Methods, devices, vehicles, and storage media for calculating vehicle turn signals

Abstract

This application relates to the field of intelligent driving technology, and particularly to a method, device, vehicle, and storage medium for calculating vehicle steering angle signals. The method includes: receiving a first steering angle signal collected by a steering angle sensor; receiving a rack travel signal collected by a rack travel sensor and converting the rack travel signal into a second steering angle signal; determining a target steering angle signal for the vehicle based on the first and / or second steering angle signals, and then controlling the vehicle's steering angle according to the target steering angle signal. This solves the problem that when a steering angle sensor malfunctions, it is impossible to promptly remedy the situation using steering angle control methods related to its function, thus posing a significant safety risk to the vehicle and the user. By installing a rack travel sensor on the vehicle's steering gear housing to obtain the steering angle signal, the method achieves dual redundancy in steering angle signal control with the steering angle sensor, providing crucial protection for the user's safe driving.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a method, device, vehicle, and storage medium for calculating vehicle turning angle signals. Background Technology

[0002] In recent years, with the rapid development of vehicle intelligence, vehicle safety functions have received widespread attention. Therefore, while ensuring vehicle safety levels, improving intelligent driving control strategies and dual-redundancy control strategies has become a primary research and development task. For the vehicle control system, the steering angle signal is a crucial output signal, directly determining the vehicle control system's judgment of the yaw angle and the vehicle's impending driving state. Therefore, the accuracy and safety of the steering angle signal are essential elements of overall vehicle safety.

[0003] In related technologies, the steering angle signal is acquired and output by a steering angle sensor on the steering column.

[0004] However, this method cannot meet the requirement of dual redundancy of the corner signal. If the corner sensor fails, there is no equivalent method to remedy the situation in time, and the vehicle will face huge safety risks, which urgently needs to be addressed. Summary of the Invention

[0005] This application provides a method, apparatus, vehicle, and storage medium for calculating vehicle cornering signals, in order to solve the problem that when a cornering sensor malfunctions, it is impossible to make timely corrections through cornering control methods related to its function, thereby exposing the vehicle and user to huge safety risks.

[0006] The first aspect of this application provides a method for calculating a vehicle steering angle signal, wherein a rack and pinion travel sensor is installed on the steering gear housing of the vehicle, and the method includes the following steps:

[0007] Receive the first rotation angle signal collected by the rotation angle sensor;

[0008] Receives the rack travel signal acquired by the rack travel sensor and converts the rack travel signal into a second rotation angle signal; and

[0009] A target turning angle signal for the vehicle is determined based on the first turning angle signal and / or the second turning angle signal, so as to perform turning angle control on the vehicle based on the target turning angle signal.

[0010] According to one embodiment of this application, determining the target turning angle signal of the vehicle based on the first turning angle signal and / or the second turning angle signal includes:

[0011] Obtain the first difference between the first angle signal and the preset calibrated angle signal;

[0012] Obtain the second difference between the second angle signal and the preset calibrated angle signal;

[0013] If both the first difference and the second difference are less than or equal to a preset threshold, the target corner signal is obtained based on the average of the first corner signal and the second corner signal or the preset calibrated corner signal.

[0014] According to one embodiment of this application, the above-mentioned method for calculating vehicle turning angle signals further includes:

[0015] If the first difference is greater than the preset threshold and the second difference is less than or equal to the preset threshold, then the second corner signal is taken as the target corner signal.

[0016] If the second difference is greater than the preset threshold and the first difference is less than or equal to the preset threshold, then the first corner signal is taken as the target corner signal.

[0017] According to one embodiment of this application, the above-mentioned method for calculating vehicle turning angle signals further includes:

[0018] If both the first difference and the second difference are greater than the preset threshold, a fault alert is generated;

[0019] The vehicle's in-vehicle display terminal is controlled to display the fault alert, and / or the fault alert is sent to a preset mobile terminal.

