Vehicle deviation correction method

Abstract

The present application belongs to the field of automobile electronics, and particularly relates to a vehicle deviation correction method. A driving computer acquires tire pressure information of vehicle wheels. If the difference between the tire pressures of the vehicle wheels is greater than a set threshold, the vehicle enters an active deviation correction driving state, and the driving direction of the vehicle is corrected according to the tire pressure data. The present application uses tire pressure as a deviation correction index, which is single and clear. The vehicle can be timely corrected in the case of abnormal tire pressure, and the vehicle deviation phenomenon caused by the deflation of a single tire can be effectively avoided.

Description

Technical Field

[0001] This invention belongs to the field of automotive electronics technology, and specifically relates to a vehicle steering correction method. Background Technology

[0002] When a vehicle with assisted driving or autonomous driving is traveling at high speed in a straight line, if the tire pressure of the four wheels is not consistent, the difference in tire pressure may cause the control system to veer off course while maintaining the original direction of travel. In order to avoid veerging due to inconsistent tire pressure, the driver needs to manually control the steering wheel to correct the situation.

[0003] Chinese patent CN115871782A discloses a technical solution for calculating a lane deviation compensation strategy when the vehicle's turning angle data and the current steering wheel torque data do not match. This solution still relies on a vision system to compare the vehicle's actual driving angle with the steering wheel torque before intervening to compensate for lane deviation. This is a passive intervention, and the correction effect heavily depends on visual references. When road markings or other references are missing or difficult to identify, the lane deviation is difficult to correct in a timely manner, posing a safety hazard.

[0004] Chinese patent CN111907515A discloses a method that installs a data acquisition device inside the wheel to collect data such as the pressure exerted on the wheel, the tire pressure level, and pressure changes related to tire pressure leakage. It also includes an offset device to collect the vehicle's deviation. After detecting tire pressure changes, the data acquisition device sends a fault signal, and the controller performs a correction operation based on the offset information from the offset device. In this solution, tire pressure information is only used to trigger an alarm signal; the determination of the vehicle's deviation direction and the correction are based on the information provided by the offset device. Summary of the Invention

[0005] The purpose of this invention is to provide a vehicle correction method that can actively correct the vehicle's trajectory during driving to ensure driving safety.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a vehicle correction method in which the vehicle computer obtains tire pressure information and if the difference in tire pressure of each vehicle is greater than a set threshold, the vehicle enters an active correction driving state and corrects the vehicle's driving direction based on the tire pressure data.

[0007] Compared with the prior art, the present invention has the following technical advantages: using tire pressure as a correction indicator, the indicator is single and clear, and can correct the vehicle in a timely manner in case of abnormal tire pressure, effectively avoiding the occurrence of vehicle deviation caused by one side of the tire being underinflated. Attached Figure Description

[0008] The following is a brief explanation of the contents depicted in the accompanying drawings and the markings within them:

[0009] Figure 1 This is a schematic diagram of the deviation correction control unit;

[0010] Figure 2 This is a schematic diagram of the arrangement of antennas and sensors on a vehicle.

[0011] In the diagram: 10. Lane deviation correction control unit, 11. Tire pressure query circuit, 12. Radio frequency receiving circuit, 13. Antenna, 131. Antenna 1, 132. Antenna 2, 133. Antenna 3, 14. Sensor. Detailed Implementation

[0012] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and through the description of the examples.

[0013] A vehicle steering correction method involves the vehicle's computer acquiring tire pressure information. If the difference in tire pressure exceeds a set threshold, the vehicle enters an active steering correction mode, correcting its direction based on the tire pressure data. When the tire pressure difference between the left and right wheels is significant, the tire diameter of the wheel with lower pressure is smaller than that of the wheel with higher pressure. Simultaneously, the lower tire pressure also causes the tire tread to loosen, increasing the contact length between the tire tread and the ground, thus increasing the rolling resistance of the wheel. Therefore, when the tire pressure difference between the left and right wheels is large, the distances traversed by the two wheels in one revolution are unequal, inevitably leading to a deviation in the vehicle's trajectory. To address this, this embodiment uses an excessively large tire pressure difference as the switching indicator for the steering correction mode. Once the vehicle enters the active steering correction mode, it can correct its direction based on the tire pressure data.

[0014] A vehicle deviation correction method specifically includes the following steps.

[0015] a. The vehicle's computer obtains real-time tire pressure information for the wheels;

[0016] b. Calculate the tire pressure difference between the left and right guide wheels. If the tire pressure difference between the left and right guide wheels is greater than the set threshold, proceed to step d; otherwise, proceed to step c.

[0017] c. Compare the real-time tire pressure information with the tire pressure information when the vehicle was in normal driving condition. If the rate of change of the real-time tire pressure is greater than the set threshold, proceed to step d; otherwise, proceed to step f.

