Calibration method and device of a steering system of a vehicle, vehicle and storage medium

Abstract

The application discloses a kind of calibration method, device, vehicle and storage medium of the steering system of vehicle.Therein, the method comprises: respectively obtaining the steering wheel angle of vehicle and the driven rod displacement of dynamometer collected at multiple times, wherein vehicle is mechanically connected with dynamometer;According to the target calibration data of preset data selection direction and preset data selection interval, the steering wheel angle of vehicle and the driven rod displacement of dynamometer are selected;Based on target calibration data, the positive correlation function between steering wheel angle and driven rod displacement is constructed, wherein the positive correlation function is used to represent the positive correlation between steering wheel angle and driven rod displacement;Interpolation processing is carried out on steering wheel angle and driven rod displacement in positive correlation function to determine the target value of calibration parameter in positive correlation function, wherein the target value is used to represent the correlation degree between steering wheel angle and driven rod displacement.The application solves the technical problem of low calibration accuracy of the steering system of vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more specifically, to a method, apparatus, vehicle, and storage medium for calibrating a vehicle's steering system. Background Technology

[0002] Currently, to improve vehicle safety performance, it is necessary to test intelligent driving functions and extreme operating conditions. As one of the two major systems of a vehicle, the calibration accuracy of the steering system affects the test scenarios and conditions related to vehicle turning, thus influencing the test results. However, due to the numerous components and complex motion relationships within the steering system, low calibration accuracy is a problem.

[0003] There is currently no effective solution to the problem of low calibration accuracy of the steering system in the aforementioned vehicles. Summary of the Invention

[0004] This invention provides a method, apparatus, vehicle, and storage medium for calibrating a vehicle's steering system, to at least address the technical problem of low calibration accuracy in vehicle steering systems.

[0005] According to one aspect of the present invention, a method for calibrating a vehicle steering system is provided. The method may include: acquiring steering wheel angle and driven lever displacement of a dynamometer collected at multiple times, wherein the vehicle and the dynamometer are mechanically connected; selecting target calibration data from the steering wheel angle and driven lever displacement of the dynamometer according to a preset data selection direction and a preset data selection interval; constructing a positive correlation function between the steering wheel angle and driven lever displacement based on the target calibration data, wherein the positive correlation function represents the positive correlation between the steering wheel angle and driven lever displacement; and performing interpolation processing on the steering wheel angle and driven lever displacement in the positive correlation function to determine target values ​​of calibration parameters in the positive correlation function, wherein the target values ​​represent the degree of correlation between the steering wheel angle and driven lever displacement.

[0006] Optionally, the vehicle includes a drive lever, and the dynamometer includes a driven lever. Rotation of the vehicle's steering wheel causes the drive lever to move, and the movement of the drive lever causes the driven lever to move. Before acquiring the vehicle's steering wheel angle and the dynamometer's driven lever displacement at multiple times, the method further includes: determining a positive correlation between the drive lever displacement and the driven lever displacement in response to the drive lever and driven lever being in the same plane and parallel; determining a positive correlation between the drive lever displacement and the driven lever displacement in response to the drive lever and driven lever being in the same plane and not parallel; and determining a positive correlation between the drive lever displacement and the driven lever displacement in response to the drive lever and driven lever being in different planes.

[0007] Optionally, the steering wheel angle of the vehicle and the driven rod displacement of the dynamometer are acquired at multiple moments, including: acquiring the steering wheel angle of the vehicle at each moment as the vehicle's steering wheel moves from the initial angle to the target direction, and acquiring the driven rod displacement of the dynamometer at each moment through the dynamometer.

[0008] Optionally, target calibration data is selected from the vehicle's steering wheel angle and the dynamometer's driven rod displacement according to a preset data selection direction and a preset data selection interval. This includes: determining the set of angle data corresponding to the steering wheel angle and the set of displacement data corresponding to the driven rod displacement; selecting the target steering wheel angle from the angle data set according to the preset data selection direction and the preset data selection interval, and selecting the target driven rod displacement from the displacement data set according to the preset data selection direction and the preset data selection interval; and determining the target steering wheel angle and the target driven rod displacement as the target calibration data.

[0009] Optionally, interpolation processing is performed on the steering wheel angle and driven lever displacement in the positive correlation function, including: determining the target interpolation function corresponding to the positive correlation function; constructing multiple interpolation polynomials based on the target calibration data and the target interpolation function; determining the matrix function corresponding to the multiple interpolation polynomials, wherein the matrix function includes an independent variable matrix, a dependent variable matrix, and a calibration parameter matrix; and solving the calibration parameter matrix based on the independent variable matrix and the dependent variable matrix to obtain the target values ​​of the calibration parameters.

[0010] Optionally, the calibration parameter matrix is ​​solved based on the independent variable matrix and the dependent variable matrix to obtain the target values ​​of the calibration parameters, including: in response to the independent variable matrix being a non-singular matrix, performing singular value decomposition on the independent variable matrix to obtain an orthogonal matrix and a diagonal matrix; performing a product operation on the orthogonal matrix and the diagonal matrix to solve for the pseudo-inverse matrix corresponding to the independent variable matrix; and solving for the calibration parameter matrix based on the matrix function and the pseudo-inverse matrix to obtain the target data corresponding to the calibration parameters.

[0011] Optionally, based on the matrix function and the pseudo-inverse matrix, the calibration parameter matrix is ​​solved to obtain the target data corresponding to the calibration parameters, including: multiplying both sides of the matrix function by the pseudo-inverse matrix to obtain the target matrix corresponding to the calibration parameter matrix; and solving for the eigenvalues ​​of the target matrix to obtain the target values ​​of the calibration parameters.

[0012] According to another aspect of the present invention, a calibration device for a vehicle steering system is also provided. The device may include: an acquisition module, configured to acquire the steering wheel angle of the vehicle and the driven lever displacement of the dynamometer collected at multiple times, wherein the vehicle and the dynamometer are mechanically connected; a selection module, configured to select target calibration data from the steering wheel angle of the vehicle and the driven lever displacement of the dynamometer according to a preset data selection direction and a preset data selection interval; a construction module, configured to construct a positive correlation function between the steering wheel angle and the driven lever displacement based on the target calibration data, wherein the positive correlation function represents the positive correlation between the steering wheel angle and the driven lever displacement; and a processing module, configured to perform interpolation processing on the steering wheel angle and the driven lever displacement in the positive correlation function to determine the target value of the calibration parameter in the positive correlation function, wherein the target value represents the degree of correlation between the steering wheel angle and the driven lever displacement.

