A steering wheel steering data processing method, device, equipment and medium

Abstract

The application discloses a steering wheel steering data processing method, which comprises the following steps: determining the rotating shaft distance between a fixed rotating shaft of a vehicle special-shaped steering wheel and a force measuring rotating shaft of a vehicle force measuring steering wheel according to the fixed shaft position of the fixed rotating shaft and the initial shaft position of the force measuring rotating shaft; determining the actual steering torque of the vehicle special-shaped steering wheel according to the force measuring steering wheel measuring position of the vehicle force measuring steering wheel, the special-shaped steering wheel measuring position of the vehicle special-shaped steering wheel, the steering wheel stress position of the vehicle force measuring steering wheel, the rotating shaft distance, the measured steering torque of the vehicle special-shaped steering wheel and the force measuring steering wheel radius of the vehicle force measuring steering wheel; and determining the steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measuring position, the force measuring steering wheel measuring position, the suction cup position of the vehicle suction cup and the rotating termination position of the force measuring steering wheel rotating around the special-shaped steering wheel. The steering wheel steering torque and the steering wheel steering angle of the vehicle special-shaped steering wheel can be calculated with high accuracy.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of computers, and in particular to a steering wheel steering data processing method, device, equipment and storage medium. BACKGROUND

[0002] Steer-by-wire vehicles are usually configured with special-shaped steering wheels, while traditional vehicles are configured with round or quasi-round steering wheels. Currently, a force measuring steering wheel is used to measure the steering torque and steering angle of the steering wheel of a steer-by-wire vehicle. However, the force measuring steering wheel is only suitable for measuring the steering torque and steering angle of a traditional round steering wheel. If the force measuring steering wheel is installed on a special-shaped steering wheel, the rotating shaft of the force measuring steering wheel and the rotating shaft of the special-shaped steering wheel are different in axis, which affects the measurement of the steering torque and steering angle of the special-shaped steering wheel of the force measuring steering wheel, and results in inaccurate measurement of the steering torque and steering angle of the special-shaped steering wheel. Therefore, how to obtain accurate steering torque and steering angle of the special-shaped steering wheel of a vehicle is a problem to be solved. SUMMARY

[0003] The present application provides a steering wheel steering data processing method, device, equipment and storage medium, which can obtain accurate steering torque and steering angle of the special-shaped steering wheel of a vehicle, and improve the efficiency of obtaining the steering torque and steering angle of the special-shaped steering wheel of a vehicle.

[0004] According to an aspect of the present application, a steering wheel steering data processing method is provided, comprising:

[0005] According to the fixed shaft position of the fixed rotating shaft of the special-shaped steering wheel of a vehicle, the initial shaft position of the force measuring rotating shaft of a vehicle force measuring steering wheel, the rotating shaft distance between the fixed rotating shaft and the force measuring rotating shaft is determined;

[0006] According to the force measuring steering wheel measurement position of the vehicle force measuring steering wheel, the special-shaped steering wheel measurement position of the special-shaped steering wheel of a vehicle, the steering force position of the vehicle force measuring steering wheel, the rotating shaft distance, the measured steering torque of the special-shaped steering wheel of a vehicle and the force measuring steering wheel radius of the vehicle force measuring steering wheel, the actual steering torque of the special-shaped steering wheel of a vehicle is determined;

[0007] According to the special-shaped steering wheel measurement position, the force measuring steering wheel measurement position, the suction cup position of the vehicle suction cup and the rotating termination position of the vehicle force measuring steering wheel rotating around the special-shaped steering wheel of a vehicle, the steering angle of the steering wheel of the special-shaped steering wheel of a vehicle is determined.

[0008] According to another aspect of the present application, a steering wheel steering data processing device is provided, which comprises:

[0009] a rotation axis distance determination module configured to determine a rotation axis distance between a fixed rotation axis of the vehicle special-shaped steering wheel and a force measurement rotation axis of the vehicle force measurement steering wheel according to a fixed axis position of the fixed rotation axis of the vehicle special-shaped steering wheel and an initial axis position of the force measurement rotation axis of the vehicle force measurement steering wheel;

[0010] a real steering torque determination module configured to determine a real steering torque of the vehicle special-shaped steering wheel according to a force measurement steering wheel measurement position of the vehicle force measurement steering wheel, a special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel, a steering wheel force position of the vehicle force measurement steering wheel, the rotation axis distance, a measurement steering torque of the vehicle special-shaped steering wheel and a force measurement steering wheel radius of the vehicle force measurement steering wheel;

[0011] a steering wheel steering angle determination module configured to determine a steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, a suction cup position of a vehicle suction cup and a rotation termination position of the vehicle force measurement steering wheel rotating around the vehicle special-shaped steering wheel.

