Vehicle tire pressure sensor positioning method, electronic device, vehicle and storage medium

Abstract

The present application discloses a tire pressure sensor positioning method for a vehicle, an electronic device, a vehicle and a storage medium, which obtains multiple target times when a target tire pressure sensor detects that a wheel rotates to a target position; for each wheel, based on the number of teeth detected by the gear sensor of the wheel at each target time, a first gear tooth count sequence corresponding to each wheel is generated; from multiple first gear tooth count sequences corresponding to multiple wheels, a target gear tooth count sequence that meets a preset condition is determined, and the wheel corresponding to the target gear tooth count sequence is determined as the wheel corresponding to the target tire pressure sensor. The present application can accurately determine the target wheel where the target tire pressure sensor is located based on the target gear tooth count sequence that meets the preset condition among multiple first gear tooth count sequences, thereby improving the accuracy of determining the wheel where the tire pressure sensor is located.

Description

Technical Field

[0001] The present application relates to the field of electronic technology, and in particular to a tire pressure sensor positioning method for a vehicle, an electronic device, a vehicle and a storage medium, wherein the storage medium is a computer-readable storage medium. Background Art

[0002] Tire pressure is an important detection indicator to ensure the normal driving and safety of the vehicle. The tire pressure of the vehicle tire can be measured by the tire pressure sensor, which can also be called the tire pressure monitoring system (TPMS).

[0003] A vehicle has multiple wheels and multiple tire pressure sensors. A method for determining the wheel where each tire pressure sensor is located may include, for each tire pressure sensor, obtaining multiple numbers of gear teeth collected by the gear sensor of each wheel when the tire pressure sensor detects that the wheel has rotated to a target position, and calculating the mean, variance, etc. of the multiple numbers of gear teeth of each wheel, and determining the wheel where the tire pressure sensor is located through the mean deviation, variance, etc. However, since the calculation process of the mean and variance cannot exclude abnormal numbers of gear teeth, the wheel where the tire pressure sensor is located cannot be accurately determined by this method. Summary of the invention

[0004] The embodiments of the present application provide a vehicle tire pressure sensor positioning method, electronic equipment, vehicle and storage medium, which can improve the accuracy of determining the target wheel where the tire pressure sensor is located.

[0005] In order to achieve the above object, according to a first aspect of the present application, a method for locating a tire pressure sensor of a vehicle is provided, wherein the vehicle is provided with a plurality of wheels and tire pressure sensors, each wheel corresponds to a gear sensor, and the method comprises:

[0006] Acquire a plurality of target times at which a target tire pressure sensor detects that the wheel rotates to a target position;

[0007] For each wheel, based on the number of gear teeth detected by the gear sensor of the wheel at each target time, generate a gear tooth count sequence corresponding to each wheel;

[0008] Subtracting any two target gear tooth numbers whose position distance satisfies the offset distance in each of the first gear tooth counting sequences to obtain an offset subtraction result of each of the first gear tooth counting sequences;

[0009] According to the offset subtraction result, a target wheel where the target tire pressure sensor is located is determined from the multiple wheels.

[0010] According to a second aspect of the present application, an electronic device is provided, comprising a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute any one of the tire pressure sensor positioning methods for a vehicle provided in an embodiment of the present application.

[0011] According to a third aspect of the present application, a vehicle is provided, including wheels, tire pressure sensors, gear sensors and electronic equipment, wherein the electronic equipment is used to execute any of the tire pressure sensor positioning methods for the vehicle provided in the embodiments of the present application.

[0012] According to a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium is used to store a computer program, and the computer program is loaded by a processor to execute any vehicle tire pressure sensor positioning method provided in the embodiments of the present application.

[0013] In the embodiment of the present application, a vehicle is provided with multiple wheels and tire pressure sensors, each wheel corresponds to a gear sensor, and multiple target times for the wheel to rotate to the target position are detected by acquiring the target tire pressure sensor; for each wheel, a first gear tooth count sequence corresponding to each wheel is generated based on the number of gear teeth detected by the gear sensor of the wheel at each target time; from the multiple first gear tooth count sequences corresponding to the multiple wheels, a target gear tooth count sequence that meets the preset conditions is determined, and the wheel corresponding to the target gear tooth count sequence is determined as the wheel corresponding to the target tire pressure sensor.

[0014] The embodiment of the present application can accurately determine the target wheel where the target tire pressure sensor is located based on the target tooth counting sequence that meets the preset conditions in the multiple first tooth counting sequences, thereby improving the accuracy of determining the wheel where the tire pressure sensor is located. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0016] Figure 1 is a flow chart of a tire pressure sensor positioning method for a vehicle provided in an embodiment of the present application;

[0017] Figure 2 is a schematic diagram of the distribution of the number of teeth on each wheel of a vehicle provided in an embodiment of the present application;

[0018] Figure 3 is a schematic diagram of a process for determining a target wheel where a tire pressure sensor is located provided in an embodiment of the present application;

[0019] Figure 4 is a schematic diagram of a tire pressure sensor positioning system for a vehicle provided in an embodiment of the present application;

[0020] Figure 5 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0022] Embodiments of the present application provide a tire pressure sensor positioning method for a vehicle, an electronic device, a vehicle, and a computer-readable storage medium.

[0023] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0024] The embodiment of the present application provides a method for locating a tire pressure sensor of a vehicle, such as Figure 1 As shown, the specific process of the tire pressure sensor positioning method of the vehicle can be as follows:

[0025] 101. Obtain multiple target times when a target tire pressure sensor detects that a wheel rotates to a target position.

[0026] The vehicle is provided with multiple wheels, and each wheel is provided with a tire pressure sensor and a gear sensor, wherein the tire pressure sensor can be used to detect whether the wheel rotates to the target position, and optionally, the tire pressure sensor can be integrated with a gravity sensor (G-sensor), and the G-sensor can be used to detect whether the wheel rotates to the target position. The gear sensor can be used to detect the number of gear teeth, and the position of the gear sensor in the vehicle can be flexibly set, for example, the gear sensor can be integrated in the vehicle's anti-lock braking system (ABS), or can be integrated in a position other than the ABS on the vehicle.

[0027] It can be understood that the correspondence between the gear sensor and the wheel is known, and the correspondence between the tire pressure sensor and the wheel is unknown. The method provided in the embodiment of the present application can automatically determine the correspondence between the tire pressure sensor and the wheel based on the number of gear teeth detected by the gear sensor.

[0028] Each time the wheel rotates a circle, the number of teeth detected by the gear sensor will increase by a fixed number of teeth. For example, the number of teeth that the gear sensor can detect will increase by 96 when the wheel rotates a circle. When the wheel rotates to the target position for the first time, the number of teeth detected by the gear sensor is 60. Then, when the wheel rotates a circle and reaches the target position again, the number of teeth detected by the gear sensor is 156. The tire pressure sensor will generate a corresponding detection signal when the wheel rotates to the target position. Since there is an error in the tire pressure sensor's detection of the wheel rotating to the target position, that is, the tire pressure sensor will generate a detection signal when the wheel rotates to the vicinity of the true target position, when the tire pressure sensor generates a detection signal, the number of teeth detected by the gear sensor may not be 156, but may be 155, 157 or 158, etc.