[0013] According to another aspect of the present invention, a vehicle is also provided. This vehicle is used to perform the calibration method for the steering system of the vehicle according to the embodiments of the present invention.

[0014] According to another aspect of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the calibration method for the steering system of a vehicle according to the present invention.

[0015] In this embodiment of the invention, the steering wheel angle of the vehicle and the driven rod displacement of the dynamometer are acquired at multiple times, wherein the vehicle and the dynamometer are mechanically connected; target calibration data are selected from the steering wheel angle of the vehicle and the driven rod displacement of the dynamometer according to a preset data selection direction and a preset data selection interval; a positive correlation function between the steering wheel angle and the driven rod displacement is constructed based on the target calibration data, wherein the positive correlation function is used to represent the positive correlation between the steering wheel angle and the driven rod displacement; the steering wheel angle and the driven rod displacement in the positive correlation function are interpolated to determine the target value of the calibration parameter in the positive correlation function, wherein the target value is used to represent the degree of correlation between the steering wheel angle and the driven rod displacement. In other words, according to the preset data selection direction and preset data selection interval, the present invention selects target calibration data from the acquired steering wheel angle and driven rod displacement of the vehicle and the dynamometer, respectively. Based on the selected target calibration data, a positive correlation function between the steering wheel angle and the driven rod displacement is constructed, and the steering wheel angle and driven rod displacement in the positive correlation function are interpolated to determine the target values ​​of the calibration parameters in the positive correlation function. The method is relatively simple, and the target values ​​of the calibration parameters in the positive correlation function determined by the interpolation are relatively accurate, thereby achieving the technical effect of improving the calibration accuracy of the vehicle's steering system and solving the technical problem of low calibration accuracy of the vehicle's steering system. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 This is a flowchart of a method for calibrating a vehicle steering system according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram illustrating the working principle of a vehicle-around-the-loop steering tie rod according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of an embodiment of the present invention, in which the driving rod and the driven rod are located in the same plane and parallel to each other;

[0020] Figure 4 This is a schematic diagram of an embodiment of the present invention, in which the driving rod and the driven rod are located in the same plane and are not parallel.

[0021] Figure 5 This is a schematic diagram of another embodiment of the present invention, in which the driving rod and the driven rod are located in the same plane and are not parallel;

[0022] Figure 6 This is a schematic diagram of an embodiment of the present invention in which the driving rod and the driven rod are located in different planes;

[0023] Figure 7 This is a schematic diagram illustrating the acquisition of steering wheel angle and driven lever displacement according to an embodiment of the present invention;

[0024] Figure 8 This is a schematic diagram of a calibration device for a vehicle steering system according to an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Example 1

[0028] According to an embodiment of the present invention, an embodiment of a method for calibrating a vehicle steering system is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0029] Figure 1 This is a flowchart of a vehicle steering system calibration method according to an embodiment of the present invention, such as... Figure 1 As shown, the method may include the following steps:

[0030] Step S102: Acquire the steering wheel angle of the vehicle and the displacement of the driven rod of the dynamometer at multiple times, wherein the vehicle and the dynamometer are mechanically connected.

[0031] In the technical solution provided by step S102 of the present invention, the steering wheel angle of the vehicle and the driven rod displacement of the dynamometer can be acquired at multiple times. The vehicle and the dynamometer are mechanically connected. The steering wheel angle can be the angle of rotation of the vehicle's steering wheel, represented by θ. For example, the steering wheel angle can be 360 ​​degrees; this is merely an example and no specific limitation is made to the determination of the steering wheel angle. The dynamometer can be used to test the power of an engine and can be used as a loading device for gearboxes, reducers, and transmissions. The driven rod displacement can be the distance the driven rod of the dynamometer moves, represented by y. For example, the driven rod displacement can be 0.5 meters; this is merely an example and no specific limitation is made to the determination of the driven rod displacement.

[0032] Alternatively, signal acquisition software (such as Canoe) can be used to acquire the steering wheel angle via the Controller Area Network (CAN) bus, and dynamometer software can be used to acquire the driven lever displacement.

[0033] For example, whenever the steering wheel turns once, the signal acquisition software can monitor the angle of the steering wheel turn via the CAN bus and record the steering wheel angle and the time point of the steering wheel turn. At the same time, the dynamometer software can be used to acquire the driven rod displacement at the same time point. Based on the above method, the steering wheel angle and driven rod displacement at multiple time points can be obtained, and the steering wheel angle and driven rod displacement acquired at the same time point correspond to each other.

[0034] Step S104: Select target calibration data from the steering wheel angle of the vehicle and the driven rod displacement of the dynamometer according to the preset data selection direction and preset data selection interval.

[0035] In the technical solution provided by step S104 of the present invention, as described in step S102, the steering wheel angle and driven lever displacement collected at the same time point correspond to each other. Based on this, the steering wheel angle and driven lever displacement collected at multiple time points can be arranged sequentially, with the steering wheel angle and driven lever displacement at the same sequence number corresponding to each other. Based on this, target calibration data can be selected from the vehicle's steering wheel angle and the dynamometer's driven lever displacement according to a preset data selection direction and a preset data selection interval. The preset data selection direction can be a data selection direction preset by the user according to actual conditions, such as selecting data from left to right or from the middle to both ends. This is only an example and does not impose specific limitations on the determination of the preset data selection direction. The preset data selection interval can be a data selection interval preset by the user according to actual conditions, such as an interval of 5. This is only an example and does not impose specific limitations on the determination of the preset data selection interval. The target calibration data can be steering wheel angle data and driven lever displacement data that conform to the preset data selection direction and preset data selection interval.

[0036] Optionally, the steering wheel angle and driven lever displacement selected at the same serial number can be used as a data point pair, and then multiple data point pairs can be obtained. These multiple data point pairs constitute the target calibration data, where the data point pair can be represented by (θ, y).

[0037] For example, when the preset data selection direction is from left to right and the preset data selection interval is 5, the steering wheel angles that meet the left-to-right selection direction and selection interval of 5 can be selected from the acquired steering wheel angles as (5, 10, 15). Based on the selected steering wheel angles, the corresponding driven lever displacements can be obtained as (3, 4, 5), showing a one-to-one correspondence between the steering wheel angles and driven lever displacements. Using the selected steering wheel angles and driven lever displacements, data point pairs (5, 3), (10, 4), and (15, 5) can be obtained.

[0038] Step S106: Construct a positive correlation function between the steering wheel angle and the driven lever displacement based on the target calibration data, wherein the positive correlation function is used to represent the positive correlation between the steering wheel angle and the driven lever displacement.