[0012] According to another aspect of the present application, there is provided an electronic device, comprising:

[0013] at least one processor; and

[0014] a memory connected with the at least one processor; wherein,

[0015] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the steering wheel steering data processing method according to any one of the embodiments of the present application.

[0016] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to implement the steering wheel steering data processing method according to any one of the embodiments of the present application when executed by the processor.

[0017] The technical scheme of the embodiment of the present application determines the rotating shaft distance between the fixed rotating shaft and the force measuring rotating shaft according to the fixed shaft position of the fixed rotating shaft of the vehicle special-shaped steering wheel and the initial shaft position of the force measuring rotating shaft of the vehicle force measuring steering wheel; determines the actual steering torque of the vehicle special-shaped steering wheel according to the force measuring steering wheel measuring position of the vehicle force measuring steering wheel, the special-shaped steering wheel measuring position of the vehicle special-shaped steering wheel, the steering wheel stress position of the vehicle force measuring steering wheel, the rotating shaft distance, the measured steering torque of the vehicle special-shaped steering wheel and the force measuring steering wheel radius of the vehicle force measuring steering wheel; and determines the steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measuring position, the force measuring steering wheel measuring position, the suction cup position of the vehicle suction cup and the rotating termination position of the vehicle force measuring steering wheel rotating around the vehicle special-shaped steering wheel. The above scheme solves the problem that when the steering wheel steering torque and the steering wheel steering angle of the vehicle special-shaped steering wheel are directly measured by the vehicle force measuring steering wheel, the different shafts of the rotating shaft of the vehicle force measuring steering wheel and the rotating shaft of the vehicle special-shaped steering wheel result in errors in the measurement of the steering wheel steering torque and the steering wheel steering angle of the vehicle special-shaped steering wheel. A way of determining the steering wheel steering torque and the steering wheel steering angle of various shapes of vehicle steering wheels is proposed, which can improve the calculation accuracy of the steering wheel steering torque and the steering wheel steering angle of the vehicle special-shaped steering wheel.

[0018] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 A flowchart of a steering wheel steering data processing method provided for the first embodiment of the present application;

[0021] Figure 2 A flowchart of a steering wheel steering data processing method provided for the second embodiment of the present application;

[0022] Figure 3 A structural schematic diagram of a steering wheel steering data processing device provided for the third embodiment of the present application;

[0023] Figure 4 A structural schematic diagram of an electronic device provided for the fourth embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the person skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", "third", and "fourth" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "etc." and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] Embodiment one

[0027] Figure 1 A flowchart of a steering wheel steering data processing method is provided for the first embodiment of the present application. The present embodiment can be applied to the case of processing the steering wheel steering data of a vehicle, especially to the case of processing the steering data of a vehicle's special-shaped steering wheel, determining the steering torque and steering angle of the vehicle's special-shaped steering wheel. The method can be executed by a steering wheel steering data processing device, which can be realized in the form of hardware and / or software, and can be configured in an electronic device. As shown in the figure, the method comprises: Figure 1

[0028] S110, according to the fixed shaft position of the fixed rotating shaft of the vehicle's special-shaped steering wheel and the initial shaft position of the force measuring rotating shaft of the vehicle's force measuring steering wheel, determining the rotating shaft distance between the fixed rotating shaft and the force measuring rotating shaft.

[0029] ​Wherein, the vehicle special-shaped steering wheel can be any shape of vehicle steering wheel. The vehicle force measuring steering wheel can be used to measure the steering angle and torque of the steering wheel installed on the vehicle. The rotating shaft is located below the steering wheel. The fixed rotating shaft refers to the rotating shaft of the vehicle special-shaped steering wheel. The fixed shaft position refers to the spatial position of the fixed rotating shaft of the vehicle special-shaped steering wheel. The force measuring rotating shaft refers to the rotating shaft of the vehicle force measuring steering wheel. The position of the force measuring rotating shaft will change when the vehicle force measuring steering wheel measures the steering angle and torque of the vehicle special-shaped steering wheel. The initial shaft position refers to the initial spatial position of the force measuring rotating shaft when the vehicle force measuring steering wheel measures the steering angle and torque of the vehicle special-shaped steering wheel. The rotating shaft distance refers to the spatial distance between the fixed rotating shaft and the force measuring rotating shaft. The spatial coordinate system for calibrating the spatial position takes the rotating center of the vehicle special-shaped steering wheel as the origin, and calibrates the X-axis, Y-axis and Z-axis of the spatial coordinate system according to the body edge line of the vehicle.