[0029] If the gear sensor and the tire pressure sensor are located on the same wheel, if the tire pressure sensor has no error in detecting the wheel turning to the target position, and the number of teeth detected by the gear sensor increases by a fixed number of teeth after the wheel turns one circle (the number of teeth detected by the gear sensor increases by a fixed number of teeth after the wheel turns one circle), then the number of teeth detected by the gear sensor at the target time when the tire pressure sensor detects the wheel turning to the target position is a+n×k, where k is the fixed number of teeth, n is an integer not less than zero, and a is the number of teeth detected by the gear sensor when the wheel turns to the target position for the first time. Therefore, if the number of teeth detected by the gear sensor at each target time is modulo the fixed number of teeth, the remainder obtained is a.

[0030] Since there is an error in the tire pressure sensor's detection of the wheel turning to the target position, each time the tire pressure sensor detects the target time when the wheel turns to the target position, the number of teeth detected by the gear sensor is (a+n×k)+i, where i is an integer less than k and greater than -k. The number of teeth detected by the gear sensor at each target time is taken modulo the fixed number of teeth, and the remainder obtained is a+i. The absolute value of i is usually much smaller than k, such as 1, 2, or 4. It can be seen that the number of teeth detected by the gear sensor at each target time, and the remainder of the fixed number of teeth is more concentrated.

[0031] If the gear sensor and tire pressure sensor are located on different wheels, the tire pressure sensor is located on wheel A, and the gear sensor is located on wheel B, since the vehicle may turn left, right, or go straight during driving, wheel A may rotate one circle, but wheel B may not rotate one circle, but may rotate half a circle, or one and a half circles, etc. Therefore, after wheel A rotates one circle, the number of teeth detected by the gear sensor on wheel B may increase by half of the fixed number of teeth, or twice the fixed number of teeth, etc. The number of teeth detected by the gear sensor at each target time is taken as the remainder of the fixed number of teeth, and the distribution of the remainder obtained is very scattered.

[0032] Therefore, if the gear sensor and the tire pressure sensor are located on the same wheel, the distribution of the remainder of the number of teeth detected by the gear sensor to the fixed number of teeth will be more concentrated. If the gear sensor and the tire pressure sensor are located on different wheels, the distribution of the remainder of the number of teeth detected by the gear sensor to the fixed number of teeth will be more dispersed.

[0033] For example, Figure 2 As shown, Figure 2 The number of teeth in is the remainder of the number of teeth detected by the gear sensor when the wheel rotates to the target position to the fixed number of teeth. Figure 2 Each curve in the figure corresponds to the remainder of the number of teeth detected by the gear sensor to the fixed number of teeth when a wheel rotates to the target position, which can be called the remainder of the number of teeth. If the wheel is the target wheel where the tire pressure sensor is located, the remainder of the number of teeth of the wheel will be concentrated in a certain data interval. Figure 2 It can be seen that most of the remainders of the number of teeth of wheel FR are distributed in the range of 59-61, while the distribution of the remainders of the number of teeth of other wheels FL, RL, and RR is more scattered, so wheel FR is the target wheel where the tire pressure sensor is located, among which FL is the left front wheel, FR is the right front wheel, RL is the left rear wheel, and RR is the right rear wheel.

[0034] Therefore, the wheel where the tire pressure sensor is located can be determined based on the discreteness of the remainder of the number of wheel teeth.

[0035] The target tire pressure sensor can be any one of the multiple tire pressure sensors equipped on the vehicle. The tire pressure sensor outputs a detection signal when the wheel rotates to the target position. Therefore, based on the time of the detection signal output by the tire pressure sensor, the time when the wheel rotates to the target position can be obtained, that is, the target time. Each target time corresponds to one time the wheel rotates to the target position.

[0036] 102. For each wheel, based on the number of teeth detected by the gear sensor of the wheel at each target time, generate a first gear tooth counting sequence corresponding to each wheel.

[0037] Among them, the number of teeth in the first gear tooth counting sequence can be the remainder obtained by taking the remainder of the number of teeth detected by the gear sensor at each target time and the fixed number of teeth, and the fixed number of teeth can be the number of teeth rotated by the gear when the wheel rotates one circle, that is, the number of teeth detected by the gear sensor increases by a fixed number of teeth every time the wheel rotates one circle.

[0038] For example, for the first wheel among multiple wheels, the number of teeth detected by the gear sensor of the first wheel at each target time can be obtained, and the number of teeth can be divided by the fixed number of teeth to obtain the remainder, and the number of teeth detected by the gear sensor of the first wheel at each target time and the remainder of the fixed number of teeth can be used to generate a first tooth counting sequence. The number of teeth in the first tooth counting sequence can be arranged from small to large or from large to small.

[0039] For another example, for the first wheel among multiple wheels, the number of teeth detected by the gear sensor of the first wheel at each target time can be obtained, and each number of teeth is modulo a fixed number of teeth to obtain a remainder, and the obtained remainders are sorted from small to large or from large to small to obtain a first tooth counting sequence.

[0040] Referring to the processing of the first wheel, the other wheels of the vehicle are processed to obtain the first tooth count sequence of each wheel on the vehicle.

[0041] 103. Determine a target tooth count sequence that meets a preset condition from a plurality of first tooth count sequences corresponding to a plurality of wheels, and determine the wheel corresponding to the target tooth count sequence as the wheel corresponding to the target tire pressure sensor.

[0042] Among them, the preset condition can be a condition related to the distribution of the number of gear teeth. For example, among multiple first gear tooth count sequences corresponding to multiple wheels, the first gear tooth count sequence with a concentrated distribution of gear tooth numbers is determined as the target gear tooth count sequence that meets the preset condition.

[0043] In one embodiment, step 103 of “determining a target gear tooth count sequence satisfying a preset condition from a plurality of first gear tooth count sequences corresponding to a plurality of wheels, and determining the wheel corresponding to the target gear tooth count sequence as the wheel corresponding to the target tire pressure sensor” may include:

[0044] Subtract any two target gear tooth numbers whose position distance satisfies the offset distance in each first gear tooth counting sequence to obtain the offset subtraction result of each first gear tooth counting sequence, where the position distance is the distance between the positions of the two target gear tooth numbers in the first gear tooth counting sequence;

[0045] According to the offset subtraction result of each of the gear tooth counting sequences, a target gear tooth counting sequence that meets a preset condition is determined from the plurality of first gear tooth counting sequences.

