076] It should be understood that in this embodiment, the vehicle four-wheel alignment detection device can also be used to separately detect the left front toe and the right front toe of the vehicle to be detected under the standard load conditions, so as to obtain the standard load front toe. The standard load front toe can include the standard load left front toe and the standard load right front toe. The front toe refers to the distance between the front end and the rear end of the left wheel in the horizontal direction. The left wheel can be the left front wheel or the left rear wheel. The standard load left front toe refers to the front toe of the left wheel under the standard load conditions, and can include the front toe of the left front wheel and the front toe of the left rear wheel. Similarly, the standard load right front toe refers to the front toe of the right wheel under the standard load conditions, and can include the front toe of the right front wheel and the front toe of the right rear wheel.

[0077] The vehicle four-wheel alignment detection device is used to separately detect the left front toe and the right front toe of the vehicle to be detected under the heavy load conditions, so as to obtain the heavy load front toe. The heavy load front toe includes: the heavy load left front toe and the heavy load right front toe.

[0078] In a specific implementation, in this embodiment, the vehicle four-wheel alignment detection device can also be used to separately detect the left front toe and the right front toe of the vehicle to be detected under the heavy load conditions, so as to obtain the heavy load front toe. The heavy load front toe can include the heavy load left front toe and the heavy load right front toe. The front toe refers to the distance between the front end and the rear end of the left wheel in the horizontal direction. The left wheel can be the left front wheel or the left rear wheel. The heavy load left front toe refers to the front toe of the left wheel under the heavy load conditions, and can include the front toe of the left front wheel and the front toe of the left rear wheel. Similarly, the heavy load right front toe refers to the front toe of the right wheel under the heavy load conditions, and can include the front toe of the right front wheel and the front toe of the right rear wheel.

[0079] In this embodiment, the target loads corresponding to the vehicle to be detected under different load conditions are obtained. The load conditions include: no-load condition, standard-load condition, and heavy-load condition. The target loads include: no-load load, standard-load load, and heavy-load load. Then, the vehicle four-wheel alignment detection device is used to detect the toe-in of the vehicle to be detected under the no-load load, standard-load load, and heavy-load load respectively, and the target toe-in is obtained. The target toe-in includes: no-load toe-in, standard-load toe-in, and heavy-load toe-in. By obtaining the target loads corresponding to the vehicle to be detected under different load conditions in this embodiment, the corresponding load magnitudes can be obtained for each load condition, so that the target toe-in under various load conditions can be accurately obtained, making the subsequent fitted curve more accurate.

[0080] Reference Figure 4 , Figure 4 is a schematic flowchart of the third embodiment of the vehicle toe-in detection method of the present invention.

[0081] Based on the above embodiments, in this embodiment, the step S20 includes: obtaining the target left toe-in in the target toe-in, where the target left toe-in includes: the no-load left toe-in, the standard-load left toe-in, and the heavy-load left toe-in; fitting the no-load load, the standard-load load, and the heavy-load load with the no-load left toe-in, the standard-load left toe-in, and the heavy-load left toe-in to obtain a first fitted curve; obtaining the target right toe-in in the target toe-in, where the target right toe-in includes: the no-load right toe-in, the standard-load right toe-in, and the heavy-load right toe-in; fitting the no-load load, the standard-load load, and the heavy-load load with the no-load right toe-in, the standard-load right toe-in, and the heavy-load right toe-in to obtain a second fitted curve; fitting the no-load load, the standard-load load, and the heavy-load load with the no-load toe-in, the standard-load toe-in, and the heavy-load toe-in to obtain a third fitted curve.

[0082] It can be understood that the no-load load may include the no-load left load and the no-load right load, the standard-load load may also include the standard-load left load and the standard-load right load, and the heavy-load load may also include the heavy-load left load and the heavy-load right load.

[0083] It should be understood that the target left front toe may include an unloaded left front toe, a standard-loaded left front toe and a heavy-loaded left front toe. The unloaded left side load corresponds to the unloaded left front toe, the standard-loaded left side load corresponds to the standard-loaded left front toe, and the heavy-loaded left side load corresponds to the heavy-loaded left front toe. Then, all acquired unloaded left side loads, standard-loaded left side loads and heavy-loaded left side loads can be fitted with the unloaded left front toe, the standard-loaded left front toe and the heavy-loaded left front toe to obtain a first fitting curve. The first fitting curve can be a curve with the load as the horizontal coordinate and the left front toe as the vertical coordinate. Since the trapezoidal mechanism of the integral steering axle in the vehicle to be tested is a rigid connection, the first fitting curve in this embodiment can be in a linear relationship. The specific fitting method can refer to the prior art, and this embodiment will not elaborate on this.