[0020] According to one embodiment of this application, converting the rack stroke signal into a second rotation angle signal includes:

[0021] Based on a preset relationship between rack travel signal and rotation angle signal, the rack travel signal is converted into a second rotation angle signal.

[0022] According to the vehicle steering angle signal calculation method of this application embodiment, a first steering angle signal collected by a steering angle sensor and a rack travel signal collected by a rack travel sensor are received, and the rack travel signal is converted into a second steering angle signal. The target steering angle signal of the vehicle is determined based on the first and / or second steering angle signals, thereby controlling the vehicle's steering angle. This solves the problem that when a steering angle sensor malfunctions, it is impossible to promptly remedy the situation using steering angle control methods related to its function, thus posing a significant safety risk to the vehicle and the user. By installing a rack travel sensor on the vehicle steering gear housing to obtain the steering angle signal, the requirement of dual redundancy for steering angle signal control is achieved together with the steering angle sensor, providing an important guarantee for the user's safe driving.

[0023] A second aspect of this application provides a device for calculating vehicle steering angle signals, wherein a rack and pinion travel sensor is mounted on the steering gear housing of the vehicle, comprising:

[0024] The first receiving module is used to receive the first angle signal collected by the angle sensor;

[0025] The second receiving module is used to receive the rack travel signal collected by the rack travel sensor and convert the rack travel signal into a second rotation angle signal; and

[0026] The control module is configured to determine a target turning angle signal for the vehicle based on the first turning angle signal and / or the second turning angle signal, so as to perform turning angle control on the vehicle based on the target turning angle signal.

[0027] According to one embodiment of this application, the control module is specifically used for:

[0028] Obtain the first difference between the first angle signal and the preset calibrated angle signal;

[0029] Obtain the second difference between the second angle signal and the preset calibrated angle signal;

[0030] If both the first difference and the second difference are less than or equal to a preset threshold, the target corner signal is obtained based on the average of the first corner signal and the second corner signal or the preset calibrated corner signal.

[0031] According to one embodiment of this application, the above-described vehicle turning angle signal calculation device is further used for:

[0032] If the first difference is greater than the preset threshold and the second difference is less than or equal to the preset threshold, then the second corner signal is taken as the target corner signal.

[0033] If the second difference is greater than the preset threshold and the first difference is less than or equal to the preset threshold, then the first corner signal is taken as the target corner signal.

[0034] According to one embodiment of this application, the above-described vehicle turning angle signal calculation device is further used for:

[0035] If both the first difference and the second difference are greater than the preset threshold, a fault alert is generated;

[0036] The vehicle's in-vehicle display terminal is controlled to display the fault alert, and / or the fault alert is sent to a preset mobile terminal.

[0037] According to one embodiment of this application, the second receiving module is specifically used for:

[0038] Based on a preset relationship between rack travel signal and rotation angle signal, the rack travel signal is converted into a second rotation angle signal.

[0039] The vehicle steering angle signal calculation device according to an embodiment of this application receives a first steering angle signal collected by a steering angle sensor and a rack travel signal collected by a rack travel sensor, converts the rack travel signal into a second steering angle signal, determines the target steering angle signal of the vehicle based on the first steering angle signal and / or the second steering angle signal, and then performs steering angle control on the vehicle. This solves the problem that when a steering angle sensor malfunctions, it is impossible to promptly remedy the situation using steering angle control methods related to its function, thus posing a significant safety risk to the vehicle and the user. By installing a rack travel sensor on the vehicle steering gear housing to obtain the steering angle signal, the device achieves dual redundancy in steering angle signal control together with the steering angle sensor, providing an important guarantee for the user's safe driving.

[0040] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle turning angle signal calculation method as described in the above embodiments.

[0041] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the method for calculating vehicle turning angle signals as described in the above embodiments.