[0030] Specifically, the fixed shaft position of the fixed rotating shaft of the vehicle special-shaped steering wheel is represented as (X1, Y1, Z1); and the initial shaft position of the force measuring rotating shaft of the vehicle force measuring steering wheel is represented as (X2, Y2, Z2). Then the calculation formula of the rotating shaft distance between the fixed rotating shaft and the force measuring rotating shaft is shown as formula (1):

[0031]

[0032] Wherein, d is the rotating shaft distance; M1M2={X2-X1, Y2-Y1, Z2-Z1}={a, b, c}; s is the direction vector between the isolated star rotating shaft and the force measuring rotating shaft, and s={m, n, p}.

[0033] Specifically, the method for determining the fixed shaft position of the fixed rotating shaft of the vehicle special-shaped steering wheel and the initial shaft position of the force measuring rotating shaft of the vehicle force measuring steering wheel can be: determining the fixed shaft position of the fixed rotating shaft of the vehicle special-shaped steering wheel and the initial shaft position of the force measuring rotating shaft of the vehicle force measuring steering wheel according to the steering column measurement position of the vehicle special-shaped steering wheel.

[0034] Wherein, the steering column measurement position refers to the spatial coordinate position of the vehicle steering column in the spatial coordinate system measured by the laser ranging device.

[0035] Specifically, at least 5 laser recognition points are respectively pasted on the vehicle special-shaped steering wheel, the vehicle force measuring steering wheel and the vehicle suction cup. The steering column measurement position of the vehicle special-shaped steering wheel is measured and obtained by the laser ranging device, and the calculation formula of the fixed shaft position of the fixed rotating shaft of the vehicle special-shaped steering wheel is shown as formula (2):

[0036]

[0037] Wherein, (X1, Y1, Z1) is the fixed shaft position of the fixed rotation shaft of the vehicle special-shaped steering wheel; (x1, x2, x3) is the steering column measurement position of the vehicle special-shaped steering wheel.

[0038] 1 / m is the slope of the YZ plane projection of the connection line between the steering column measurement position and the origin of the space coordinate system in the space coordinate system; 1 / n is the slope of the XZ plane projection of the connection line between the steering column measurement position and the origin of the space coordinate system in the space coordinate system; 1 / p is the slope of the XY plane projection of the connection line between the steering column measurement position and the origin of the space coordinate system in the space coordinate system.

[0039] The calculation formula of the initial shaft position of the force measurement rotation shaft of the vehicle force measurement steering wheel is shown as formula (3):

[0040]

[0041] Wherein, (X2, Y2, Z2) is the initial shaft position of the force measurement rotation shaft of the vehicle force measurement steering wheel.

[0042] The above scheme provides a calculation method for determining the fixed shaft position of the fixed rotation shaft of the vehicle special-shaped steering wheel according to the steering column measurement position of the vehicle special-shaped steering wheel, and the initial shaft position of the force measurement rotation shaft of the vehicle force measurement steering wheel, which can improve the accuracy of the fixed shaft position and the initial shaft position.

[0043] S120, according to the force measurement steering wheel measurement position of the vehicle force measurement steering wheel, the special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel, the steering wheel force position of the vehicle force measurement steering wheel, the rotation shaft distance, the measured steering torque of the vehicle special-shaped steering wheel and the force measurement steering wheel radius of the vehicle force measurement steering wheel, determine the actual steering torque of the vehicle special-shaped steering wheel.

[0044] Wherein, the special-shaped steering wheel measurement position refers to the spatial coordinate position of the rotation center point of the vehicle special-shaped steering wheel in the space coordinate system measured by the laser ranging device. The force measurement steering wheel measurement position refers to the spatial coordinate position of the rotation center point of the vehicle force measurement steering wheel in the space coordinate system measured by the laser ranging device. The steering wheel force position of the vehicle force measurement steering wheel refers to the position of the vehicle force measurement steering wheel connected with the steering column. The measured steering torque of the vehicle special-shaped steering wheel refers to the steering torque of the vehicle special-shaped steering wheel measured by the vehicle force measurement steering wheel. The force measurement steering wheel radius refers to the radius of the vehicle force measurement steering wheel.

[0045] For example, the actual steering torque of the vehicle special-shaped steering wheel can be determined by the following sub-steps:

[0046] S1201, determine a first connection line between the steering wheel force position and the force measuring steering wheel measuring position according to the force measuring steering wheel measuring position of the vehicle force measuring steering wheel, the special-shaped steering wheel measuring position of the vehicle special-shaped steering wheel and the steering wheel force position of the vehicle force measuring steering wheel, and determine a second connection line between the special-shaped steering wheel measuring position and the force measuring steering wheel measuring position.