[0046] The offset distance may refer to the distance between the positions of two gear tooth numbers in the first gear tooth counting sequence. For example, in the first gear tooth counting sequence [1, 3, 4, 6, 7], the position of gear tooth number [1] in the first gear tooth counting sequence is 1, and the position of gear tooth number [3] in the first gear tooth counting sequence is 2. Therefore, the offset distance between gear tooth number [1] and gear tooth number [3] is 1. The position of gear tooth number [1] in the first gear tooth counting sequence is 1, and the position of gear tooth number [7] in the first gear tooth counting sequence is 5. Therefore, the offset distance between gear tooth number [1] and gear tooth number [7] is 4.

[0047] The misalignment distance can be set according to the number of gear teeth included in the first gear tooth counting sequence. If the first gear tooth counting sequence [1,3,4,6,7] contains 5 gear teeth, the maximum misalignment distance in the first gear tooth counting sequence can be 4, and the minimum misalignment distance can be 1. Then the misalignment distance can include part or all of the misalignment distances 1 to 4, such as misalignment distance 1 and misalignment distance 2.

[0048] For each misalignment distance, any two target numbers of gear teeth whose position distance satisfies the misalignment distance in the first gear tooth counting sequence may be subtracted to obtain the difference between each two target numbers of gear teeth.

[0049] Specifically, for each misalignment distance among all misalignment distances corresponding to the first gear tooth counting sequence, any two target gear tooth numbers in the first gear tooth counting sequence whose position distance satisfies the misalignment distance can be subtracted to obtain the difference between any two target gear tooth numbers at each misalignment distance in the first gear tooth counting sequence, that is, the misalignment subtraction result.

[0050] For example, for the first gear tooth counting sequence [1,3,4,6,7], for each misalignment distance from 1 to 4, any two target gear tooth numbers whose position distance satisfies the misalignment distance can be subtracted to obtain the difference between each two target gear tooth numbers. Specifically, for misalignment distance 1, the values ​​of 3-1, 4-3, 6-4, and 7-6 can be calculated respectively; for misalignment distance 2, the values ​​of 4-1, 6-3, and 7-4 can be calculated respectively, and so on. The difference between any two target gear tooth numbers at each misalignment distance corresponding to the first gear tooth counting sequence [1,3,4,6,7] can be obtained, that is, the misalignment subtraction result of the first gear tooth counting sequence [1,3,4,6,7] can be obtained.

[0051] Optionally, it is also possible to first correspond to a misalignment distance for the first gear tooth counting sequence, subtract any two target gear tooth numbers in the first gear tooth counting sequence whose position distance satisfies the misalignment distance, and obtain the difference between every two target gear tooth numbers at the misalignment distance; and determine whether to process the next misalignment distance based on the difference between every two target gear tooth numbers at the misalignment distance and the size of a preset error threshold.

[0052] For example, for the first gear tooth counting sequence [1,3,4,6,7], the values ​​of 3-1, 4-3, 6-4, and 7-6 can be calculated for the misalignment distance 1 respectively; then, based on the values ​​of 3-1, 4-3, 6-4, and 7-6, it is determined whether to process the misalignment distance 2.

[0053] The difference between any two target numbers of gear teeth at each misalignment distance can be compared with a preset error threshold. If the difference between the two target numbers of gear teeth is less than the preset error threshold, it means that the difference between the two target numbers of gear teeth and any two numbers of gear teeth between the two target numbers of gear teeth in the first gear tooth counting sequence are all less than the preset error threshold.

[0054] The preset error threshold is preset, for example, the error of the tire pressure sensor detecting the wheel rotating to the target position can be determined in advance through experiments or observations, and the preset error threshold is set according to the error. For example, when the tire pressure sensor detects that the wheel rotates to the target position, the expected value of the number of teeth detected by the gear sensor is a. Since the detection of the tire pressure sensor has errors, when the tire pressure sensor detects that the wheel rotates to the target position, there is a certain error between the number of teeth detected by the gear sensor and the expected value, such as a±2. Then, the preset error threshold can be set to 2×2. In this way, by comparing the difference between any two target numbers of teeth at each misalignment distance with the preset error threshold, it can be determined whether the difference between the two target numbers of teeth exceeds the preset error threshold. If it is less than the preset error threshold, the difference between any two numbers of teeth between the two target numbers of teeth is less than the preset error threshold, and the number of teeth between the two target numbers of teeth is within the error range.

[0055] Exemplarily, for the first gear tooth counting sequence [a, b, c, d, e], a, b, c, d and e are sorted from small to large. If the difference of da is less than the preset error threshold, since a, b, c, d and e are sorted from small to large, for the three gear tooth numbers a, b and c, the difference between d and a is the largest, so the difference between any two gear tooth numbers in [a, b, c, d] is less than the preset error threshold, and the gear tooth number distribution in [a, b, c, d] is concentrated.

[0056] Furthermore, if ea is greater than a preset threshold and eb is greater than a preset threshold, it can be determined that [a, b, c, d] is the target interval of the first gear tooth counting sequence [a, b, c, d, e]. The target interval is the maximum sub-interval in which the difference between any two gear tooth numbers in the first gear tooth counting sequence is less than the preset error threshold. The larger the target interval, the more concentrated the distribution of the gear tooth number in the first gear tooth counting sequence.

[0057] A target interval may be determined for the first gear tooth counting sequence corresponding to each wheel of the vehicle. Based on the number of gear teeth in the target interval, it may be determined which wheel has the largest corresponding target interval.

[0058] Therefore, according to the relationship between the difference value at each misalignment distance and the preset error threshold value under the first tooth count sequence corresponding to each wheel, it can be determined which wheel has the largest target interval, and the first tooth count sequence corresponding to the largest target interval is determined as the target tooth count sequence.

[0059] In one embodiment, the offset subtraction result includes a difference sequence, and a difference sequence includes the difference between any two target gear tooth counts in a subsequence group. The step of "determining a target gear tooth count sequence that meets a preset condition from the plurality of first gear tooth count sequences according to the offset subtraction result of each gear tooth count sequence" may include:

[0060] Determine a target difference sequence corresponding to each wheel according to the magnitude relationship between each difference in the difference sequence of each wheel and a preset error threshold;

[0061] According to the target difference sequence corresponding to each wheel, a target tooth count sequence that meets a preset condition is determined from the plurality of first tooth count sequences.

[0062] If a subsequence group is obtained through a target loop parameter, a difference sequence corresponding to two subsequences in the subsequence group determined in each loop can be calculated. If the difference sequence meets a preset condition, the difference sequence is used as a target difference sequence. If the difference sequence does not meet the preset condition, the loop is continued to determine a subsequence group again. For details, please refer to the relevant description below, which will not be repeated here.

[0063] If for all the misalignment distances corresponding to the first gear tooth counting sequence, the difference sequence of the subsequence group under each misalignment distance is calculated, and the relationship between each difference and the preset error threshold in each difference sequence is determined, it is determined that there is at least one target difference sequence with a difference value less than the preset error threshold.