[0039] In the technical solution provided in step S106 of the present invention, a positive correlation function between the steering wheel angle and the driven lever displacement can be constructed based on the selected target calibration data. The positive correlation function can be used to represent the positive correlation between the steering wheel angle and the driven lever displacement.

[0040] In this embodiment, the steering wheel angle is the independent variable, represented by X, and the driven lever displacement is the dependent variable, represented by Y. The constructed positive correlation function is Y = AX, where A can be used to represent the parameters of the positive correlation function. When the steering wheel angle is known, the driven lever displacement can be obtained by solving the constructed positive correlation function Y = AX. When the driven lever displacement is known, the steering wheel angle can be obtained by solving the constructed positive correlation function Y = AX in reverse.

[0041] Step S108: Interpolate the steering wheel angle and driven lever displacement in the positive correlation function to determine the target value of the calibration parameter in the positive correlation function, wherein the target value is used to represent the degree of correlation between the steering wheel angle and the driven lever displacement.

[0042] In the technical solution provided in step S108 of the present invention, interpolation processing can be performed on the steering wheel angle and driven lever displacement in the constructed positive correlation function to determine the target values ​​of the calibration parameters in the positive correlation function. The target values ​​can be used to represent the degree of correlation between the steering wheel angle and the driven lever displacement. The interpolation processing can involve interpolating a continuous function based on the target calibration data, so that the curve of the continuous function passes through all the data points corresponding to the given target calibration data. For example, a power function can be used for interpolation processing; this is only an example and does not impose specific limitations on the interpolation function. The calibration parameters can be an important basis for evaluating the vehicle's quality level and technical condition; for example, they can be parameters of the power function interpolation curve; this is only an example and does not impose specific limitations on the content of the calibration parameters.

[0043] For example, a power function can be used as an interpolation function to interpolate the steering wheel angle and driven rod displacement in the constructed positive correlation function Y=AX, so as to determine the target value of the calibration parameter A in the positive correlation function Y=AX.

[0044] In steps S102 to S108 of the present invention, the steering wheel angle of the vehicle and the driven rod displacement of the dynamometer are acquired at multiple times, wherein the vehicle and the dynamometer are mechanically connected; target calibration data are selected from the steering wheel angle of the vehicle and the driven rod displacement of the dynamometer according to a preset data selection direction and a preset data selection interval; a positive correlation function between the steering wheel angle and the driven rod displacement is constructed based on the target calibration data, wherein the positive correlation function is used to represent the positive correlation between the steering wheel angle and the driven rod displacement; the steering wheel angle and the driven rod displacement in the positive correlation function are interpolated to determine the target value of the calibration parameter in the positive correlation function, wherein the target value is used to represent the degree of correlation between the steering wheel angle and the driven rod displacement. In other words, according to the preset data selection direction and preset data selection interval, the present invention selects target calibration data from the acquired steering wheel angle and driven rod displacement of the vehicle and the dynamometer, respectively. Based on the selected target calibration data, a positive correlation function between the steering wheel angle and the driven rod displacement is constructed, and the steering wheel angle and driven rod displacement in the positive correlation function are interpolated to determine the target values ​​of the calibration parameters in the positive correlation function. The method is relatively simple, and the target values ​​of the calibration parameters in the positive correlation function determined by the interpolation are relatively accurate, thereby achieving the technical effect of improving the calibration accuracy of the vehicle's steering system and solving the technical problem of low calibration accuracy of the vehicle's steering system.

[0045] The method described in this embodiment will be further described below.

[0046] As an optional embodiment, the vehicle includes an active lever, and the dynamometer includes a driven lever. Rotation of the vehicle's steering wheel causes movement of the active lever, which in turn causes movement of the driven lever. Before acquiring the vehicle's steering wheel angle and the dynamometer's driven lever displacement at multiple times, the method further includes: determining a positive correlation between the active lever displacement and the driven lever displacement in response to the active lever and the driven lever being in the same plane and parallel; determining a positive correlation between the active lever displacement and the driven lever displacement in response to the active lever and the driven lever being in the same plane and not parallel; and determining a positive correlation between the active lever displacement and the driven lever displacement in response to the active lever and the driven lever being in different planes.

[0047] In this embodiment, the vehicle includes a drive lever, and the dynamometer includes a driven lever. The drive lever and the driven lever are connected by a linkage. The drive lever includes a rack, and the vehicle's steering wheel is fixed to a gear located on the rack of the drive lever. Rotation of the steering wheel causes the gear to rotate on the rack, which in turn moves the drive lever, which in turn moves the driven lever. In other words, rotation of the vehicle's steering wheel moves the drive lever, and the movement of the drive lever moves the driven lever. It should be noted that before acquiring the vehicle's steering wheel angle and the dynamometer's driven lever displacement at multiple times, a positive correlation between the drive lever displacement and the driven lever displacement can be determined first. For example, a positive correlation between the drive lever displacement and the driven lever displacement can be determined if the drive lever and driven lever are in the same plane and parallel. A positive correlation between the drive lever displacement and the driven lever displacement can be determined if the drive lever and driven lever are in the same plane and not parallel. In response to the driving and driven levers being located in different planes, a positive correlation between the displacements of the driving and driven levers is determined. The displacement of the driving lever can be represented by the distance the driving lever of the vehicle moves, denoted by 'a', while the displacement of the driven lever can be represented by the distance the driven lever of the dynamometer moves, denoted by 'y'.

[0048] Optionally, in response to the fact that the driving rod and the driven rod are located in the same plane and are parallel, according to the parallelogram principle, the displacement of the driving rod is the same as that of the driven rod, that is, y = a, the displacement of the driving rod and the displacement of the driven rod are directly proportional and positively correlated. Therefore, it can be determined that there is a positive correlation between the displacement of the driving rod and the displacement of the driven rod.

[0049] Optionally, in response to the fact that the driving lever and the driven lever are located in the same plane and are not parallel, the rotation of the vehicle's steering wheel causes the driving lever to move, and the movement of the driving lever causes the driven lever to move. To express this process more clearly, the driven lever can be moved in the reverse direction. It can be seen that the displacement y of the driven lever increases as the displacement a of the driving lever increases. Therefore, it can be determined that there is a positive correlation between the displacement of the driving lever and the displacement of the driven lever.

[0050] Optionally, in response to the driving rod and driven rod being located in different planes, the plane formed by the reverse motion of the driven rod intersects the sphere as a circle of a fixed radius. It can be seen that the displacement y of the driven rod increases as the displacement a of the driving rod increases. Therefore, it can be determined that there is a positive correlation between the displacement of the driving rod and the displacement of the driven rod.