[0047] Specifically, the connection line between the force measuring steering wheel measuring position of the vehicle force measuring steering wheel and the steering wheel force position of the vehicle force measuring steering wheel is taken as the first connection line between the steering wheel force position and the force measuring steering wheel measuring position; and the connection line between the special-shaped steering wheel measuring position of the vehicle special-shaped steering wheel and the force measuring steering wheel measuring position is taken as the second connection line.

[0048] S1202, determine the actual steering torque of the vehicle special-shaped steering wheel according to the rotation axis distance, the first connection line included angle between the first connection line and the second connection line, the measured steering torque of the vehicle special-shaped steering wheel and the force measuring steering wheel radius of the vehicle force measuring steering wheel.

[0049] Specifically, the calculation formula of the actual steering torque of the vehicle special-shaped steering wheel is shown in formula (4):

[0050]

[0051] Wherein, T1 is the actual steering torque of the vehicle special-shaped steering wheel; T2 is the measured steering torque of the vehicle special-shaped steering wheel; L is the force measuring steering wheel radius of the vehicle force measuring steering wheel; and δ is the first connection line included angle between the first connection line and the second connection line.

[0052] The above scheme provides a quantitative calculation method for the actual steering torque of the vehicle special-shaped steering wheel, and improves the reliability of the obtained actual steering torque of the vehicle special-shaped steering wheel.

[0053] S130, determine the steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measuring position, the force measuring steering wheel measuring position, the suction cup position of the vehicle suction cup and the rotation termination position of the vehicle force measuring steering wheel rotating around the vehicle special-shaped steering wheel.

[0054] Wherein, the suction cup position of the vehicle suction cup refers to the spatial coordinate position of the vehicle suction cup in the spatial coordinate system measured by the laser ranging device. The rotation termination position refers to the final position of the vehicle force measuring steering wheel rotating around the vehicle special-shaped steering wheel when the vehicle force measuring steering wheel measures the steering torque and the steering angle of the vehicle special-shaped steering wheel.

[0055] The technical scheme provided by the embodiment determines the rotation axis distance between the fixed rotation axis and the force measurement rotation axis according to the fixed axis position of the fixed rotation axis of the vehicle special-shaped steering wheel and the initial axis position of the force measurement rotation axis of the vehicle force measurement steering wheel; determines the actual steering torque of the vehicle special-shaped steering wheel according to the force measurement steering wheel measurement position of the vehicle force measurement steering wheel, the special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel, the steering wheel stress position of the vehicle force measurement steering wheel, the rotation axis distance, the measured steering torque of the vehicle special-shaped steering wheel and the force measurement steering wheel radius of the vehicle force measurement steering wheel; and determines the steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the suction cup position of the vehicle suction cup and the rotation termination position of the vehicle force measurement steering wheel rotating around the vehicle special-shaped steering wheel. The above scheme solves the problem that when the steering wheel steering torque and the steering wheel steering angle of the vehicle special-shaped steering wheel are directly measured by the vehicle force measurement steering wheel, the steering wheel steering torque and the steering wheel steering angle of the vehicle special-shaped steering wheel are measured with errors due to the different axes of the rotation axis of the vehicle force measurement steering wheel and the rotation axis of the vehicle special-shaped steering wheel. A method for determining the steering wheel steering torque and the steering wheel steering angle of various shapes of vehicle steering wheels is proposed, which can improve the calculation accuracy of the steering wheel steering torque and the steering wheel steering angle of the vehicle special-shaped steering wheel.

[0056] Embodiment two

[0057] Figure 2 The flowchart of the steering wheel steering data processing method provided by the embodiment two of the application is optimized on the basis of the above-mentioned embodiment, and an optimal implementation manner for determining the steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the suction cup position of the vehicle suction cup and the rotation termination position of the force measurement steering wheel rotating around the special-shaped steering wheel is given. Specifically, as shown in the figure, Figure 2 The method comprises the following steps.

[0058] In S210, the rotation axis distance between the fixed rotation axis and the force measurement rotation axis is determined according to the fixed axis position of the fixed rotation axis of the vehicle special-shaped steering wheel and the initial axis position of the force measurement rotation axis of the vehicle force measurement steering wheel.

[0059] In S220, the actual steering torque of the vehicle special-shaped steering wheel is determined according to the force measurement steering wheel measurement position of the vehicle force measurement steering wheel, the special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel, the steering wheel stress position of the vehicle force measurement steering wheel, the rotation axis distance, the measured steering torque of the vehicle special-shaped steering wheel and the force measurement steering wheel radius of the vehicle force measurement steering wheel.