[0084] In this embodiment, the target right front toe may include an unloaded right front toe, a standard load right front toe and a heavy load right front toe. The unloaded right side load corresponds to the unloaded right front toe, the standard load right side load corresponds to the standard load right front toe, and the heavy load right side load corresponds to the heavy load right front toe. Then, all acquired unloaded right side loads, standard load right side loads and heavy load right side loads can be fitted with the unloaded right front toe, the standard load right front toe and the heavy load right front toe to obtain a second fitting curve. The second fitting curve can be a curve with the load as the horizontal coordinate and the right front toe as the vertical coordinate. Since the trapezoidal mechanism of the integral steering axle in the vehicle to be tested is a rigid connection, the second fitting curve in this embodiment can be linear. The specific fitting method can refer to the prior art, and this embodiment will not elaborate on this.

[0085] In a specific implementation, this embodiment can also fit all the acquired no-load loads, standard loads and heavy loads with the no-load toe-in, standard load toe-in and heavy load to obtain a third fitting curve. Since the trapezoidal structure of the integral steering axle in the vehicle to be tested is a rigid connection, the third fitting curve in this embodiment can be a linear relationship. The specific fitting method can refer to the existing technology, and this embodiment will not elaborate on this. Figure 5 , Figure 5 Schematic diagram of the third fitting curve of an embodiment of the vehicle toe-in detection method of the present invention, as shown in FIG. Figure 5 As shown, the third fitting curve is a dotted line, and the curves formed by all no-load loads, rated loads and heavy loads and no-load toe-in, rated load toe-in and heavy load toe-in are realized, that is, actual curves, the horizontal axis is load, the vertical axis is toe-in, the rated load can be the load of the vehicle under the standard load condition, the design toe-in can be the toe-in of the vehicle under the standard load condition, the toe-in area is the area where the toe-in is larger than the design toe-in, and the toe-in area is the area where the toe-in is smaller than the design toe-in.

[0086] The step S30 comprises:

[0087] Step S301: Detect the deviation risk of the vehicle to be detected at the current moment according to the first fitting curve and the second fitting curve;

[0088] It can be understood that the deviation risk refers to the situation where the vehicle to be detected may deviate at the current moment, that is, the risk that the vehicle to be detected does not run according to the direction of the driver's steering wheel. In this embodiment, the deviation risk of the vehicle to be detected can be detected according to the first fitting curve and the second fitting curve.

[0089] Further, in order to detect the deviation risk of the vehicle to be detected at the current moment, in this embodiment, the step S301 includes: obtaining the current load corresponding to the vehicle to be detected; determining the current left front toe corresponding to the vehicle to be detected according to the current load and the first fitting curve; determining the current right front toe corresponding to the vehicle to be detected according to the current load and the second fitting curve; detecting the deviation risk of the vehicle to be detected at the current moment according to the current left front toe and the current right front toe.

[0090] It should be understood that after obtaining the current load corresponding to the vehicle to be detected, the current load can be brought into the first fitting curve to obtain the current left front toe, and the current load can also be brought into the second fitting curve to obtain the current right front toe.

[0091] In a specific implementation, the deviation risk of the vehicle to be detected at the current moment can be detected according to the current left front toe and the current right front toe. In this embodiment, it can be set that 2(S_left - S_right) / (S_left + S_right) ≥ 0.5, or it can also be set to be greater than or equal to 0.6. This embodiment does not make specific limitations on the specific value. When the above conditions are met, it can be determined that the vehicle to be detected may have a deviation risk at the current moment, and at this time, a prompt needs to be given to the driver in time so that the driver can respond in time.

[0092] Step S302: Detect the abnormal front toe situation of the vehicle to be detected at the current moment according to the third fitting curve.

[0093] It can be understood that in this embodiment, the abnormal front toe situation of the vehicle to be detected at the current moment can be detected according to the third fitting curve. The abnormal front toe situation may include the situation of too large front toe or too small front toe.