[0042] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0043] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0044] Figure 1 This is a flowchart illustrating a method for calculating vehicle turning angle signals according to an embodiment of this application;

[0045] Figure 2 This is a schematic diagram of a stroke sensor according to an embodiment of this application;

[0046] Figure 3 This is a schematic diagram showing the assembly position of the stroke sensor and the steering gear according to an embodiment of this application;

[0047] Figure 4 This is a signal input / output strategy diagram according to an embodiment of this application;

[0048] Figure 5A block diagram of a vehicle corner signal calculation device according to an embodiment of this application;

[0049] Figure 6 This is a structural schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0050] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0051] The following description, with reference to the accompanying drawings, outlines a method, apparatus, vehicle, and storage medium for calculating vehicle steering angle signals according to embodiments of this application. Addressing the problem mentioned in the background art where a steering angle sensor malfunctions, making timely remediation impossible through steering angle control methods related to its function, thus posing significant safety risks to the vehicle and user, this application provides a method for calculating vehicle steering angle signals. In this method, a first steering angle signal collected by a steering angle sensor and a rack travel signal collected by a rack travel sensor are received. The rack travel signal is converted into a second steering angle signal. The target steering angle signal of the vehicle is determined based on the first and / or second steering angle signals, thereby enabling steering angle control of the vehicle. This solves the problem of the inability to promptly remedy a steering angle sensor malfunction through steering angle control methods related to its function, thus posing significant safety risks to the vehicle and user. By installing a rack travel sensor on the vehicle steering gear housing to acquire the steering angle signal, dual redundancy is achieved in conjunction with the steering angle sensor to control the steering angle signal, providing crucial protection for the user's safe driving.

[0052] Specifically, Figure 1 This is a flowchart illustrating a method for calculating vehicle turning angle signals provided in an embodiment of this application.

[0053] like Figure 1 As shown, a rack and pinion travel sensor is installed on the steering gear housing of the vehicle. The method for calculating the vehicle's steering angle signal includes the following steps:

[0054] In step S101, the first angle signal collected by the angle sensor is received.

[0055] Specifically, in this embodiment, the steering angle signal, as an important output signal of the vehicle control system and also one of the key vehicle status signals, directly determines the vehicle control system's judgment of the vehicle's yaw angle and the vehicle's impending driving state, playing a crucial role in vehicle driving safety. Therefore, this embodiment requires the collection of relevant steering angle signals to achieve the purpose of safe vehicle steering.

[0056] Furthermore, in this embodiment, the first angle signal emitted by the angle sensor on the steering column is first collected and input to the vehicle control system; secondly, a signal processing module and algorithm model are added to the vehicle control system, and the first angle signal in the vehicle control system is processed by relevant calculations to output the signal calibration value obtained from the first angle signal.

[0057] In step S102, the rack stroke signal collected by the rack stroke sensor is received and converted into a second rotation angle signal.

[0058] Furthermore, in some embodiments, converting the rack travel signal into a second rotation angle signal includes: converting the rack travel signal into a second rotation angle signal based on a preset rack travel signal-rotation angle signal relationship.

[0059] The preset rack stroke signal-rotation angle signal relationship can be a relationship threshold set by those skilled in the art based on actual application, or it can be a relationship threshold obtained through multiple computer simulations, and no specific limitation is made here.

[0060] Specifically, such as Figure 2 and Figure 3 As shown, in order to achieve the dual redundancy design of the corner signal in this embodiment of the application and improve the accuracy and safety of the corner signal, this embodiment of the application first installs a rack travel sensor in the steering gear housing of the vehicle, and sends the output rack travel signal to the vehicle control system by measuring the rack travel; secondly, based on the preset rack travel signal-corner signal relationship, the rack travel signal is converted into a second corner signal by the signal processing module and algorithm model in the vehicle control system, thereby outputting the signal calibration value obtained from the second corner signal.

[0061] In step S103, a target steering angle signal for the vehicle is determined based on the first steering angle signal and / or the second steering angle signal, so as to perform steering angle control on the vehicle based on the target steering angle signal.