[0060] S230, determining a first steering angle of the vehicle force measuring steering wheel from a force measuring steering wheel measuring position to a horizontal position when the vehicle force measuring steering wheel rotates around the vehicle special-shaped steering wheel, and a second steering angle from the horizontal position to a rotation termination position of the vehicle force measuring steering wheel.

[0061] The horizontal position refers to a position point where a rotation track coincides with a horizontal straight line in the process of the force measuring steering wheel rotating around the vehicle special-shaped steering wheel.

[0062] Specifically, the rotation angle of the vehicle force measuring steering wheel from the force measuring steering wheel measuring position to the horizontal position when the vehicle force measuring steering wheel rotates around the vehicle special-shaped steering wheel is taken as the first steering angle; and the rotation angle of the vehicle force measuring steering wheel from the horizontal position to the rotation termination position of the vehicle force measuring steering wheel when the vehicle force measuring steering wheel rotates around the vehicle special-shaped steering wheel is taken as the second steering angle.

[0063] S240, determining a steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measuring position, the force measuring steering wheel measuring position, the first steering angle, the second steering angle, the rotation termination position and a suction cup position of a vehicle suction cup.

[0064] Exemplarily, the steering wheel steering angle of the vehicle special-shaped steering wheel can also be determined through the following sub-steps:

[0065] S2401, determining a second connection line included angle between a third connection line of an initial shaft position and the suction cup position of the vehicle suction cup and a fourth connection line of the suction cup position and a fixed shaft position according to the special-shaped steering wheel measuring position, the second steering angle, the rotation termination position and the suction cup position of the vehicle suction cup.

[0066] Specifically, a calculation formula of the second connection line included angle between the third connection line of the initial shaft position and the suction cup position of the vehicle suction cup and the fourth connection line of the suction cup position and the fixed shaft position is shown in formula (5):

[0067]

[0068] The β1 is the second connection line included angle between the third connection line of the initial shaft position and the suction cup position of the vehicle suction cup and the fourth connection line of the suction cup position and the fixed shaft position; the θ2 is the second steering angle; the A is the special-shaped steering wheel measuring position; the C is the suction cup position of the vehicle suction cup; and the B1 is the rotation termination position.

[0069] S2402, determining a third connection line included angle between the third connection line and a fifth connection line of a termination shaft position of a force measuring rotation shaft of the vehicle force measuring steering wheel and the suction cup position according to the special-shaped steering wheel measuring position, the force measuring steering wheel measuring position, the second steering angle and the suction cup position.

[0070] Specifically, the third connecting line and the third connecting line included angle between the end shaft position of the force measurement rotating shaft of the force measurement steering wheel and the fifth connecting line between the suction cup position are calculated according to the formula (6) as shown below:

[0071]

[0072] Wherein, β2 is the third connecting line and the third connecting line included angle between the end shaft position of the force measurement rotating shaft of the force measurement steering wheel and the fifth connecting line between the suction cup position; B0 is the force measurement steering wheel measurement position.

[0073] S2403, according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the first steering angle, the suction cup position and the end shaft position, the steering wheel steering angle of the vehicle special-shaped steering wheel is determined.

[0074] Exemplarily, the end shaft position of the vehicle force measurement steering wheel can be determined according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the rotating end position, the suction cup position, the second steering angle, the second connecting line included angle and the third connecting line included angle.

[0075] Specifically, the coordinates of the force measurement steering wheel measurement position B0 are (x2, x2, x2), wherein x2 = AB0*sinθ2, y2 = AB*cosθ2. The coordinates of the end shaft position D are (x3, y3, z3), wherein z3 is consistent with z2, x3 = AC-B1C*cos(β2-β1); y3 = AB*cosθ2.

[0076] The steering wheel steering angle of the vehicle special-shaped steering wheel is calculated according to the formula (7) as shown below:

[0077]

[0078] Wherein, α is the steering wheel steering angle of the vehicle special-shaped steering wheel; D is the end shaft position. The determination formula of B0D is shown in formula (8) as shown below

[0079]

[0080] The calculation formula of B0C is shown in formula (9) as shown below:

[0081]

[0082] Wherein, CE = y3, BE = AC-AB*cosθ1.