[0064] Exemplarily, assuming that the first gear tooth count sequence is [1,2,3,4,5,6,7], the subsequence groups include {[1], [7]}, {[1,2], [6,7]}, {[1,2,3], [5,6,7]}, {[1,2,3,4], [4,5,6,7]}, {[1,2,3,4,5], [3,4,5,6,7]}, {[1,2,3,4,5,6], [2,3,4,5,6,7]}, and the difference sequence of each subsequence group can be calculated by bitwise subtraction. The bitwise subtraction can be subtracting the two gear tooth numbers with the same position in the two subsequences in the subsequence group. For example, for the subsequence group {[1,2,3], [5,6,7]}, the bitwise subtraction can be 5-1, 6-2, 7-3, and the resulting difference sequence is [4,4,4].

[0065] The first gear tooth count sequence with the largest target difference sequence can be determined as the target gear tooth count sequence. For example, assuming that the preset error threshold is 2, if the vehicle has four wheels, the first gear tooth count sequences corresponding to the four wheels are [1,4,5], [1,2,3], [5,6,12] and [5,10,12] respectively.

[0066] Among them, the subsequence group of the first gear tooth counting sequence [1,4,5] may include {[1], [5]} and {[1,4], [4,5]}, and the corresponding difference sequences are {4} and {3,1}, wherein the difference sequence {3,1} is the target difference sequence, and the number of target difference sequences is 1.

[0067] The subsequence group of the first gear tooth counting sequence [1,2,3] may include {[1], [3]} and {[1,2], [2,3]}, and the corresponding difference sequences are {2} and {1,1}, wherein the difference sequences {2} and {1,1} are both target difference sequences, and the number of target difference sequences is 2.

[0068] The subsequence group of the first gear tooth counting sequence [5,6,12] may include {[5],

[12] } and {[5,6], [6,12]}, and the corresponding difference sequences are {7} and {1,6}, wherein the difference sequence {1,6} is the target difference sequence, and the number of target difference sequences is 1.

[0069] The subsequence group of the first gear tooth counting sequence [5, 10, 12] may include {[5],

[12] } and {[5, 10], [10, 12]}, and the corresponding difference sequences are {7} and {5, 2}, wherein the difference sequence {5, 2} is the target difference sequence, and the number of target difference sequences is 1.

[0070] From the target difference sequences corresponding to the first tooth count sequences of the above four wheels, it can be seen that the first tooth count sequence [1,2,3] contains the largest number of target difference sequences, so the first tooth count sequence [1,2,3] can be determined as the target tooth count sequence.

[0071] In one embodiment, the step of “subtracting any two target gear tooth numbers whose position distance satisfies the offset distance in each first gear tooth counting sequence to obtain the offset subtraction result of each first gear tooth counting sequence” may include:

[0072] Based on the first tooth count sequence of each wheel, determining at least one subsequence group corresponding to each wheel, wherein each subsequence group includes two subsequences;

[0073] From two subsequences of the subsequence group, determine any two target numbers of gear teeth whose position distance satisfies the misalignment distance, and the any two target numbers of gear teeth are respectively located in different subsequences of the subsequence group;

[0074] Subtract any two target numbers of teeth in the subsequence group to obtain the offset subtraction result corresponding to each wheel.

[0075] The subsequence includes at least one gear tooth number in the first gear tooth counting sequence, for example, includes one gear tooth number in the first gear tooth counting sequence, and the number of gear teeth contained in the two subsequences in each subsequence group may be the same or different. For example, the first gear tooth counting sequence is [1,2,3,4,5,6,7], and a subsequence group may be [1,2] and [6,7], and the number of gear teeth contained in the two subsequences is both 2.

[0076] Optionally, one of the subsequences in the subsequence group includes the first gear tooth number of the first gear tooth counting sequence, and the other subsequence includes the last gear tooth number of the first gear tooth counting sequence. For example, the first gear tooth counting sequence is [1,2,3,4,5,6,7], and a subsequence group can be [1,2] and [6,7]. The subsequence [1,2] includes the first gear tooth number [1] of the first gear tooth counting sequence, and the subsequence [6,7] includes the last gear tooth number [7] of the first gear tooth counting sequence.

[0077] Specifically, subsequences of different lengths can be taken out from the first gear tooth counting sequence to obtain multiple subsequence groups, and the subsequences of different subsequence groups contain different numbers of gear teeth. Each subsequence in the subsequence group contains p consecutive gear teeth in the first gear tooth counting sequence, p∈(1,q-1), and q is the number of gear teeth contained in the first gear tooth counting sequence.

[0078] Two target numbers of teeth whose position distance in the first tooth counting sequence satisfies the misalignment distance are determined from two subsequences of the subsequence group, the two target numbers of teeth are respectively located in different subsequences of the subsequence group, and the difference between the two target numbers of teeth is calculated. The misalignment result of each wheel may include the difference between any two numbers of teeth that satisfy the misalignment distance.

[0079] Exemplarily, assuming that the first gear tooth counting sequence is [1,2,3,4,5,6,7], the subsequence group may include {[1], [7]}, {[1,2], [7,6]}, {[1,2,3], [7,6,5]}, {[1,2,3,4], [7,6,5,4]}, {[1,2,3,4,5], [7,6,5,4,3]}, {[1,2,3,4,5,6], [7,6,5,4,3,2]}.

[0080] For the subsequence group {[1,2,3], [7,6,5]}, 1 and 5, 2 and 6, and 3 and 7 are two target numbers of gear teeth that satisfy the offset distance of 4 in the first gear tooth counting sequence. For the subsequence group {[1,2], [7,6]}, 1 and 6, 2 and 7 are two target numbers of gear teeth that satisfy the offset distance of 5 in the first gear tooth counting sequence.

[0081] For the subsequence group {[1,2,3], [7,6,5]}, the difference of 5-1, the difference of 6-2, and the difference of 7-3 are calculated respectively, and the difference is [4,4,4].

[0082] In one embodiment, the arrangement order of the gear tooth numbers in the subsequences in each subsequence group may be the same as the arrangement order in the first gear tooth counting sequence, and the two gear tooth numbers at the same position in the subsequences have the same offset distance in the first gear tooth counting sequence, so the two gear tooth numbers at the same position in the two subsequences of the subsequence group may be determined as two target gear tooth numbers that satisfy the offset distance, that is, the position distance between the two gear tooth numbers at the same position in the two subsequences of the subsequence group satisfies the offset distance, and the step of "determining any two target gear tooth numbers from the two subsequences of the subsequence group" may include:

[0083] The two gear tooth numbers with the same position in the two subsequences of the subsequence group are determined as the two target gear tooth numbers whose position distance satisfies the offset distance.