[0062] Further, in some embodiments, determining the target turning angle signal of the vehicle based on the first turning angle signal and / or the second turning angle signal includes: obtaining a first difference between the first turning angle signal and a preset calibration turning angle signal; obtaining a second difference between the second turning angle signal and the preset calibration turning angle signal; if both the first difference and the second difference are less than or equal to a preset threshold, then obtaining the target turning angle signal based on the average value of the first turning angle signal and the second turning angle signal or the preset calibration turning angle signal.

[0063] The preset calibration angle signal and preset threshold can be calibration signals and thresholds set by those skilled in the art according to actual applications, or they can be calibration signals and thresholds obtained through multiple computer simulations, and no specific limitation is made here.

[0064] Specifically, such as Figure 4 As shown in this embodiment, the difference between the obtained first angle signal and the preset calibration angle signal is calculated to obtain the first difference between the first angle signal and the preset calibration angle signal. Similarly, the difference between the obtained second angle signal and the preset calibration angle signal is calculated to obtain the first difference between the second angle signal and the preset calibration angle signal. If both the first difference and the second difference are less than or equal to a preset threshold, it indicates that both the angle sensor and the rack travel sensor are working normally. At this time, the target angle signal can be obtained based on the average value of the first angle signal and the second angle signal or the preset calibration angle signal, and then transmitted to the vehicle controller to control the vehicle's angle based on the target angle signal.

[0065] Furthermore, in some embodiments, the above-mentioned method for calculating the vehicle turning angle signal further includes: if the first difference is greater than a preset threshold and the second difference is less than or equal to the preset threshold, then the second turning angle signal is used as the target turning angle signal; if the second difference is greater than the preset threshold and the first difference is less than or equal to the preset threshold, then the first turning angle signal is used as the target turning angle signal.

[0066] Specifically, such as Figure 4 As shown in this embodiment, if the first difference between the calculated first angle signal and the preset calibration angle signal is greater than a preset threshold, and the second difference between the second angle signal and the preset calibration angle signal is less than or equal to the preset threshold, it indicates that the rack travel sensor is working normally, but the angle sensor is malfunctioning and cannot output a valid angle signal. Therefore, the second angle signal can be used as the target angle signal to control the vehicle's angle based on the second angle signal. If the second difference between the calculated second angle signal and the preset calibration angle signal is greater than a preset threshold, and the first difference between the first angle signal and the preset calibration angle signal is less than or equal to the preset threshold, it indicates that the angle sensor is working normally, but the rack travel sensor is malfunctioning and cannot output a valid angle signal. Therefore, the first angle signal can be used as the target angle signal to control the vehicle's angle based on the first angle signal.

[0067] Furthermore, in some embodiments, the above-mentioned method for calculating the vehicle turning angle signal further includes: generating a fault reminder if both the first difference and the second difference are greater than a preset threshold; controlling the vehicle's in-vehicle display terminal to display the fault reminder; and / or sending the fault reminder to a preset mobile terminal.

[0068] The preset mobile terminal can be a mobile terminal set by the user according to their usage habits, or a mobile terminal set by a person skilled in the art; no specific limitation is made here.

[0069] Specifically, in this embodiment, if the first difference between the first angle signal and the preset calibration angle signal and the second difference between the second angle signal and the preset calibration angle signal are both greater than a preset threshold, it indicates that both the angle sensor and the rack travel sensor are faulty and cannot output a valid angle signal. In this case, an angle signal fault reminder can be generated and sent to the vehicle display to show the fault reminder and / or sent to a preset mobile terminal, such as the user's mobile phone, to remind the user that the vehicle's angle signal is faulty and to drive safely.