[0083] The technical scheme of the embodiment determines the rotation axis distance between the fixed rotation axis and the force measurement rotation axis according to the fixed axis position of the fixed rotation axis of the vehicle special-shaped steering wheel and the initial axis position of the force measurement rotation axis of the vehicle force measurement steering wheel; determines the actual steering torque of the vehicle special-shaped steering wheel according to the force measurement steering wheel measurement position of the vehicle force measurement steering wheel, the special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel, the steering wheel stress position of the vehicle force measurement steering wheel, the rotation axis distance, the measured steering torque of the vehicle special-shaped steering wheel and the force measurement steering wheel radius of the vehicle force measurement steering wheel; determines the first steering angle of the vehicle force measurement steering wheel rotating from the force measurement steering wheel measurement position to the horizontal position and the second steering angle of the vehicle force measurement steering wheel rotating from the horizontal position to the rotation termination position of the special-shaped steering wheel; and determines the steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the first steering angle, the second steering angle, the rotation termination position and the suction cup position of the vehicle suction cup. The above scheme provides a preferred way to determine the steering wheel steering angle of the vehicle special-shaped steering wheel, realizes the effect of obtaining the accurate steering wheel steering angle of the vehicle special-shaped steering wheel through the vehicle force measurement steering wheel, improves the measurement accuracy of the steering wheel steering angle of the vehicle special-shaped steering wheel, and at the same time, only according to the existing device in the vehicle, the steering wheel steering angle of the vehicle special-shaped steering wheel is calculated without the need to install other measurement equipment, thereby saving the labor cost and economic cost when measuring the steering wheel steering angle of the vehicle special-shaped steering wheel.

[0084] Embodiment three

[0085] Figure 3 A structural schematic diagram of a steering wheel steering data processing device provided for the third embodiment of the application. The embodiment can be applied to the case of processing the steering wheel steering data of a vehicle. As shown in the figure, the steering wheel steering data processing device comprises a rotation axis distance determination module 310, an actual steering torque determination module 320 and a steering wheel steering angle determination module 330. Figure 3

[0086] The rotation axis distance determination module 310 is configured to determine the rotation axis distance between the fixed rotation axis and the force measurement rotation axis according to the fixed axis position of the fixed rotation axis of the vehicle special-shaped steering wheel and the initial axis position of the force measurement rotation axis of the vehicle force measurement steering wheel.

[0087] The actual steering torque determination module 320 is configured to determine the actual steering torque of the vehicle special-shaped steering wheel according to the force measurement steering wheel measurement position of the vehicle force measurement steering wheel, the special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel, the steering wheel stress position of the vehicle force measurement steering wheel, the rotation axis distance, the measured steering torque of the vehicle special-shaped steering wheel and the force measurement steering wheel radius of the vehicle force measurement steering wheel.

[0088] ​The steering wheel steering angle determination module 330 is configured to determine the steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the suction cup position of the vehicle suction cup, and the rotation termination position of the vehicle force measurement steering wheel rotating around the vehicle special-shaped steering wheel.

[0089] The technical scheme provided by the embodiment is configured to determine the rotation axis distance between the fixed rotation axis and the force measurement rotation axis according to the fixed axis position of the fixed rotation axis of the vehicle special-shaped steering wheel and the initial axis position of the force measurement rotation axis of the vehicle force measurement steering wheel; determine the actual steering torque of the vehicle special-shaped steering wheel according to the force measurement steering wheel measurement position of the vehicle force measurement steering wheel, the special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel, the steering force position of the vehicle force measurement steering wheel, the rotation axis distance, the measured steering torque of the vehicle special-shaped steering wheel, and the force measurement steering wheel radius of the vehicle force measurement steering wheel; and determine the steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the suction cup position of the vehicle suction cup, and the rotation termination position of the vehicle force measurement steering wheel rotating around the vehicle special-shaped steering wheel. The above scheme solves the problem of errors in measuring the steering torque and the steering wheel steering angle of the vehicle special-shaped steering wheel by directly measuring the steering torque and the steering wheel steering angle of the vehicle special-shaped steering wheel through the vehicle force measurement steering wheel, because the rotation axis of the vehicle force measurement steering wheel and the rotation axis of the vehicle special-shaped steering wheel are different. The scheme can determine the steering torque and the steering wheel steering angle of various vehicle steering wheels, and can improve the calculation accuracy of the steering torque and the steering wheel steering angle of the vehicle special-shaped steering wheel.

[0090] For example, the steering wheel steering angle determination module 330 includes:

[0091] The second steering angle determination unit is configured to determine a first steering angle of the vehicle force measurement steering wheel rotating from the force measurement steering wheel measurement position to the horizontal position, and a second steering angle of the vehicle force measurement steering wheel rotating from the horizontal position to the rotation termination position of the vehicle force measurement steering wheel.

[0092] The steering wheel steering angle determination unit is configured to determine the steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the first steering angle, the second steering angle, the rotation termination position, and the suction cup position of the vehicle suction cup.

[0093] For example, the steering wheel steering angle determination unit is specifically configured to:

[0094] determine a second connection line included angle between a third connection line between the initial axis position and the suction cup position of the vehicle suction cup and a fourth connection line between the suction cup position and the fixed axis position according to the special-shaped steering wheel measurement position, the second steering angle, the rotation termination position, and the suction cup position of the vehicle suction cup.