[0084] For example, for the first gear tooth counting sequence [1,2,3,4,5,6,7], a subsequence group may be {M[1,2,3,4,5,6], N[2,3,4,5,6,7]}, wherein the arrangement order of the gear tooth numbers in the subsequence M[1,2,3,4,5,6] and the gear tooth numbers in N[2,3,4,5,6,7] are respectively the same as the arrangement order in the first gear tooth counting sequence [1,2,3,4,5,6,7]. In the subsequences M[1,2,3,4,5,6] and N[2,3,4,5,6,7], M[1] and N[2], M[2] and N[3], M[3] and N[4], M[4] and N[5], M[5] and N[6], and M[6] and N[7] are two gear teeth at the same position, and the offset distances of M[1] and N[2], M[2] and N[3], M[3] and N[4], M[4] and N[5], M[5] and N[6], and M[6] and N[7] in the first gear tooth counting sequence [1,2,3,4,5,6,7] are all 1.

[0085] Therefore, the two gear tooth numbers at the same position in the two subsequences of the subsequence group can be determined as the target gear tooth number.

[0086] In one embodiment, the offset subtraction result includes a difference sequence, and a difference sequence includes the difference between any two target gear tooth numbers in a subsequence group. All subsequence groups of the first gear tooth count sequence can be determined based on the first gear tooth count sequence, or a subsequence group can be determined first, and then according to the processing result of the subsequence group, it is determined whether to continue to select the subsequence group. That is, in one embodiment, the step of "determining at least one subsequence group corresponding to each wheel based on the first gear tooth count sequence of each wheel" includes:

[0087] Determine target cycle parameters;

[0088] Determine a subsequence group based on the misalignment distance corresponding to the target cycle parameter and the first gear tooth count sequence;

[0089] The step of “determining the target difference sequence corresponding to each wheel according to the magnitude relationship between each difference in the difference sequence of each wheel and the preset error threshold” may include:

[0090] If the magnitude relationship between each difference in the difference sequence of the subsequence group and the preset error threshold does not meet the preset condition, the target cycle parameter is updated, and the step of returning to determine a subsequence group based on the misalignment distance corresponding to the target cycle parameter and the first gear tooth count sequence is executed;

[0091] If the magnitude relationship between each difference in the difference sequence of the subsequence group and the preset error threshold meets a preset condition, the difference sequence of the subsequence group is determined as the target difference sequence.

[0092] The target cycle parameter is a cycle parameter in the current cycle operation, which can be used to obtain a subsequence group from the first gear tooth counting sequence in the current cycle operation. The target cycle parameter can be updated during the cycle so that the subsequence group determined in each cycle is different.

[0093] The value range of the target cycle parameter can be flexibly set as needed. The target cycle parameter can indicate the number of gear teeth to be obtained in each cycle. For example, the target cycle parameter can indicate the number of gear teeth to be obtained, or the position of the gear teeth.

[0094] In one embodiment, the target cycle parameter may be an integer in the interval [1, n-1], where n is the number of gear teeth included in the first gear tooth counting sequence, and the target cycle number may increase from 1 to n-1, or decrease from n-1 to 1.

[0095] For example, if the cycle parameter decreases from n-1 to 1, the target cycle parameter may indicate the number of teeth in the subsequence, and the first g teeth and the last g teeth in the subsequence may be counted from the first tooth based on the target cycle parameter g.

[0096] Specifically, a target cycle parameter can be determined, and a subsequence group can be determined from the first gear tooth count sequence based on the target cycle parameter, and the number of gear teeth contained in each subsequence in the subsequence group is the same as the target cycle parameter. After the subsequence group is determined, the difference between any two gear tooth numbers in the same position in two subsequences of the subsequence group is calculated to obtain a difference sequence corresponding to the subsequence group. Each difference in the difference sequence is compared with a preset error threshold. If each difference in the difference sequence is greater than the preset error threshold, the target cycle parameter is updated, and the execution step "determine a subsequence group based on the target cycle parameter and the first gear tooth count sequence" is returned; if there is a difference in the difference sequence that is less than the preset error threshold, the loop is stopped and the difference sequence is used as the target difference sequence. Assuming that the target cycle parameter is p, the target cycle parameter is updated, and the target cycle parameter can be updated to p-1, and a subsequence group is determined from the first gear tooth count sequence based on p-1.

[0097] In one embodiment, the target cycle parameter is used to indicate the position of the number of gear teeth to be acquired in the cycle in the first gear tooth counting sequence, so that the number of gear teeth with continuous positions can be acquired from the first gear tooth counting sequence based on the target cycle parameter, that is, the step of "determining a subsequence group based on the offset distance corresponding to the target cycle parameter and the first gear tooth counting sequence" may include:

[0098] Based on the target cycle parameter, the first gear tooth number with a continuous position is obtained from the first gear tooth counting sequence to obtain a subsequence, wherein the first gear tooth number includes the first gear tooth number in the first gear tooth counting sequence;

[0099] Based on the offset distance corresponding to the target cycle parameter, a second gear tooth number with a continuous position is obtained from the first gear tooth counting sequence to obtain another subsequence, wherein the second gear tooth number includes the last gear tooth number in the first gear tooth counting sequence, and the first gear tooth number and the second gear tooth number are the same.

[0100] For example, the first gear tooth counting sequence is , based on the target cycle parameter i, i∈(1,n-1), determine the first subsequence from the first gear tooth count sequence and the second subsequence .

[0101] If the target cycle parameter is decreasing from n-1 to 1, for the first gear tooth counting sequence is [1,2,3,4,5,6,7], the subsequence group determined by the first cycle is {[7],[1]}; if the target cycle parameter is increasing from 1 to n-1, for the first gear tooth counting sequence is [1,2,3,4,5,6,7], the subsequence group determined by the first cycle is {[2,3,4,5,6,7],[1,2,3,4,5,6]}.

[0102] The target cycle parameter may also indicate the offset distance between two teeth at the same position in two subsequences determined from the first gear tooth counting sequence. For example, if the target cycle parameter is a, the offset distance between two teeth at the same position in two subsequences determined from the first gear tooth counting sequence is a.

[0103] After a subsequence group is determined based on the target cycle parameter, a bitwise subtraction can be performed on the subsequence group. The bitwise subtraction can be performed by subtracting two gear tooth numbers with the same position in two subsequences of the subsequence group, which is equivalent to subtracting two target gear tooth numbers in the first gear tooth counting sequence whose position distance satisfies the misalignment distance, to obtain a difference sequence corresponding to the subsequence group, compare each difference in the difference sequence with a preset error threshold, and determine whether the difference sequence meets a preset condition based on the comparison result. The preset condition can be that there is a difference in the difference sequence that is less than the preset error threshold. If the preset condition is met, the difference sequence is used as the target difference sequence and the loop is stopped. If the preset condition is not met, the target cycle parameter is updated, and a subsequence group is continued to be determined based on the updated target cycle parameter.