[0070] According to the vehicle steering angle signal calculation method of this application embodiment, a first steering angle signal collected by a steering angle sensor and a rack travel signal collected by a rack travel sensor are received, and the rack travel signal is converted into a second steering angle signal. The target steering angle signal of the vehicle is determined based on the first and / or second steering angle signals, thereby controlling the vehicle's steering angle. This solves the problem that when a steering angle sensor malfunctions, it is impossible to promptly remedy the situation using steering angle control methods related to its function, thus posing a significant safety risk to the vehicle and the user. By installing a rack travel sensor on the vehicle steering gear housing to obtain the steering angle signal, the requirement of dual redundancy for steering angle signal control is achieved together with the steering angle sensor, providing an important guarantee for the user's safe driving.

[0071] Next, with reference to the accompanying drawings, a calculation device for vehicle turning angle signals according to an embodiment of this application is described.

[0072] Figure 5 This is a block diagram of a vehicle turning angle signal calculation device according to an embodiment of this application.

[0073] like Figure 5 As shown, a rack travel sensor is installed on the steering gear housing of the vehicle. The vehicle steering angle signal calculation device 10 includes: a first receiving module 100, a second receiving module 200, and a control module 300.

[0074] The first receiving module 100 is used to receive the first angle signal collected by the angle sensor;

[0075] The second receiving module 200 is used to receive the rack stroke signal collected by the rack stroke sensor and convert the rack stroke signal into a second rotation angle signal; and

[0076] Control module 300 is used to determine the target steering angle signal of the vehicle based on the first steering angle signal and / or the second steering angle signal, so as to perform steering angle control on the vehicle according to the target steering angle signal.

[0077] Furthermore, in some embodiments, the control module 300 is specifically used for:

[0078] Obtain the first difference between the first turning angle signal and the preset calibration turning angle signal;

[0079] Obtain the second difference between the second angle signal and the preset calibration angle signal;

[0080] If both the first difference and the second difference are less than or equal to a preset threshold, the target turning angle signal is obtained based on the average of the first turning angle signal and the second turning angle signal or the preset calibrated turning angle signal.

[0081] Furthermore, in some embodiments, the vehicle turning angle signal calculation device 10 described above is also used for:

[0082] If the first difference is greater than the preset threshold and the second difference is less than or equal to the preset threshold, then the second corner signal is taken as the target corner signal.

[0083] If the second difference is greater than the preset threshold and the first difference is less than or equal to the preset threshold, then the first turning signal is taken as the target turning signal.

[0084] Furthermore, in some embodiments, the vehicle turning angle signal calculation device 10 described above is also used for:

[0085] If both the first and second differences are greater than the preset threshold, a fault alert will be generated.

[0086] The vehicle's onboard display terminal can display fault alerts and / or send fault alerts to preset mobile terminals.

[0087] Furthermore, in some embodiments, the second receiving module 200 is specifically used for:

[0088] Based on the preset relationship between rack travel signal and rotation angle signal, the rack travel signal is converted into a second rotation angle signal.

[0089] The vehicle steering angle signal calculation device according to an embodiment of this application receives a first steering angle signal collected by a steering angle sensor and a rack travel signal collected by a rack travel sensor, converts the rack travel signal into a second steering angle signal, determines the target steering angle signal of the vehicle based on the first steering angle signal and / or the second steering angle signal, and then performs steering angle control on the vehicle. This solves the problem that when a steering angle sensor malfunctions, it is impossible to promptly remedy the situation using steering angle control methods related to its function, thus posing a significant safety risk to the vehicle and the user. By installing a rack travel sensor on the vehicle steering gear housing to obtain the steering angle signal, the device achieves dual redundancy in steering angle signal control together with the steering angle sensor, providing an important guarantee for the user's safe driving.

[0090] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0091] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0092] When the processor 602 executes the program, it implements the method for calculating the vehicle turning angle signal provided in the above embodiments.

[0093] Furthermore, the vehicle also includes:

[0094] Communication interface 603 is used for communication between memory 601 and processor 602.

[0095] The memory 601 is used to store computer programs that can run on the processor 602.

[0096] The memory 601 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0097] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 6The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0098] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0099] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0100] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for calculating vehicle turning angle signals.