[0095] determining a third connecting line included between the third connecting line and a terminal shaft position of a force measuring rotation axis of the vehicle force measuring steering wheel and the suction cup position according to the special-shaped steering wheel measurement position, the force measuring steering wheel measurement position, the second steering angle, and the suction cup position;

[0096] determining a steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measurement position, the force measuring steering wheel measurement position, the first steering angle, the suction cup position, and the terminal shaft position.

[0097] Exemplarily, the steering wheel steering data processing apparatus further comprises:

[0098] a terminal shaft position determining module configured to determine the terminal shaft position of the vehicle force measuring steering wheel according to the special-shaped steering wheel measurement position, the force measuring steering wheel measurement position, the rotation terminal position, the suction cup position, the second steering angle, the second connecting line included angle, and the third connecting line included angle.

[0099] Exemplarily, the actual steering torque determining module 330 is specifically configured to:

[0100] determining a first connecting line included between the force measuring steering wheel measurement position of the vehicle force measuring steering wheel and the steering wheel force position of the vehicle force measuring steering wheel, and determining a second connecting line included between the special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel and the force measuring steering wheel measurement position according to the force measuring steering wheel measurement position of the vehicle force measuring steering wheel, the special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel, and the steering wheel force position of the vehicle force measuring steering wheel;

[0101] determining the actual steering torque of the vehicle special-shaped steering wheel according to the rotation axis distance, the first connecting line included angle between the first connecting line and the second connecting line, the measured steering torque of the vehicle special-shaped steering wheel, and the force measuring steering wheel radius of the vehicle force measuring steering wheel.

[0102] Exemplarily, the steering wheel steering data processing apparatus further comprises:

[0103] an initial shaft position determining module configured to determine the fixed shaft position of the fixed rotation axis of the vehicle special-shaped steering wheel and the initial shaft position of the force measuring rotation axis of the vehicle force measuring steering wheel according to the steering column measurement position of the vehicle special-shaped steering wheel.

[0104] The steering wheel steering data processing apparatus provided by the embodiment can be applied to the steering wheel steering data processing method provided by any of the above embodiments, and has the corresponding functions and beneficial effects.

[0105] Embodiment Four

[0106] Figure 4A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0107] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0108] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0109] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the steering wheel data processing method.

[0110] In some embodiments, the steering wheel steering data processing method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the above-described steering wheel steering data processing method can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the steering wheel steering data processing method by other any suitable means, e.g., by way of firmware.

[0111] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0112] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the computer or other programmable data processing apparatus, enables the systems and methods as claimed in the claims to be implemented. The computer program can be executed entirely on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0113] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0114] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0115] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0116] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0117] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, and this is not limited herein.

[0118] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A steering wheel steering data processing method, characterized by, The method comprises: determining a rotation axis distance between a fixed rotation axis of a vehicle special-shaped steering wheel and an initial axis position of a force measurement rotation axis of a vehicle force measurement steering wheel according to a fixed axis position of the fixed rotation axis of the vehicle special-shaped steering wheel and an initial axis position of the force measurement rotation axis of the vehicle force measurement steering wheel; determining an actual steering torque of the vehicle special-shaped steering wheel according to a force measurement steering wheel measurement position of the vehicle force measurement steering wheel, a special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel, a steering force position of the vehicle force measurement steering wheel, the rotation axis distance, a measurement steering torque of the vehicle special-shaped steering wheel and a force measurement steering wheel radius of the vehicle force measurement steering wheel; determining a steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, a suction cup position of a vehicle suction cup and a rotation termination position of the vehicle force measurement steering wheel rotating around the vehicle special-shaped steering wheel.

2. The method of claim 1, wherein, The method for determining a steering wheel steering angle of a vehicle special-shaped steering wheel according to a special-shaped steering wheel measurement position, a force measurement steering wheel measurement position, a suction cup position of a vehicle suction cup and a rotation termination position of a vehicle force measurement steering wheel rotating around the vehicle special-shaped steering wheel comprises: determining a first steering angle of the vehicle force measurement steering wheel rotating from the force measurement steering wheel measurement position to a horizontal position and a second steering angle of the vehicle force measurement steering wheel rotating from the horizontal position to the rotation termination position of the vehicle force measurement steering wheel according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the first steering angle, the second steering angle, the rotation termination position and the suction cup position of the vehicle suction cup; determining a steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the first steering angle, the second steering angle, the rotation termination position and the suction cup position of the vehicle suction cup.