[0051] As an optional embodiment, step S102 involves acquiring the vehicle's steering wheel angle and the dynamometer's driven rod displacement at multiple moments, including: acquiring the vehicle's steering wheel angle at each moment as the vehicle's steering wheel moves from the initial angle toward the target direction, and acquiring the dynamometer's driven rod displacement at each moment.

[0052] In this embodiment, as the vehicle's steering wheel moves from the initial angle towards the target direction, the steering wheel angle at each moment can be collected, and the driven rod displacement of the dynamometer at each moment can be collected using a dynamometer. The initial angle can be the angle when the vehicle's steering wheel is not moving; for example, the initial angle can be considered as 0 degrees. The target direction can be the direction in which the vehicle's steering wheel turns; for example, it can be the right turn direction. This is only an example and no specific limitation is made on the target direction.

[0053] For example, as the vehicle's steering wheel turns to the right from its initial angle of 0 degrees, the steering wheel angle at each moment can be collected, and the displacement of the driven rod of the dynamometer at each moment can be collected through the dynamometer.

[0054] As an optional embodiment, step S104 involves selecting target calibration data from the vehicle's steering wheel angle and the dynamometer's driven rod displacement according to a preset data selection direction and a preset data selection interval. This includes: determining the angle data set corresponding to the steering wheel angle and the displacement data set corresponding to the driven rod displacement; selecting the target steering wheel angle from the angle data set according to the preset data selection direction and the preset data selection interval, and selecting the target driven rod displacement from the displacement data set according to the preset data selection direction and the preset data selection interval; and determining the target steering wheel angle and the target driven rod displacement as the target calibration data.

[0055] In this embodiment, after acquiring the steering wheel angle and driven lever displacement, the set of steering wheel angle data and the set of driven lever displacement data can be determined. Then, from the determined steering wheel angle data set, a target steering wheel angle is selected according to a preset data selection direction and a preset data selection interval; and from the determined displacement data set, a target driven lever displacement is selected according to a preset data selection direction and a preset data selection interval. After selecting the target steering wheel angle and target driven lever displacement, these selected target steering wheel angle and target driven lever displacement can be defined as target calibration data.

[0056] Optionally, the user can set the selection principles for the target steering wheel angle and the target driven lever displacement according to the actual situation. The set selection principles include, but are not limited to: determining the angle data set and the displacement data set, selecting the target steering wheel angle at the left and right ends of the angle data set according to the preset data selection direction and preset data selection interval, and selecting the target driven lever displacement at the left and right ends of the displacement data set according to the preset data selection direction and preset data selection interval.

[0057] Optionally, the selection principle can also be: determine the minimum steering wheel angle and the shortest displacement of the driven lever; starting from the minimum steering wheel angle, select the target steering wheel angle according to the preset data selection direction and preset data selection interval; and starting from the shortest displacement of the driven lever, select the target driven lever displacement according to the preset data selection direction and preset data selection interval.

[0058] For example, the set of steering wheel angle data corresponding to the steering wheel angle is determined to be (0, 2, 4, 6, ..., 356, 358, 360), and the set of displacement data corresponding to the driven lever displacement is determined to be (0, 1, 2, 3, ..., 10). When the preset data selection direction for the steering wheel angle is from left to right and the preset data selection interval is 4, the target steering wheel angle can be selected from the angle data set as (0, 8, 16). Similarly, to ensure that the steering wheel angle and driven lever displacement in the selected target calibration data are collected at the same time, the preset data selection direction for the driven lever displacement is also from left to right, and the preset data selection interval is also 4. For example, the target driven lever displacement selected from the displacement data set could be (0, 4, 8). By selecting the target steering wheel angle and the target driven rod displacement, the data point pairs in the target calibration data are determined to be (0, 0), (8, 4) and (16, 8). This is only an example and does not limit the data selection principle or the selected data point pairs. Any data selection principle that conforms to the embodiments of this application is within the protection scope of this application.

[0059] As an optional embodiment, step S108 involves interpolating the steering wheel angle and driven lever displacement in the positive correlation function, including: determining the target interpolation function corresponding to the positive correlation function; constructing multiple interpolation polynomials based on the target calibration data and the target interpolation function; determining the matrix function corresponding to the multiple interpolation polynomials, wherein the matrix function includes an independent variable matrix, a dependent variable matrix, and a calibration parameter matrix; and solving the calibration parameter matrix based on the independent variable matrix and the dependent variable matrix to obtain the target values ​​of the calibration parameters.

[0060] In this embodiment, the target interpolation function corresponding to the positive correlation function can be determined. After determining the target interpolation function, multiple interpolation polynomials can be constructed based on the target interpolation function and the target calibration data. Through the constructed multiple interpolation polynomials, the corresponding matrix functions can be determined, wherein the matrix functions may include at least an independent variable matrix, a dependent variable matrix, and a calibration parameter matrix. Using the independent variable matrix and the dependent variable matrix in the matrix function, the calibration parameter matrix can be solved to obtain the target values ​​of the calibration parameters.

[0061] Alternatively, when the target interpolation function is a power function, multiple interpolation polynomials can be constructed using the following formula:

[0062]

[0063]

[0064] …

[0065]

[0066] By constructing multiple interpolation polynomials, the matrix functions corresponding to these polynomials can be determined as follows:

[0067] Y = XA

[0068] The matrix function includes the dependent variable matrix Y = [y1y2y] n ] T Independent variable matrix And calibration parameter matrix A = [a0a1a] n-1 ] T The calibration parameter matrix A can be solved using the independent variable matrix X and the dependent variable matrix Y in the matrix function to obtain the target value of the calibration parameter matrix A.

[0069] As an optional implementation method, the calibration parameter matrix is ​​solved based on the independent variable matrix and the dependent variable matrix to obtain the target value of the calibration parameter, including: in response to the independent variable matrix being a non-singular matrix, performing singular value decomposition on the independent variable matrix to obtain an orthogonal matrix and a diagonal matrix; performing a product operation on the orthogonal matrix and the diagonal matrix to solve for the pseudo-inverse matrix corresponding to the independent variable matrix; and solving for the calibration parameter matrix based on the matrix function and the pseudo-inverse matrix to obtain the target data corresponding to the calibration parameter.

[0070] In this embodiment, when the independent variable matrix in the matrix function is a non-singular matrix, singular value decomposition can be performed on the independent variable matrix to obtain an orthogonal matrix and a diagonal matrix. By multiplying the obtained orthogonal matrix and diagonal matrix, the pseudo-inverse matrix corresponding to the independent variable matrix can be solved. Based on the matrix function and the obtained pseudo-inverse matrix, the calibration parameter matrix can be solved to obtain the target value corresponding to the calibration parameters.