[0094] Further, in this embodiment, the step S302 includes: determining the current total front toe corresponding to the vehicle to be detected according to the current load and the third fitting curve; determining the current load condition corresponding to the vehicle to be detected according to the current load; detecting the abnormal front toe situation of the vehicle to be detected at the current moment according to the current load condition and the current total front toe.

[0095] It is understandable that after obtaining the current load corresponding to the vehicle to be detected, the current load can be brought into the third fitting curve to obtain the current total toe-in.

[0096] It should be understood that the current load condition can also include the no-load condition, the standard-load condition, and the heavy-load condition. The load ranges corresponding to each condition are different. Therefore, the current load condition corresponding to the vehicle to be detected can be determined according to the current load. For example: In this embodiment, the rated load can be set, that is, the front axle load of the vehicle in the designed standard-load state. The no-load condition can set the load between 0.4 and 0.7 times the rated load. The standard-load condition can set the load between 0.7 and 1.4 times the rated load. The heavy-load condition can set the load greater than 1.4 times the rated load. It can also be set to other ranges. This embodiment does not make specific limitations on this.

[0097] In specific implementation, the toe-in abnormality of the vehicle to be detected at the current moment can be detected according to the current load condition and the current total toe-in. For example: In the no-load condition, when the current total toe-in is greater than the designed toe-in and less than the designed toe-in plus 2 millimeters, it is determined that the toe-in at the current moment is normal. When the current total toe-in is greater than or equal to the designed toe-in plus 2 millimeters, it is determined that the toe-in at the current moment is too large. When the current total toe-in is less than or equal to the designed toe-in, it is determined that the toe-in at the current moment is too small. In the standard-load condition, when the current total toe-in is greater than or equal to the designed toe-in minus 2 millimeters and less than or equal to the designed toe-in plus 2 millimeters, it is determined that the toe-in at the current moment is normal. When the current total toe-in is greater than the designed toe-in plus 2 millimeters, it is determined that the toe-in at the current moment is too large. When the current total toe-in is less than the designed toe-in minus 2 millimeters, it is determined that the toe-in at the current moment is too small. In the heavy-load condition, when the current total toe-in is greater than the designed toe-in minus 2 millimeters and less than the designed toe-in, it is determined that the toe-in at the current moment is normal. When the current total toe-in is greater than or equal to the designed toe-in, it is determined that the toe-in at the current moment is too large. When the current total toe-in is less than or equal to the designed toe-in minus 2 millimeters, it is determined that the toe-in at the current moment is too small. In addition to 2 millimeters, this embodiment can also be set to other values. For example: 3 millimeters in the no-load condition, 2.5 millimeters in the standard-load condition, 3.5 millimeters in the heavy-load condition, etc. This embodiment does not make specific limitations on this.

[0098] In this embodiment, the deviation risk of the vehicle to be detected at the current moment is detected according to the first fitting curve and the second fitting curve, and then the toe-in abnormality of the vehicle to be detected at the current moment is detected according to the third fitting curve. According to the first fitting curve and the second fitting curve in this embodiment, the left toe-in and the right toe-in of the vehicle to be detected at the current moment can be obtained, and then the deviation risk of the vehicle to be detected at the current moment is detected according to the left toe-in and the right toe-in. The total toe-in of the vehicle to be detected at the current moment can also be obtained according to the third fitting curve, and then the toe-in abnormality of the vehicle to be detected at the current moment is detected according to the total toe-in, so that the detection result can be obtained more accurately and processed in time.

[0099] Referring to Figure 6 , Figure 6 is the structural block diagram of the first embodiment of the vehicle toe-in detection device of the present invention.

[0100] As Figure 6 shown, the vehicle toe-in detection device proposed in the embodiment of the present invention includes:

[0101] A toe-in acquisition module 10, configured to detect the toe-in of the vehicle to be detected under a target load through a vehicle four-wheel alignment detection device, and obtain the target toe-in corresponding to the target load;

[0102] A curve fitting module 20, configured to fit the target load and the target toe-in to obtain a fitting curve;

[0103] A toe-in detection module 30, configured to detect the toe-in of the vehicle to be detected at the current moment according to the fitting curve.