3. The method of claim 2, wherein, The method for determining a steering wheel steering angle of a vehicle special-shaped steering wheel according to a special-shaped steering wheel measurement position, a force measurement steering wheel measurement position, a suction cup position of a vehicle suction cup and a rotation termination position of a vehicle force measurement steering wheel rotating around the vehicle special-shaped steering wheel comprises: determining a second connection line included angle between a third connection line connecting the initial axis position and the suction cup position of the vehicle suction cup and a fourth connection line connecting the suction cup position and the fixed axis position of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measurement position, the second steering angle, the rotation termination position and the suction cup position of the vehicle suction cup; determining a third connection line included angle between the third connection line and a fifth connection line connecting a termination axis position of the force measurement rotation axis of the vehicle force measurement steering wheel and the suction cup position according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the second steering angle and the suction cup position; determining a steering wheel steering angle of the vehicle special-shaped steering wheel according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the first steering angle, the suction cup position and the termination axis position.

4. The method of claim 3, wherein, The method further comprises: determining a termination axis position of the vehicle force measurement steering wheel according to the special-shaped steering wheel measurement position, the force measurement steering wheel measurement position, the rotation termination position, the suction cup position, the second steering angle, the second connection line included angle and the third connection line included angle.

5. The method of claim 1, wherein, The actual steering torque of the vehicle special-shaped steering wheel is determined according to the force measuring steering wheel measurement position of the vehicle force measuring steering wheel, the special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel, the steering wheel force position of the vehicle force measuring steering wheel, the rotation axis distance, the measured steering torque of the vehicle special-shaped steering wheel and the force measuring steering wheel radius of the vehicle force measuring steering wheel, and the actual steering torque of the vehicle special-shaped steering wheel is determined. The first connection line between the steering wheel force position and the force measuring steering wheel measurement position is determined according to the force measuring steering wheel measurement position of the vehicle force measuring steering wheel, the special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel and the steering wheel force position of the vehicle force measuring steering wheel, and the second connection line between the special-shaped steering wheel measurement position and the force measuring steering wheel measurement position is determined. The actual steering torque of the vehicle special-shaped steering wheel is determined according to the rotation axis distance, the first connection line included angle between the first connection line and the second connection line, the measured steering torque of the vehicle special-shaped steering wheel and the force measuring steering wheel radius of the vehicle force measuring steering wheel.

6. The method of claim 1, wherein, Further comprising: The fixed axis position of the fixed rotation axis of the vehicle special-shaped steering wheel and the initial axis position of the force measuring rotation axis of the vehicle force measuring steering wheel are determined according to the steering column measurement position of the vehicle special-shaped steering wheel.

7. A steering wheel steering data processing apparatus characterized by comprising: Comprising: The rotation axis distance between the fixed rotation axis and the force measuring rotation axis is determined according to the fixed axis position of the fixed rotation axis of the vehicle special-shaped steering wheel and the initial axis position of the force measuring rotation axis of the vehicle force measuring steering wheel by the rotation axis distance determination module; The actual steering torque of the vehicle special-shaped steering wheel is determined according to the force measuring steering wheel measurement position of the vehicle force measuring steering wheel, the special-shaped steering wheel measurement position of the vehicle special-shaped steering wheel, the steering wheel force position of the vehicle force measuring steering wheel, the rotation axis distance, the measured steering torque of the vehicle special-shaped steering wheel and the force measuring steering wheel radius of the vehicle force measuring steering wheel by the actual steering torque determination module; The steering wheel steering angle of the vehicle special-shaped steering wheel is determined according to the special-shaped steering wheel measurement position, the force measuring steering wheel measurement position, the suction cup position of the vehicle suction cup and the rotation termination position of the vehicle force measuring steering wheel around the vehicle special-shaped steering wheel by the steering wheel steering angle determination module.

8. The apparatus of claim 7, wherein, The steering wheel steering angle determination module comprises: The first steering angle from the force measuring steering wheel measurement position to the horizontal position and the second steering angle from the horizontal position to the rotation termination position of the vehicle force measuring steering wheel are determined when the vehicle force measuring steering wheel rotates around the vehicle special-shaped steering wheel by the second steering angle determination unit; The steering wheel steering angle of the vehicle special-shaped steering wheel is determined according to the special-shaped steering wheel measurement position, the force measuring steering wheel measurement position, the first steering angle, the second steering angle, the rotation termination position and the suction cup position of the vehicle suction cup by the steering wheel steering angle determination unit.

9. An electronic device, comprising: The electronic device comprises: At least one processor; and The memory connected in communication with the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the steering wheel steering data processing method in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to implement the steering wheel steering data processing method in any one of claims 1-6 when executed.

Images