[0071] Optionally, when the independent variable matrix in the matrix function is a non-singular matrix, |X|≠0, resulting in a large computational burden. Singular value decomposition of the independent variable matrix can be performed using the following formula:

[0072] X = USV T

[0073] In this matrix, both U and V are orthogonal matrices, and S is a diagonal matrix. Based on the obtained orthogonal and diagonal matrices, the pseudo-inverse matrix corresponding to the independent variable matrix can be solved using the following formula:

[0074] X + =VS + U T

[0075] In this process, the inverse operation is performed on the diagonal matrix S to obtain the pseudo-inverse matrix of the diagonal matrix S. Based on the matrix function and the pseudo-inverse matrix corresponding to the obtained independent variable matrix, the calibration parameter matrix can be solved, and the target data corresponding to the calibration parameters can be obtained.

[0076] As an optional implementation method, the calibration parameter matrix is ​​solved based on the matrix function and the pseudo-inverse matrix to obtain the target data corresponding to the calibration parameters. This includes: multiplying both sides of the matrix function by the pseudo-inverse matrix to obtain the target matrix corresponding to the calibration parameter matrix; and solving for the eigenvalues ​​of the target matrix to obtain the target values ​​of the calibration parameters.

[0077] In this embodiment, based on the matrix function and the pseudo-inverse matrix corresponding to the solved independent variable matrix, the target matrix corresponding to the calibration parameter matrix can be obtained by multiplying both sides of the matrix function by the pseudo-inverse matrix corresponding to the independent variable matrix. By solving for the eigenvalues ​​of the target matrix, the target values ​​of the calibration parameters can be obtained.

[0078] Optionally, based on the matrix function and the pseudo-inverse matrix corresponding to the solved independent variable matrix, the pseudo-inverse matrix X corresponding to the independent variable matrix can be multiplied on the left side of both sides of the matrix function Y = XA. + The target matrix corresponding to the calibration parameter matrix is ​​obtained, as shown in the following formula:

[0079]

[0080] Among them, under the principle of least-order interpolation, the target value of the calibration parameter matrix A can be obtained as X. + Y. Furthermore, using the matrix function Y = XA, the driven lever displacement Y can be obtained given the steering wheel angle X, and the steering wheel angle X can be obtained by solving in reverse given the driven lever displacement Y.

[0081] This embodiment acquires the vehicle's steering wheel angle and the dynamometer's driven rod displacement at multiple times, wherein the vehicle and dynamometer are mechanically connected; target calibration data is selected from the vehicle's steering wheel angle and the dynamometer's driven rod displacement according to a preset data selection direction and a preset data selection interval; a positive correlation function between the steering wheel angle and the driven rod displacement is constructed based on the target calibration data, wherein the positive correlation function is used to represent the positive correlation between the steering wheel angle and the driven rod displacement; interpolation processing is performed on the steering wheel angle and the driven rod displacement in the positive correlation function to determine the target value of the calibration parameter in the positive correlation function, wherein the target value is used to represent the degree of correlation between the steering wheel angle and the driven rod displacement. In other words, according to the preset data selection direction and preset data selection interval, the present invention selects target calibration data from the acquired steering wheel angle and driven rod displacement of the vehicle and the dynamometer, respectively. Based on the selected target calibration data, a positive correlation function between the steering wheel angle and the driven rod displacement is constructed, and the steering wheel angle and driven rod displacement in the positive correlation function are interpolated to determine the target values ​​of the calibration parameters in the positive correlation function. The method is relatively simple, and the target values ​​of the calibration parameters in the positive correlation function determined by the interpolation are relatively accurate, thereby achieving the technical effect of improving the calibration accuracy of the vehicle's steering system and solving the technical problem of low calibration accuracy of the vehicle's steering system.

[0082] Example 2

[0083] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0084] Currently, with the rapid development of modern technology, vehicles are widely used. Quality, as a crucial indicator of user perception of vehicle value, is paramount to the core competitiveness of vehicle manufacturers. Vehicle testing, as a key aspect of quality control, runs parallel to vehicle design. Furthermore, the continuous development of artificial intelligence has given rise to a wealth of advanced vehicle functions, such as driver assistance, automatic following, valet parking, and emergency avoidance. These advanced functions enhance the user's driving experience and also strengthen the core competitiveness of vehicle manufacturers. While emerging technologies bring convenience to users, they also bring many safety incidents, such as high-speed loss of control of intelligent driving vehicles and vehicle malfunctions leading to collisions and fires, harming users' personal safety and economic interests.

[0085] Testing vehicle intelligent driving functions and extreme operating conditions is crucial for ensuring quality. There are two main approaches to real-vehicle testing of intelligent driving functions and extreme operating conditions: road testing and vehicle-in-the-loop (VIL) testing. Compared to road testing, VIL testing offers advantages such as scenario simulation, lower dependence on test sites, and lower manpower and material costs, making it the primary testing solution for universities and companies. The VIL system works by disassembling all four wheels of the vehicle, mounting the wheel hubs on a dynamometer, detaching the steering system from the suspension steering knuckles, and connecting the steering system to the dynamometer driven rod. As one of the two major systems of a vehicle, the steering system's calibration accuracy affects the test scenarios and conditions for turning, such as cornering, emergency avoidance, and short-distance fine-tuning during automatic parking, thus influencing the controller's decisions and the final test results. The steering system has many components and complex motion relationships, leading to potential issues with low calibration accuracy.

[0086] This embodiment proposes a calibration method for a vehicle steering system. In this method, the dynamometer and the vehicle are connected by a ball joint. The positive correlation of the calibration relationship is demonstrated graphically. Then, the working principle and equipment of the calibration device are given. Finally, the calibration algorithm is given to solve the calibration problem, thereby achieving the technical effect of improving the calibration accuracy of the vehicle steering system and solving the technical problem of low calibration accuracy of the vehicle steering system.