[0018] d. Determine whether the tire pressure change is caused by the vehicle's driving conditions or road conditions;

[0019] If so, proceed to step a after the vehicle's driving status or road conditions change;

[0020] If not, wait for the set time, then obtain the real-time tire pressure information again and compare the new real-time tire pressure information with the previously obtained tire pressure information. If the rate of change between the two real-time tire pressures is within the set threshold range, it is determined that the change in tire pressure is caused by the shift of the load center of gravity, and proceed to step e; otherwise, proceed to step b.

[0021] e. Determine that tire pressure differences will cause a fixed deviation in the vehicle's driving trajectory, calculate the compensation torque based on real-time tire pressure data, and issue a command to drive the power steering motor to continuously apply the compensation torque;

[0022] f. The vehicle enters normal driving mode.

[0023] In the initial stage of vehicle travel, the vehicle speed is slow and the distance traveled is short. Existing technology cannot identify vehicle deviation by comparing the actual driving trajectory with the theoretical driving trajectory. To solve the above problem, in step a of this embodiment, the vehicle computer can obtain real-time tire pressure information of the wheels after the vehicle engine or motor has been started for a set period of time or the vehicle speed has reached a set value. That is, the tire pressure can be determined in the initial stage of vehicle travel. This can effectively avoid fixed deviations in the vehicle's driving trajectory caused by inconsistent tire pressure, thereby ensuring the driving experience and safety of the vehicle during this journey. In other embodiments, if the sensor can detect tire pressure when the vehicle is stationary, the vehicle can also be corrected based on the tire pressure when the vehicle computer is started. To further ensure vehicle driving safety, tire pressure information can also be actively queried after changes in road conditions, or at regular intervals.

[0024] Since changes in tire pressure at the drive wheels have the greatest impact on the vehicle's trajectory, this embodiment first determines the tire pressure difference between the left and right guide wheels. Furthermore, because tire pressure changes are typically slow and continuous, when the tire pressure of a wheel changes excessively, it can be determined that the wheel's tire condition has changed between two travels, potentially affecting driving safety during this journey. To identify this situation, this embodiment includes step c.

[0025] In this embodiment, after detecting abnormal tire pressure, the system first rules out conditions such as uneven road surfaces or the vehicle being on a slope as causes of the abnormal tire pressure. The vehicle's computer can combine map information and satellite navigation system to locate the road where the vehicle is located. It can also analyze road construction conditions, speed bump placement, and other information to determine if there is uneven road surface. Alternatively, it can analyze images captured by the vehicle's onboard camera to identify potholes or bumps, or data collected by the inertial navigation system to show vehicle bouncing. It can also interact with the driver to obtain road condition information, thus accurately and reliably ruling out abnormal tire pressure caused by abnormal road conditions. After the vehicle enters a normal, smooth road surface, tire pressure information is collected again for assessment. Similarly, changes in vehicle driving status or road conditions can be identified and judged by combining map information, satellite navigation system, onboard radar, onboard camera, communication equipment, and other environmental information such as vehicle location, or by combining vehicle dynamic information such as gyroscope, vehicle roll angle, and vehicle pitch angle.

[0026] In step d, the vehicle's computer can directly query the driver to determine the smoothness of the road surface, or it can acquire images from the onboard camera and analyze the road conditions in the images to determine the smoothness of the road surface. Alternatively, it can acquire the vehicle's roll angle or steering wheel angle to determine if the vehicle is turning, or acquire the vehicle's pitch angle or inertial navigation system or map information to determine if the vehicle is on a slope. When the road surface is uneven, or when the vehicle is turning or on a slope, the computer determines that the tire pressure change is caused by the vehicle's driving state or road conditions.

[0027] In this embodiment, the vehicle computer includes a lane deviation correction control unit 10, which comprises a tire pressure monitoring circuit 11, a radio frequency receiving circuit 12, an antenna 13 mounted on the vehicle body, and sensors 14 mounted on each wheel for detecting tire pressure and temperature. To save costs and fully utilize existing components to achieve active lane deviation correction based on tire pressure, in this embodiment, the antenna 13 is used in both the keyless entry and start system. That is, the antenna 13 can be connected to the sensor or communication circuit on the car key via electrical signals, and can also communicate with the sensors 14 mounted on the wheels.

[0028] Details are as attached Figure 2 As shown, antenna 13 includes antenna 131 located inside the right door of the vehicle, antenna 132 located inside the left door of the vehicle, and antenna 133 located at the rear of the vehicle. The right front wheel and right rear wheel are within the signal coverage range of antenna 131, the left front wheel and left rear wheel are within the signal coverage range of antenna 2132, and the left rear wheel and right rear wheel are within the signal coverage range of antenna 133.

[0029] When querying information about the right tire of a vehicle, the tire pressure query circuit 11 first sends a modulation signal to antenna 3 133. Antenna 3 133 then sends a delay command to the sensors 14 located on the left and right rear wheels. After that, the tire pressure query circuit 11 sends a modulation signal to antenna 1 131. Antenna 1 131 then sends a query command to the sensors 14 located on the right front and right rear wheels. Upon receiving the query command, the sensor 14 located on the right front wheel will immediately upload the tire information, and the sensor 14 located on the right rear wheel will upload the tire information after the delay period.