[0104] In this embodiment, the toe-in of the vehicle to be detected under the target load is detected through a vehicle four-wheel alignment detection device to obtain the target toe-in corresponding to the target load, and then the target load and the target toe-in are fitted to obtain a fitting curve, and then the toe-in of the vehicle to be detected at the current moment is detected according to the fitting curve. In this embodiment, by fitting the target load and the target toe-in and then detecting the toe-in of the vehicle to be detected at the current moment according to the fitting curve, compared with the existing method of measuring the vehicle toe-in by an optical positioning device when the vehicle is static, the above method in this embodiment can dynamically detect the vehicle toe-in according to the fitting curve between the load and the toe-in during the vehicle operation, and can improve the detection efficiency of the vehicle toe-in.

[0105] It should be noted that the above-described work process is only illustrative and does not limit the protection scope of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and no limitation is made here.

[0106] In addition, for the technical details not described in detail in this embodiment, reference may be made to the vehicle toe detection method provided in any embodiment of the present invention, which will not be elaborated here.

[0107] Based on the first embodiment of the vehicle toe detection device of the present invention described above, a second embodiment of the vehicle toe detection device of the present invention is proposed.

[0108] In this embodiment, the toe acquisition module 10 is further configured to acquire the target load corresponding to the vehicle to be detected under different load conditions, where the load conditions include: no-load condition, standard-load condition, and heavy-load condition, and the target load includes: no-load load, standard-load load, and heavy-load load; the vehicle four-wheel alignment detection device is used to detect the toe of the vehicle to be detected under the no-load load, the standard-load load, and the heavy-load load respectively, and obtain the target toe, where the target toe includes: no-load toe, standard-load toe, and heavy-load toe.

[0109] Further, the toe acquisition module 10 is further configured to use the vehicle four-wheel alignment detection device to detect the left toe and the right toe of the vehicle to be detected under the no-load load respectively, and obtain the no-load toe, where the no-load toe includes: no-load left toe and no-load right toe; use the vehicle four-wheel alignment detection device to detect the left toe and the right toe of the vehicle to be detected under the standard-load load respectively, and obtain the standard-load toe, where the standard-load toe includes: standard-load left toe and standard-load right toe; use the vehicle four-wheel alignment detection device to detect the left toe and the right toe of the vehicle to be detected under the heavy-load load respectively, and obtain the heavy-load toe, where the heavy-load toe includes: heavy-load left toe and heavy-load right toe.

[0110] Further, the fitting curve includes: a first fitting curve, a second fitting curve, and a third fitting curve; the curve fitting module 20 is further configured to acquire the target left toe in the target toe, where the target left toe includes: the no-load left toe, the standard-load left toe, and the heavy-load left toe; fit the no-load load, the standard-load load, and the heavy-load load with the no-load left toe, the standard-load left toe, and the heavy-load left toe to obtain the first fitting curve; acquire the target right toe in the target toe, where the target right toe includes: the no-load right toe, the standard-load right toe, and the heavy-load right toe; fit the no-load load, the standard-load load, and the heavy-load load with the no-load right toe, the standard-load right toe, and the heavy-load right toe to obtain the second fitting curve; fit the no-load load, the standard-load load, and the heavy-load load with the no-load toe, the standard-load toe, and the heavy-load toe to obtain the third fitting curve.

[0111] Further, the toe detection module 30 is further configured to detect the deviation risk of the vehicle to be detected at the current moment according to the first fitting curve and the second fitting curve; and detect the abnormal toe situation of the vehicle to be detected at the current moment according to the third fitting curve.

[0112] Further, the toe detection module 30 is further configured to obtain the current load corresponding to the vehicle to be detected; determine the current left toe of the vehicle to be detected according to the current load and the first fitting curve; determine the current right toe of the vehicle to be detected according to the current load and the second fitting curve; and detect the deviation risk of the vehicle to be detected at the current moment according to the current left toe and the current right toe.

[0113] Further, the toe detection module 30 is further configured to determine the current total toe of the vehicle to be detected according to the current load and the third fitting curve; determine the current load condition corresponding to the vehicle to be detected according to the current load; and detect the abnormal toe situation of the vehicle to be detected at the current moment according to the current load condition and the current total toe.

[0114] Other embodiments or specific implementation manners of the vehicle toe detection device of the present invention may refer to the above method embodiments, and will not be elaborated herein.

[0115] In addition, an embodiment of the present invention further provides a storage medium, on which a vehicle toe detection program is stored. When the vehicle toe detection program is executed by a processor, the steps of the vehicle toe detection method as described above are implemented.