[0104] If the target loop parameter decreases from n-1 to 1, for the first gear tooth count sequence [1,2,3,4,5,6,7], the subsequence group determined by the first loop is {[7],[1]}. Since the gear teeth in the first gear tooth count sequence are arranged from small to large or from large to small, the difference between the first gear tooth number and the last gear tooth number (7,1) in the first gear tooth count sequence is the largest, followed by the difference between (7,2) and (6,1), and so on. If there is a difference in the difference sequence corresponding to the subsequence group that is less than the preset error threshold, and the difference between any two gear tooth numbers between the two target gear tooth numbers whose difference in the first gear tooth count sequence is less than the preset error threshold is less than the preset error threshold, the loop can be stopped. Otherwise, the target loop parameter is updated, and the subsequence group is continued to be determined based on the updated target loop parameter.

[0105] If the target loop parameter decreases from n-1 to 1, for the first gear tooth counting sequence [a,b,c,d,f,g], the difference between a and f in the subsequence group {[a,b],[f,g]} is less than the preset error threshold, and the difference between b and g is not less than the preset error threshold, it can be determined that in the [a,b,c,d,f] interval of the first gear tooth counting sequence [a,b,c,d,f,g], the difference between any two gear tooth numbers is less than the preset error threshold, that is, the maximum gear tooth number interval in which the error between any two gear tooth numbers in the first gear tooth counting sequence is less than the preset error threshold is determined, and the loop can be stopped, otherwise the target loop parameter is updated, and the subsequence group is continued to be determined based on the updated target loop parameter.

[0106] The target cycle parameters corresponding to the target difference sequences of each wheel may also be recorded, and the wheel corresponding to the target difference sequence having the smallest target cycle parameter is determined as the target wheel where the target tire pressure sensor is located.

[0107] It is understandable that the condition for stopping the cycle may be that the difference sequence meets a preset condition, or the target cycle parameter exceeds a preset value range.

[0108] In one example, in the subsequence group determined in each cycle, the offset distance of two gear teeth at the same position in the first gear tooth counting sequence matches the target cycle parameter. For example, when the target cycle parameter is 1, the offset distance of two gear teeth at the same position in the first gear tooth counting sequence is 1.

[0109] like Figure 3 As shown, the target cycle parameter starts from 1 and increases in the range of 1 to n+1. and subsequences , i ∈(1,n-1), determine a subsequence group from the first gear tooth counting sequence.

[0110] For the first gear tooth counting sequence of [1,2,3,4,5,6,7], the subsequence group determined by the first cycle is {[2,3,4,5,6,7], [1,2,3,4,5,6]}. Since the gear tooth numbers in the first gear tooth counting sequence are arranged from small to large or from large to small, the difference between the two gear tooth numbers with a small offset distance is smaller than the difference between the two gear tooth numbers with a large offset distance. In the first gear tooth counting sequence, the difference between the first gear tooth number and the last gear tooth number, i.e., (7,1), is the largest, followed by the differences between (7,2) and (6,1), and so on. If the differences in the difference sequence corresponding to the subsequence group are all greater than the preset error threshold, then the difference between the two gear tooth numbers with a larger offset distance must be greater than the preset error threshold, and the cycle can be stopped. Therefore, when the target cycle parameter increases from 1 to n+1, the preset condition can be that each difference in the difference sequence is not less than the preset error threshold.

[0111] Exemplarily, assuming that the first gear tooth counting sequence is [a, b, c, d, f, g], the subsequence determined in the first loop is {[b, c, d, f, g], [a, b, c, d, f]}, and assuming that when the loop reaches the subsequence group {[a, b], [f, g]}, the difference between a and f, and the difference between b and g, are both greater than the preset error threshold, it can be determined that within the interval where the misalignment distance is greater than or equal to 4, the discrete degree of the number of gear teeth is greater than the preset error threshold, and the interval where the discrete degree meets the preset error threshold is [a, b, c, d,], and / or [c, d, f, g].

[0112] In one embodiment, the target cycle parameter may indicate the number of cycles, the misalignment distance of two gear teeth at the same position in the subsequence group in the first gear tooth number sequence satisfies the number of cycles, and the preset condition is that the difference values ​​in the difference value sequence are all greater than a preset error threshold;

[0113] The step of “determining a target gear tooth count sequence target satisfying a preset condition from the plurality of first gear tooth count sequences according to the target difference sequence corresponding to each wheel” comprises:

[0114] Determining the number of cycles required to obtain each target difference sequence based on the target cycle parameter;

[0115] If the misalignment distance corresponding to the target cycle parameter increases monotonically with the number of cycles, the first gear tooth counting sequence with the largest number of cycles required for the target difference sequence is obtained and determined as the target gear tooth counting sequence that meets the preset conditions;

[0116] If the offset distance corresponding to the target cycle parameter decreases monotonically with the number of cycles, the first gear tooth count sequence with the least number of cycles required to obtain the target difference sequence is determined as the target gear tooth count sequence that meets the preset conditions.

[0117] Among them, if the target cycle parameter starts from 1 and increases from 1 to n-1, then the target cycle parameter can indicate the number of cycles, and the offset distance of the two gear teeth with the same position in the two subsequences determined by the cycle process in the first gear tooth counting sequence increases monotonically with the number of cycles, such as Figure 3 As shown, according to the target cycle parameters when obtaining the target difference sequence, the number of cycles required to obtain the target difference sequence can be determined.

[0118] The gear tooth counting sequence with more cycles has the largest number of gear teeth in the interval that meets the preset error threshold, so the first gear tooth counting sequence with the largest number of cycles required to obtain the target difference sequence can be determined as the target gear tooth counting sequence that meets the preset conditions.

[0119] If the target cycle parameter starts from n-1 and decreases from n-1 to 1, then the offset distance of the two gear teeth with the same position in the two subsequences determined by the cycle process in the first gear tooth counting sequence decreases monotonically by the number of cycles, then the target cycle parameter corresponding to the target difference sequence corresponding to each wheel can be determined, and the first gear tooth counting sequence with the least number of cycles corresponding to the target difference sequence when the target difference sequence is obtained can be determined as the target gear tooth counting sequence that meets the preset conditions.

[0120] The embodiment of the present application can determine the size relationship of the number of teeth in the target interval in different gear tooth counting sequences. The target interval is the maximum sub-interval in which the error between any two gear tooth numbers in the first gear tooth counting sequence is less than a preset error threshold. The number of teeth outside the target interval can be considered as an abnormal value. In the process of determining the target difference sequence, the embodiment of the present application eliminates the interference of abnormal values ​​in the gear tooth counting sequence. Finally, based on the size relationship of the number of teeth in the target interval in different gear tooth counting sequences, the target wheel where the tire pressure sensor is located is determined.