[0101] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0102] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0103] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0104] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0105] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0106] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0107] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0108] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method of calculating a vehicle corner signal, characterized by, The steering housing of the vehicle is provided with a rack stroke sensor, wherein the method comprises the following steps: receiving a first steering angle signal collected by a steering angle sensor; receiving a rack stroke signal collected by the rack stroke sensor and converting the rack stroke signal into a second steering angle signal; and determining a target steering angle signal of the vehicle according to the first steering angle signal and / or the second steering angle signal, so as to control the steering angle of the vehicle according to the target steering angle signal; wherein the first steering angle signal is emitted by a steering angle sensor on a steering column, a signal processing module and an algorithm model are added in a vehicle control system, and the first steering angle signal in the vehicle control system is processed by relevant operation, so as to output a signal calibration value obtained from the first steering angle signal; the target steering angle signal is determined according to the first steering angle signal and / or the second steering angle signal, including: obtaining a first difference value between the first steering angle signal and a preset calibration steering angle signal; obtaining a second difference value between the second steering angle signal and the preset calibration steering angle signal; if the first difference value and the second difference value are both less than or equal to a preset threshold value, the target steering angle signal is obtained according to an average value of the first steering angle signal and the second steering angle signal or the preset calibration steering angle signal; further including: if the first difference value is greater than the preset threshold value and the second difference value is less than or equal to the preset threshold value, the second steering angle signal is taken as the target steering angle signal; if the second difference value is greater than the preset threshold value and the first difference value is less than or equal to the preset threshold value, the first steering angle signal is taken as the target steering angle signal; if the first difference value and the second difference value are both greater than the preset threshold value, a fault reminder is generated; the vehicle display terminal displays the fault reminder, and / or the fault reminder is sent to a preset mobile terminal.

2. The method of claim 1, wherein, the rack stroke signal is converted into the second steering angle signal, including: the rack stroke signal is converted into the second steering angle signal based on a preset rack stroke signal-steering angle signal relationship.

3. A computing device of a vehicle turn signal, characterized by, the steering housing of the vehicle is provided with a rack stroke sensor, including: a first receiving module for receiving a first steering angle signal collected by a steering angle sensor; a second receiving module for receiving a rack stroke signal collected by the rack stroke sensor and converting the rack stroke signal into a second steering angle signal; and a control module for determining a target steering angle signal of the vehicle according to the first steering angle signal and / or the second steering angle signal, so as to control the steering angle of the vehicle according to the target steering angle signal; wherein the first steering angle signal is emitted by a steering angle sensor on a steering column, a signal processing module and an algorithm model are added in a vehicle control system, and the first steering angle signal in the vehicle control system is processed by relevant operation, so as to output a signal calibration value obtained from the first steering angle signal; The control module is specifically configured to: acquire a first difference value between the first rotation angle signal and a preset calibration rotation angle signal; acquire a second difference value between the second rotation angle signal and the preset calibration rotation angle signal; if the first difference value and the second difference value are both less than or equal to a preset threshold, obtain the target rotation angle signal according to an average value of the first rotation angle signal and the second rotation angle signal or the preset calibration rotation angle signal; The control module is further configured to: if the first difference value is greater than the preset threshold and the second difference value is less than or equal to the preset threshold, take the second rotation angle signal as the target rotation angle signal; if the second difference value is greater than the preset threshold and the first difference value is less than or equal to the preset threshold, take the first rotation angle signal as the target rotation angle signal; if the first difference value and the second difference value are both greater than the preset threshold, generate a fault reminder; control a vehicle-mounted display terminal of the vehicle to display the fault reminder, and / or send the fault reminder to a preset mobile terminal.

4. A vehicle characterized by comprising: The control module is further configured to: A memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the vehicle rotation angle signal calculation method according to any one of claims 1-2.

5. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the vehicle rotation angle signal calculation method according to any one of claims 1-2.

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