[0116] It should be noted that, in this article, the terms "include", "comprise" or any other variant thereof are intended to cover a non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the phrase "including a..." does not exclude the existence of additional identical elements in the process, method, article or system including the element.

[0117] The serial numbers of the embodiments of the present invention above are only for description and do not represent the merits of the embodiments.

[0118] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory / random access memory, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0119] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A method for detecting the toe-in of an automobile, characterized in that, The method for detecting the toe-in of an automobile includes the following steps: Detect the toe-in of the vehicle to be detected under the target load through a vehicle four-wheel alignment detection device, and obtain the target toe-in corresponding to the target load. The target load includes: no-load load, standard-load load, and heavy-load load. The target toe-in includes: no-load toe-in, standard-load toe-in, and heavy-load toe-in. The toe-in includes left toe-in and right toe-in; Fit the no-load load, the standard-load load, and the heavy-load load with the no-load left toe-in, the standard-load left toe-in, and the heavy-load left toe-in to obtain a first fitting curve; Fit the no-load load, the standard-load load, and the heavy-load load with the no-load right toe-in, the standard-load right toe-in, and the heavy-load right toe-in to obtain a second fitting curve; Fit the no-load load, the standard-load load, and the heavy-load load with the no-load toe-in, the standard-load toe-in, and the heavy-load toe-in to obtain a third fitting curve; Detect the deviation risk of the vehicle to be detected at the current moment according to the first fitting curve and the second fitting curve; Detect the abnormal toe-in condition of the vehicle to be detected at the current moment according to the third fitting curve.

2. The front-wheel alignment detection method for an automobile according to claim 1, wherein The step of detecting the deviation risk of the vehicle to be detected at the current moment according to the first fitting curve and the second fitting curve specifically includes: Obtain the current load corresponding to the vehicle to be detected; Determine the current left toe-in corresponding to the vehicle to be detected according to the current load and the first fitting curve; Determine the current right toe-in corresponding to the vehicle to be detected according to the current load and the second fitting curve; Detect the deviation risk of the vehicle to be detected at the current moment according to the current left toe-in and the current right toe-in.

3. The vehicle toe-in detection method according to claim 2, characterized in that, The step of detecting the abnormal toe-in condition of the vehicle to be detected at the current moment according to the third fitting curve specifically includes: Determine the current total toe-in corresponding to the vehicle to be detected according to the current load and the third fitting curve; Determine the current load condition corresponding to the vehicle to be detected according to the current load; Detect the abnormal toe-in condition of the vehicle to be detected at the current moment according to the current load condition and the current total toe-in.

4. A front wheel alignment detection device for an automobile, characterized in that, The automobile toe-in detection device includes: A toe-in acquisition module for detecting the toe-in of the vehicle to be detected under the target load through a vehicle four-wheel alignment detection device, and obtaining the target toe-in corresponding to the target load. The target load includes: no-load load, standard-load load, and heavy-load load. The target toe-in includes: no-load toe-in, standard-load toe-in, and heavy-load toe-in. The toe-in includes left toe-in and right toe-in; A curve fitting module, configured to fit the no-load load, the standard load, and the heavy-load with the no-load left toe-in, the standard-load left toe-in, and the heavy-load left toe-in to obtain a first fitting curve; fit the no-load load, the standard load, and the heavy-load with the no-load right toe-in, the standard-load right toe-in, and the heavy-load right toe-in to obtain a second fitting curve; fit the no-load load, the standard load, and the heavy-load with the no-load toe-in, the standard-load toe-in, and the heavy-load toe-in to obtain a third fitting curve; A toe-in detection module, configured to detect the deviation risk of the vehicle to be detected at the current moment according to the first fitting curve and the second fitting curve; detect the abnormal toe-in condition of the vehicle to be detected at the current moment according to the third fitting curve.

5. An automobile toe-in detection device, characterized in that, The device includes: a memory, a processor, and an automobile toe-in detection program stored on the memory and executable on the processor, and the automobile toe-in detection program is configured to implement the steps of the automobile toe-in detection method according to any one of claims 1 to 3.

6. A storage medium, characterized in that, An automobile toe-in detection program is stored on the storage medium, and when the automobile toe-in detection program is executed by the processor, the steps of the automobile toe-in detection method according to any one of claims 1 to 3 are implemented.

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