[0121] The preset error threshold in the embodiment of the present application may be set by the developer according to the accuracy of the tire pressure sensor, or may be determined by obtaining relevant data of the tire pressure sensor in advance and determining the preset error threshold based on the relevant data. That is, in one embodiment, before the step of "determining the target difference sequence corresponding to each wheel according to the magnitude relationship between each difference in the difference sequence of each wheel and the preset error threshold", the tire pressure sensor positioning method for a vehicle provided in the embodiment of the present application further includes:

[0122] Acquire a gear tooth count sequence sample, where the gear tooth count sequence sample is generated based on the number of gear teeth detected by a gear sensor configured on the sampling wheel when the sampling wheel rotates to a target position;

[0123] Calculate the discreteness of the gear tooth counting sequence samples according to the number of gear teeth in the gear tooth counting sequence samples;

[0124] A preset error threshold is determined based on the dispersion.

[0125] For example, the target time for the wheel to rotate to the target position and the number of teeth detected by the gear sensor at the target time can be obtained through the gear sensor and tire pressure sensor that have been determined to be installed on the same wheel (i.e., the sampling wheel). The number of teeth detected by the gear sensor is modulo the fixed number of teeth corresponding to the sampling wheel, and a tooth count sequence sample is generated based on the remainder.

[0126] In addition to determining that the wheel has rotated to the target position through a tire pressure sensor that is also configured on the sampling wheel like the gear sensor, the wheel can also be determined to have rotated to the target position through image processing, manual recording, etc.

[0127] The discreteness of the gear tooth counting sequence samples can be measured by the gear tooth counting sequence sample variance, standard deviation, square deviation, etc. According to the number of gear teeth in the gear tooth counting sequence samples, the discreteness of the gear tooth counting sequence samples can be calculated.

[0128] If the dispersion is indicated by the standard deviation, the preset error threshold may be 2 times the standard deviation, or the standard deviation; if the dispersion is indicated by the variance, the variance may be used as the preset error threshold, and so on.

[0129] The vehicle obtains the detection signal of the tire pressure sensor through a high-frequency receiver. There is a time interval from the tire pressure sensor detecting that the wheel has rotated to the target position to sending the detection signal to the high-frequency receiver, and there is also a time interval from the high-frequency receiver obtaining the detection signal to completing the processing of the detection signal. Therefore, the target time for the tire pressure sensor to detect that the wheel has rotated to the target position can be determined through time compensation. That is, in one embodiment, the vehicle also includes a high-frequency receiver, and step 101 "obtaining multiple target times for the target tire pressure sensor to detect that the wheel has rotated to the target position" may include:

[0130] Sending a detection signal to a high-frequency receiver through a target tire pressure sensor, where the detection signal is a signal generated by the target tire pressure sensor when the wheel rotates to a target position;

[0131] Processing the detection signal through a high-frequency receiver to obtain a first signal processing time, where the first signal processing time is a time interval from when the target tire pressure sensor generates a detection signal to when it sends a tire pressure detection signal;

[0132] Acquire a second signal processing duration of the detection signal by the high-frequency receiver, and acquire a time when the high-frequency receiver acquires a first signal processing duration;

[0133] Based on the acquisition time, the first signal processing time and the second signal processing time, a target time when the target tire pressure sensor detects that the wheel rotates to the target position is calculated.

[0134] For example, when the wheel turns to the target position, the tire pressure sensor generates a corresponding signal, and after processing the signal, sends the processed detection signal to the high-frequency receiver. The high-frequency receiver obtains the detection signal, and can process the detection signal to obtain the time from the tire pressure sensor generating the detection signal to sending the tire pressure detection signal (i.e., the first signal processing time), as well as the time for the high-frequency sensor to obtain the first signal processing time, i.e., the acquisition time, and the processing time of the detection signal by the high-frequency receiver (i.e., the second signal processing time).

[0135] The target time for the tire pressure sensor to detect that the wheel rotates to the target position can be obtained by subtracting the first signal processing time and the second signal processing time from the acquisition time.

[0136] In one embodiment, the first gear tooth counting sequence can be obtained by sorting the remainders of the fixed gear tooth number by detecting the gear tooth number by the gear sensor, that is, step 102 "for each wheel, based on the gear tooth number detected by the gear sensor of the wheel at each target time, generating the first gear tooth counting sequence corresponding to each wheel" may include:

[0137] For each wheel, a second gear tooth counting sequence is generated according to the remainder of the number of gear teeth detected by the gear sensor of the wheel at each target time and the fixed number of gear teeth, wherein the fixed number of gear teeth is the number of gear teeth detected by the gear sensor that increases when the wheel rotates one circle;

[0138] The second gear tooth counting sequence is sorted according to the size of the gear tooth numbers to obtain the first gear tooth counting sequence.

[0139] For each wheel, an initial gear tooth counting sequence is obtained according to the number of gear teeth detected by the gear sensor of the wheel at each target time. The initial gear tooth counting sequence is a time series. The gear tooth numbers in the initial gear tooth counting sequence are arranged in time order. For each gear tooth number in the initial gear tooth counting sequence, the modulus of the fixed gear tooth number of the vehicle is taken to obtain a second gear tooth counting sequence. The second gear tooth counting sequence is a time series. The gear tooth numbers in the second gear tooth counting sequence are then sorted according to the size relationship of the values. The gear tooth numbers in the first gear tooth counting sequence are arranged from large to small, or from small to large.

[0140] For example, the gear tooth counting sequence may be re-sorted according to the number of gear teeth in the gear tooth counting sequence to obtain the first gear tooth counting sequence of each wheel.

[0141] Exemplarily, the second gear tooth counting sequence is , arrange the number of teeth in the gear counting sequence from small to large or from large to small, and get the first gear counting sequence After determining the target wheel corresponding to each tire pressure sensor, the tire pressure detection result of the vehicle can be generated according to the tire pressure information detected by the tire pressure sensor and the corresponding target wheel. That is, in one embodiment, the tire pressure sensor positioning method of the vehicle provided in the embodiment of the present application can also include:

[0142] Get the tire pressure information detected by the tire pressure sensor;

[0143] Based on the tire pressure information and the target wheel corresponding to the tire pressure sensor, the tire pressure detection results of each wheel of the vehicle are generated.

[0144] The tire pressure information may indicate the tire pressure of the wheel tire detected by the tire pressure sensor.

[0145] For example, the tire pressure information detected by each tire pressure sensor may be obtained, and the tire pressure detection result of each wheel may be generated according to the tire pressure information detected by each tire pressure sensor and the target wheel corresponding to the tire pressure sensor.

[0146] After obtaining the tire pressure test results, the tire pressure of each wheel can be displayed on the vehicle's instrument panel or central control display screen.

[0147] The embodiment of the present application may also provide a tire pressure sensor positioning system for a vehicle. The relationship between the sensor group and the tire pressure sensor positioning system for the vehicle may be as follows: Figure 4 As shown, the sensor group may include a gravity sensor and a gear sensor of the tire pressure sensor. The signal of the sensor group is input into the tire pressure sensor positioning system of the vehicle. The tire pressure sensor positioning system of the vehicle determines the target wheel where the tire pressure sensor is located, sends a command to the display module 3, and informs the driver of the tire pressure detection value and the corresponding wheel.