[0087] Figure 2 This is a schematic diagram illustrating the working principle of a vehicle-around-the-loop steering tie rod according to an embodiment of the present invention, as shown below. Figure 2 As shown, the schematic diagram of the working principle of the vehicle's tie rod hardware includes a steering wheel 201, a vehicle drive lever 202, a dynamometer driven lever 203, a connecting rod 204, a gear 205, and a rack 206. The vehicle drive lever 202 is represented by AB, the dynamometer driven lever 203 by CD, and the connecting rod 204 by BC. The dynamometer driven lever CD is connected to the vehicle drive lever AB via the connecting rod BC, which is fixedly connected by the rack 206. The connecting joints at both ends of the connecting rod BC are ball joints, with a ball cage at point B and a rod end bearing at point C. Furthermore, both the vehicle drive lever AB and the dynamometer driven lever CD are constrained by sliding joints. Inside the vehicle, the vehicle steering wheel 201 is fixed to the gear 205, driving the vehicle drive lever AB to move, thus creating the motion of the dynamometer driven lever CD. Therefore, the steering wheel angle θ and the drive lever displacement a are proportional functions: a = θl, where l is a direct proportional parameter. When there is a universal joint between the steering wheel 201 and the gear 205, the driving space can be increased, which is in line with the ergonomic design. At this time, the steering wheel angle θ and the displacement a of the drive lever are also positively correlated. That is to say, when the steering wheel 204 is turned to the left, the rack 206 rotates to the left.

[0088] Figure 3This is a schematic diagram illustrating that, according to an embodiment of the present invention, the driving rod and the driven rod are located in the same plane and are parallel, as shown below. Figure 3 As shown, since the vehicle's driving rod AB and the dynamometer's driven rod CD are located in the same plane and are parallel, according to the parallelogram principle, the displacement of the driving rod is the same as that of the driven rod, that is, y = a. The displacement of the driving rod and the displacement of the driven rod are directly proportional and positively correlated. Therefore, the positive correlation between the displacement of the driving rod and the displacement of the driven rod can be determined.

[0089] Figure 4 This is a schematic diagram illustrating an embodiment of the present invention where the driving rod and the driven rod are located in the same plane but are not parallel, as shown below. Figure 4 As shown, in response to the vehicle's driving lever AB and the dynamometer's driven lever CD being in the same plane and not parallel, when hinge point B moves to point B′, hinge point C moves to point C′, and the displacement of the driven lever is CC′. Figure 5 This is a schematic diagram illustrating another embodiment of the present invention where the driving rod and the driven rod are located in the same plane but are not parallel, as shown below. Figure 5 As shown, the rotation of the vehicle's steering wheel causes the movement of the vehicle's drive lever AB, which in turn causes the movement of the dynamometer's driven lever CD. To more clearly illustrate this process, the dynamometer's driven lever CD can be moved in the reverse direction. When hinge point C moves to point C′, hinge point D moves to point D′, and the intersection point C′ with the circle can be determined. The displacement CC′ of the driven lever is y. By observation, it can be seen that the displacement y of the driven lever increases as the displacement a of the drive lever increases. Therefore, a positive correlation between the displacements of the drive lever and the driven lever can be established.

[0090] Figure 6 This is a schematic diagram illustrating an embodiment of the present invention where the driving rod and the driven rod are located in different planes, as shown below. Figure 6 As shown, in response to the vehicle's driving rod AB and the dynamometer's driven rod CD being located on different planes, which is a situation caused by actual installation, it can be seen that the plane formed by the reverse movement of the dynamometer's driven rod CD intersects the sphere as a circle of a fixed radius. It can be obtained that the displacement y of the driven rod increases as the displacement a of the driving rod increases. Therefore, the positive correlation between the displacement of the driving rod and the displacement of the driven rod can be determined.

[0091] In this embodiment of the application, after determining that the displacement of the active lever is positively correlated with the displacement of the driven lever, the steering wheel angle of the vehicle and the driven lever displacement of the dynamometer collected at multiple times can be obtained respectively. Figure 7 This is a schematic diagram illustrating the acquisition of steering wheel angle and driven lever displacement according to an embodiment of the present invention, as shown below. Figure 7As shown, the schematic diagram for collecting steering wheel angle and driven lever displacement includes signal acquisition software 701, calculation module 702, displacement sensor 703, and dynamometer software 704. Calculation module 702 may include a cloud platform and a computer. Data transmission is achieved via a CAN bus, where network management messages enable communication, sleep mode, and wake-up. After the signal acquisition software 701 acquires the steering wheel angle, it converts the acquired angle into a data archive file, which can be in Active Server Pages (ASP) format, and then transmits the acquired steering wheel angle data to calculation module 702. After the displacement sensor 703 detects the movement of the driven rod of the dynamometer, it transmits the data via Ethernet. The dynamometer software 704 collects the displacement of the driven rod, converts the collected displacement into a data archive file (which can be in text document (TXT) format), and transmits the collected displacement data to the calculation module 702. After receiving the steering wheel angle data and the driven rod displacement data, the calculation module 702 can determine the calibration parameters of the vehicle steering system based on the received steering wheel angle data and driven rod displacement data.

[0092] In this embodiment, target calibration data (θ, y) is selected from the collected steering wheel angle and driven lever displacement according to a preset data selection direction and a preset data selection interval. The selected target calibration data allows the construction of a positive correlation function between the steering wheel angle and the driven lever displacement. This positive correlation function then determines the corresponding target interpolation function. When the target interpolation function is a power function, multiple interpolation polynomials can be constructed using the following formula:

[0093]

[0094]

[0095] …

[0096]

[0097] By constructing multiple interpolation polynomials, the matrix functions corresponding to these polynomials can be determined as follows:

[0098] Y = XA

[0099] The matrix function includes the dependent variable matrix Y = [y1y2y] n ] T Independent variable matrix And calibration parameter matrix A = [a0a1a] n-1 ] TThe calibration parameter matrix A can be solved using the independent variable matrix X and the dependent variable matrix Y in the matrix function to obtain the target value of the calibration parameter matrix A.

[0100] In this embodiment, when the independent variable matrix in the matrix function is a non-singular matrix, |X|≠0, resulting in a large computational load. Singular value decomposition of the independent variable matrix can be performed using the following formula:

[0101] X = USV T

[0102] In this matrix, both U and V are orthogonal matrices, and S is a diagonal matrix. Based on the obtained orthogonal and diagonal matrices, the pseudo-inverse matrix corresponding to the independent variable matrix can be solved using the following formula:

[0103] X + =VS + U T

[0104] In this process, the inverse operation is performed on the diagonal matrix S to obtain the pseudo-inverse matrix of the diagonal matrix S.

[0105] In this embodiment, based on the matrix function and the pseudo-inverse matrix corresponding to the solved independent variable matrix, the pseudo-inverse matrix X corresponding to the independent variable matrix can be left-multiplied on both sides of the matrix function Y = XA. + The target matrix corresponding to the calibration parameter matrix can be obtained using the following formula:

[0106]

[0107] Among them, under the principle of least-order interpolation, the target value of the calibration parameter matrix A can be obtained as X. + Y. Furthermore, using the matrix function Y = XA, the driven lever displacement Y can be obtained given the steering wheel angle X, and the steering wheel angle X can be obtained by solving in reverse given the driven lever displacement Y.