[0030] When querying information about the left tire of a vehicle, the tire pressure query circuit 11 first sends a modulation signal to antenna 3 133. Antenna 3 133 then sends a delay command to the sensors 14 located on the left and right rear wheels. After that, the tire pressure query circuit 11 sends a modulation signal to antenna 2 132. Antenna 2 132 then sends a query command to the sensors 14 located on the left front and left rear wheels. Upon receiving the query command, the sensor 14 located on the left front wheel will immediately upload the tire information, and the sensor 14 located on the left rear wheel will upload the tire information after the delay period.

[0031] In this way, it is possible to avoid the interference caused by the sensors 14 installed on the front and rear wheels on the same side simultaneously transmitting tire pressure information, and to accurately obtain the tire pressure information of each vehicle.

[0032] In addition, under normal driving conditions, the vehicle can actively check tire pressure information after road conditions change, or check tire pressure information at regular intervals. It can also obtain information on the vehicle's current movement, its location, and its surrounding environment to determine whether the vehicle is veering off course, and enter active correction driving mode when the vehicle veers off course.

Claims

1. A vehicle deviation correction method, characterized by: The driving computer acquires the tire pressure information of the wheels, and if the difference of the tire pressure of each wheel is greater than a set threshold, the vehicle enters the active deviation correction driving state, and the driving direction of the vehicle is corrected according to the tire pressure data. Specifically, the method comprises the following steps, a. The driving computer acquires the real-time tire pressure information of the wheels; b. The difference of the tire pressure of the left and right guide wheels is calculated, and if the difference of the tire pressure of the left and right guide wheels is greater than a set threshold, step d is entered, otherwise step c is entered; c. The real-time tire pressure information is compared with the tire pressure information when the vehicle was in the normal driving state last time, and if the change rate of the real-time tire pressure is greater than a set threshold, step d is entered, otherwise step f is entered; d. It is judged whether the change of the tire pressure is caused by the driving state or the road condition of the vehicle; If yes, after the driving state or the road condition of the vehicle changes, step a is entered; If no, after a set time, the real-time tire pressure information is acquired again, and the new real-time tire pressure information is compared with the tire pressure information acquired last time, and if the change rates of the real-time tire pressure in the two times are within a set threshold range, it is judged that the change of the tire pressure is caused by the shift of the load center of gravity, and step e is entered, otherwise step b is entered; e. It is judged that the difference of the tire pressure will cause the fixed deviation of the driving track of the vehicle, the compensation torque is calculated according to the real-time tire pressure data, and the command is issued to drive the assist motor to continuously apply the compensation torque; f. The vehicle enters the normal driving state.

2. The vehicle deviation correction method of claim 1, wherein: The method comprises a deviation correction control unit (10), the deviation correction control unit (10) comprises a tire pressure query circuit (11), a radio frequency receiving circuit (12), an antenna (13) arranged on the vehicle body, and a sensor (14) arranged on each wheel for detecting the air pressure and temperature in the tire; The antenna (13) comprises an antenna one (131) arranged in the right side door of the vehicle, an antenna two (132) arranged in the left side door of the vehicle, and an antenna three (133) arranged at the tail of the vehicle, the right front wheel and the right rear wheel are located in the signal coverage range of the antenna one (131), the left front wheel and the left rear wheel are located in the signal coverage range of the antenna two (132), and the left rear wheel and the right rear wheel are located in the signal coverage range of the antenna three (133); When the tire information of the right side of the vehicle is queried, the tire pressure query circuit (11) first sends a modulated signal to the antenna three (133), the antenna three (133) sends a delay command to the sensor (14) arranged on the left rear wheel and the right rear wheel, and then the tire pressure query circuit (11) sends a modulated signal to the antenna one (131), the antenna one (131) sends a query command to the sensor (14) arranged on the right front wheel and the right rear wheel, after receiving the query command, the sensor (14) located on the right front wheel will immediately upload the tire information, and the sensor (14) located on the right rear wheel will upload the tire information after the delay waiting period ends; Similarly, the method for querying the tire information of the left side of the vehicle can be obtained.

3. The vehicle deviation correction method of claim 2, wherein: The antenna (13) is also applied to the keyless entry and start system, and the antenna (13) can be electrically connected with the sensor or communication circuit arranged on the car key.

4. The vehicle deviation correction method of claim 1, wherein: In step a, the driving computer acquires the real-time tire pressure information of the wheels after the vehicle engine or motor is started for a set time or the vehicle driving speed reaches a set value.

5. The vehicle deviation correction method of claim 1, wherein: In step d, the vehicle computer acquires information collected by the vehicle camera or inquires the driver to determine the flatness of the road on which the vehicle is traveling, Acquire the vehicle roll angle or steering wheel angle to determine whether the vehicle is turning, Acquire the vehicle pitch angle or inertial navigation system or map information to determine whether the vehicle is on a sloping road section, When the vehicle is traveling on an uneven road or the vehicle is turning or the vehicle is on a slope, it is determined that the tire pressure change is caused by the vehicle driving state or road conditions.

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