[0108] This embodiment acquires the vehicle's steering wheel angle and the dynamometer's driven rod displacement at multiple times, wherein the vehicle and dynamometer are mechanically connected; target calibration data is selected from the vehicle's steering wheel angle and the dynamometer's driven rod displacement according to a preset data selection direction and a preset data selection interval; a positive correlation function between the steering wheel angle and the driven rod displacement is constructed based on the target calibration data, wherein the positive correlation function is used to represent the positive correlation between the steering wheel angle and the driven rod displacement; interpolation processing is performed on the steering wheel angle and the driven rod displacement in the positive correlation function to determine the target value of the calibration parameter in the positive correlation function, wherein the target value is used to represent the degree of correlation between the steering wheel angle and the driven rod displacement. In other words, according to the preset data selection direction and preset data selection interval, the present invention selects target calibration data from the acquired steering wheel angle and driven rod displacement of the vehicle and the dynamometer, respectively. Based on the selected target calibration data, a positive correlation function between the steering wheel angle and the driven rod displacement is constructed, and the steering wheel angle and driven rod displacement in the positive correlation function are interpolated to determine the target values ​​of the calibration parameters in the positive correlation function. The method is relatively simple, and the target values ​​of the calibration parameters in the positive correlation function determined by the interpolation are relatively accurate, thereby achieving the technical effect of improving the calibration accuracy of the vehicle's steering system and solving the technical problem of low calibration accuracy of the vehicle's steering system.

[0109] Example 3

[0110] According to an embodiment of the present invention, a calibration device for a vehicle steering system is also provided. It should be noted that this vehicle steering system calibration device can be used to perform the vehicle steering system calibration method of Embodiment 1.

[0111] Figure 8 This is a schematic diagram of a vehicle steering system calibration device according to an embodiment of the present invention, such as... Figure 8 As shown, the calibration device 800 for the vehicle's steering system may include: an acquisition module 802, a selection module 804, a construction module 806, and a processing module 808.

[0112] The acquisition module 802 is used to acquire the steering wheel angle of the vehicle and the driven rod displacement of the dynamometer at multiple times, wherein the vehicle and the dynamometer are mechanically connected.

[0113] The selection module 804 is used to select target calibration data from the steering wheel angle of the vehicle and the driven rod displacement of the dynamometer according to the preset data selection direction and preset data selection interval.

[0114] Module 806 is used to construct a positive correlation function between the steering wheel angle and the driven lever displacement based on the target calibration data. The positive correlation function is used to represent the positive correlation between the steering wheel angle and the driven lever displacement.

[0115] The processing module 808 is used to perform interpolation processing on the steering wheel angle and driven lever displacement in the positive correlation function to determine the target value of the calibration parameter in the positive correlation function, wherein the target value is used to represent the degree of correlation between the steering wheel angle and the driven lever displacement.

[0116] Optionally, the vehicle includes a drive lever, and the dynamometer includes a driven lever. Rotation of the vehicle's steering wheel causes the drive lever to move, and the movement of the drive lever causes the driven lever to move. Before acquiring the vehicle's steering wheel angle and the dynamometer's driven lever displacement at multiple moments, the device further includes: a first determining module, used to determine a positive correlation between the drive lever displacement and the driven lever displacement in response to the drive lever and driven lever being in the same plane and parallel; a second determining module, used to determine a positive correlation between the drive lever displacement and the driven lever displacement in response to the drive lever and driven lever being in the same plane and not parallel; and a third determining module, used to determine a positive correlation between the drive lever displacement and the driven lever displacement in response to the drive lever and driven lever being in different planes.

[0117] Optionally, the acquisition module 802 includes: a acquisition unit, used to acquire the steering wheel angle of the vehicle at each moment during the process of the vehicle's steering wheel moving from the initial angle to the target direction, and to acquire the driven rod displacement of the dynamometer at each moment through the dynamometer.

[0118] Optionally, the selection module 804 includes: a first determining unit, used to determine the set of steering wheel angle data corresponding to the steering wheel angle and the set of displacement data corresponding to the driven lever displacement; a selection unit, used to select a target steering wheel angle in the set of steering wheel angle data according to a preset data selection direction and a preset data selection interval, and to select a target driven lever displacement in the set of displacement data according to a preset data selection direction and a preset data selection interval; and a second determining unit, used to determine the target steering wheel angle and the target driven lever displacement as target calibration data.

[0119] Optionally, the processing module 808 includes: a first determining unit for determining the target interpolation function corresponding to the positive correlation function; a construction unit for constructing multiple interpolation polynomials based on the target calibration data and the target interpolation function; a second determining unit for determining the matrix function corresponding to the multiple interpolation polynomials, wherein the matrix function includes an independent variable matrix, a dependent variable matrix, and a calibration parameter matrix; and a third determining unit for solving the calibration parameter matrix based on the independent variable matrix and the dependent variable matrix to obtain the target value of the calibration parameter.

[0120] Optionally, the third determining unit includes: a first determining subunit, used to perform singular value decomposition on the independent variable matrix in response to the independent variable matrix being a non-singular matrix, to obtain an orthogonal matrix and a diagonal matrix; a second determining subunit, used to perform a product operation on the orthogonal matrix and the diagonal matrix to solve for the pseudo-inverse matrix corresponding to the independent variable matrix; and a third determining subunit, used to solve for the calibration parameter matrix based on the matrix function and the pseudo-inverse matrix to obtain the target data corresponding to the calibration parameters.

[0121] Optionally, the third determining sub-unit includes: multiplying both sides of the matrix function by a pseudo-inverse matrix to obtain the target matrix corresponding to the calibration parameter matrix; and solving for the eigenvalues ​​of the target matrix to obtain the target values ​​of the calibration parameters.

[0122] In this embodiment of the invention, the acquisition module 802 acquires the steering wheel angle of the vehicle and the driven rod displacement of the dynamometer at multiple times, wherein the vehicle and the dynamometer are mechanically connected. The selection module 804 selects target calibration data from the steering wheel angle of the vehicle and the driven rod displacement of the dynamometer according to a preset data selection direction and a preset data selection interval. The construction module 806 constructs a positive correlation function between the steering wheel angle and the driven rod displacement based on the target calibration data. The positive correlation function is used to represent the positive correlation between the steering wheel angle and the driven rod displacement. The processing module 808 performs interpolation processing on the steering wheel angle and the driven rod displacement in the positive correlation function to determine the target value of the calibration parameter in the positive correlation function. The target value is used to represent the degree of correlation between the steering wheel angle and the driven rod displacement. In other words, according to the preset data selection direction and preset data selection interval, the present invention selects target calibration data from the acquired steering wheel angle and driven rod displacement of the vehicle and the dynamometer, respectively. Based on the selected target calibration data, a positive correlation function between the steering wheel angle and the driven rod displacement is constructed, and the steering wheel angle and driven rod displacement in the positive correlation function are interpolated to determine the target values ​​of the calibration parameters in the positive correlation function. The method is relatively simple, and the target values ​​of the calibration parameters in the positive correlation function determined by the interpolation are relatively accurate, thereby achieving the technical effect of improving the calibration accuracy of the vehicle's steering system and solving the technical problem of low calibration accuracy of the vehicle's steering system.

[0123] Example 4

[0124] According to an embodiment of the present invention, a vehicle is also provided for performing the calibration method of the steering system of any of the vehicles in Embodiment 1.

[0125] Example 5

[0126] According to an embodiment of the present invention, a computer-readable storage medium is also provided, the storage medium including a stored program, wherein the program executes the calibration method of the vehicle steering system in Embodiment 1.

[0127] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0128] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0129] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0130] The units defined as separate components may or may not be physically separate. Similarly, the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0131] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0132] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0133] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of calibrating a steering system of a vehicle, characterized by, The method comprises the following steps: acquiring the steering wheel angle and the driven rod displacement of the dynamometer at multiple time points, respectively, wherein the vehicle is mechanically connected with the dynamometer, the vehicle comprises a driving rod, the dynamometer comprises a driven rod, the steering wheel rotation of the vehicle drives the movement of the driving rod, and the movement of the driving rod drives the movement of the driven rod; selecting target calibration data from the steering wheel angle and the driven rod displacement of the dynamometer according to a preset data selection direction and a preset data selection interval; constructing a positive correlation function between the steering wheel angle and the driven rod displacement based on the target calibration data, wherein the positive correlation function is used to represent the positive correlation between the steering wheel angle and the driven rod displacement; performing interpolation processing on the steering wheel angle and the driven rod displacement in the positive correlation function to determine the target value of the calibration parameter in the positive correlation function, wherein the target value is used to represent the correlation degree between the steering wheel angle and the driven rod displacement.

2. The method of claim 1, wherein, Before the step of acquiring the steering wheel angle and the driven rod displacement of the dynamometer at multiple time points, respectively, the method further comprises the following steps: determining the positive correlation between the driving rod displacement and the driven rod displacement in response to the driving rod and the driven rod being located in the same plane and being parallel; determining the positive correlation between the driving rod displacement and the driven rod displacement in response to the driving rod and the driven rod being located in the same plane and being non-parallel; determining the positive correlation between the driving rod displacement and the driven rod displacement in response to the driving rod and the driven rod being located in different planes.

3. The method of claim 1, wherein, The step of acquiring the steering wheel angle and the driven rod displacement of the dynamometer at multiple time points, respectively, comprises the following steps: acquiring the steering wheel angle of the vehicle at each time point in the process that the steering wheel of the vehicle moves from an initial angle to a target direction, and acquiring the driven rod displacement of the dynamometer at each time point through the dynamometer.

4. The method of claim 1, wherein, The step of selecting target calibration data from the steering wheel angle and the driven rod displacement of the dynamometer according to a preset data selection direction and a preset data selection interval comprises the following steps: determining a steering angle data set corresponding to the steering wheel angle and a displacement data set corresponding to the driven rod displacement; selecting a target steering wheel angle in the steering angle data set according to a preset data selection direction and a preset data selection interval, and selecting a target driven rod displacement in the displacement data set according to the preset data selection direction and the preset data selection interval; determining the target steering wheel angle and the target driven rod displacement as the target calibration data.

5. The method of claim 1, wherein, The step of performing interpolation processing on the steering wheel angle and the driven rod displacement in the positive correlation function comprises the following steps: determining a target interpolation function corresponding to the positive correlation function; constructing multiple interpolation polynomials based on the target calibration data and the target interpolation function; determining a matrix function corresponding to the multiple interpolation polynomials, wherein the matrix function comprises an independent variable matrix, a dependent variable matrix and a calibration parameter matrix. Solving the calibration parameter matrix based on the independent variable matrix and the dependent variable matrix to obtain a target value of the calibration parameter.

6. The method of claim 5, wherein, The solving of the calibration parameter matrix based on the independent variable matrix and the dependent variable matrix to obtain a target value of the calibration parameter comprises: In response to the independent variable matrix being a non-singular matrix, singular value decomposition is performed on the independent variable matrix to obtain an orthogonal matrix and a diagonal matrix; A product operation is performed on the orthogonal matrix and the diagonal matrix to solve a pseudo-inverse matrix corresponding to the independent variable matrix; The calibration parameter matrix is solved based on the matrix function and the pseudo-inverse matrix to obtain a target data corresponding to the calibration parameter.

7. The method of claim 6, wherein, The solving of the calibration parameter matrix based on the independent variable matrix and the dependent variable matrix to obtain a target value of the calibration parameter comprises: The calibration parameter matrix corresponding to the target matrix is obtained by multiplying the pseudo-inverse matrix on both sides of the matrix function; Eigenvalue solving is performed on the target matrix to obtain a target value of the calibration parameter.

8. A calibration device for a steering system of a vehicle, characterized in that Comprise: An acquisition module is configured to acquire a steering wheel angle of a vehicle and a driven rod displacement of a dynamometer at multiple time points, respectively, wherein the vehicle is mechanically connected to the dynamometer, the vehicle comprises a driving rod, the dynamometer comprises a driven rod, rotation of the steering wheel of the vehicle drives movement of the driving rod, and movement of the driving rod drives movement of the driven rod; A selection module is configured to select target calibration data from the steering wheel angle of the vehicle and the driven rod displacement of the dynamometer according to a preset data selection direction and a preset data selection interval; A construction module is configured to construct a positive correlation function between the steering wheel angle and the driven rod displacement based on the target calibration data, wherein the positive correlation function is used to represent a positive correlation relationship between the steering wheel angle and the driven rod displacement; A processing module is configured to perform interpolation processing on the steering wheel angle and the driven rod displacement in the positive correlation function to determine a target value of a calibration parameter in the positive correlation function, wherein the target value is used to represent a correlation degree between the steering wheel angle and the driven rod displacement.

9. A vehicle characterized by comprising: The calibration method of the steering system of the vehicle.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored program, wherein the program performs the calibration method of the steering system of the vehicle. The computer readable storage medium comprises a stored program, wherein the program performs the calibration method of the steering system of the vehicle.

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