[0148] The tire pressure sensor positioning system of the vehicle includes a time compensation module, a wheel relative position calculation module and a wheel matching module. The time compensation module mainly calculates the specific timestamp corresponding to the gear sensor signal corresponding to the timestamp received by the G-sensor sensor signal.

[0149] Specific calculation process: The G-sensor sensor signal contains its signal processing time information (i.e., the first signal processing duration). When the high-frequency receiver module receives the G-sensor sensor signal, it will process the signal. After processing, it will give the corresponding processing time and the corresponding receiving timestamp. The timestamp corresponding to the gear sensor signal and the receiving timestamp of the G-sensor sensor signal is the receiving timestamp (i.e., receiving time) minus the processing time of the high-frequency receiving module (i.e., the second signal processing duration) and the signal processing time of the G-sensor sensor.

[0150] The wheel relative position calculation module determines a first gear tooth counting sequence.

[0151] The wheel matching module processes the first gear tooth counting sequence using the method provided in the present application to determine the wheel where the TPMS is located.

[0152] The display module receives tire pressure sensor signals and displays the tire pressure sensor signal data on the instrument panel and central control display screen for the driver and the system to judge the tire pressure conditions.

[0153] As can be seen from the above, in the embodiment of the present application, a plurality of wheels and tire pressure sensors are provided on the vehicle, each wheel corresponds to a gear sensor, and a plurality of target times for the wheel to rotate to the target position are detected by acquiring the target tire pressure sensor; for each wheel, a first gear tooth count sequence corresponding to each wheel is generated based on the number of gear teeth detected by the gear sensor of the wheel at each target time; from the plurality of first gear tooth count sequences corresponding to the plurality of wheels, a target gear tooth count sequence that meets the preset conditions is determined, and the wheel corresponding to the target gear tooth count sequence is determined as the wheel corresponding to the target tire pressure sensor.

[0154] The embodiment of the present application can accurately determine the target wheel where the target tire pressure sensor is located based on the target tooth counting sequence that meets the preset conditions in the multiple first tooth counting sequences, thereby improving the accuracy of determining the wheel where the tire pressure sensor is located.

[0155] On the basis of the above embodiments, in order to more clearly illustrate the tire pressure sensor positioning method for a vehicle provided in the embodiments of the present application, further examples will be given below.

[0156] For the target tire pressure sensor, the initial gear tooth count sequence is obtained according to the number of gear teeth detected by the gear sensor of each wheel at each target time. The initial gear tooth count sequence is a time sequence. The number of each gear tooth in the initial gear tooth count sequence is modulo the number of fixed gear teeth of the vehicle to obtain the second gear tooth count sequence: , and then arrange the number of teeth in the second gear tooth counting sequence from small to large or from large to small to obtain the first gear tooth counting sequence .

[0157] Take the example of the target cycle parameter starting from 1 and increasing in the range of 1 to n+1. According to the target cycle parameter, the first gear tooth counting sequence can be In the example, a subsequence group is determined, the subsequence group includes the subsequence and subsequences , i∈(1,n-1).

[0158] For example, in the first cycle i=1, the subsequence group determined from the first gear tooth counting sequence X is and , the corresponding misalignment distance is 1, and the difference sequence corresponding to this subsequence group is If one of the differences is less than the preset error threshold, the second loop is entered, otherwise the loop is terminated and the difference sequence is used as the target difference sequence.

[0159] In the second cycle, i=2, the subsequence group determined from the first gear tooth counting sequence X is and , the corresponding misalignment distance is 2, and the difference sequence corresponding to this subsequence group is If one of the differences is less than the preset error threshold, the third loop is entered, otherwise the loop is terminated and the difference sequence is used as the target difference sequence.

[0160] This process is repeated in this way until the target difference sequence is obtained, and the target cycle parameter i at this time is recorded to obtain the target cycle parameter i corresponding to the first gear tooth counting sequence X.

[0161] If there are four wheels on the vehicle, namely wheel FL, wheel RL, wheel FR and wheel RR, refer to the above to determine the first wheel tooth counting sequence The corresponding target cycle parameter i can determine the target cycle parameter i corresponding to the first tooth count sequence corresponding to each wheel. Specifically, assuming that the first tooth count sequence of wheel FL is [1,4,5,8], the preset error threshold is 2, the first tooth count sequence of wheel RL is [1,2,3,3], the first tooth count sequence of wheel FR is [5,8,12,24], and the first tooth count sequence of wheel RR is [5,10,13,20].

[0162] For the first gear tooth counting sequence of wheel FL, it is [1,4,5,8]. In the first cycle, the target cycle parameter i=1. The two subsequences determined based on the target cycle parameter are [4,5,8] and [1,4,5]. The number of gear teeth at the same position in these two subsequences is offset by 1 in the first gear tooth counting sequence [1,4,5,8]. The difference between the number of gear teeth at the same position in the two subsequences is calculated, that is, the difference between 4 and 1, 5 and 4, and 8 and 5 is calculated to obtain the difference sequence [1,3,3], where 1<2, so the cycle continues.

[0163] In the second loop, the target loop parameter i=2. The two subsequences determined based on the target loop parameter are [5,8] and [1,2]. The number of teeth at the same position in these two subsequences is offset by 2 in the first gear tooth counting sequence [1,4,5,8]. The difference between the number of teeth at the same position in the two subsequences is calculated, that is, the difference between 5 and 1, and between 8 and 2, to obtain the difference sequence [4,6], where 4 and 6 are both greater than 2. Stop the loop and record i=2.

[0164] For the first tooth counting sequence of wheel RL, it is [1,2,3,3]. In the first cycle, the target cycle parameter i=1. The two subsequences determined based on the target cycle parameter are [2,3,3] and [1,2,3]. The differences between 2 and 1, 3 and 2, and 3 and 3 are calculated to obtain the difference sequence [1,1,0]. Each difference is less than 2, and the cycle continues.

[0165] In the second loop, the target loop parameter i=2. The two subsequences determined based on the target loop parameter are [3,3] and [1,2]. The differences between 3 and 1 and 3 and 2 are calculated to obtain the difference sequence [2,1], where 1<2, and the loop continues.

[0166] In the third loop, the target loop parameter i=3. The two subsequences determined based on the target loop parameter are [3] and [1]. The difference between 3 and 1 is calculated to obtain the difference sequence [2], where 2=2. The loop is stopped and i=3 is recorded.

[0167] For the first tooth counting sequence of wheel FR, it is [5, 8, 12, 24]. In the first cycle, the target cycle parameter i=1. The two subsequences determined based on the target cycle parameter are [8, 12, 24] and [5, 8, 12]. The differences between 8 and 5, 12 and 8, and 24 and 12 are calculated to obtain a difference sequence [3, 4, 12]. Each difference in the difference sequence is greater than the preset error threshold, the cycle is stopped, and i=1 is recorded.

[0168] For the first tooth counting sequence of wheel RR, it is [5, 10, 13, 20]. In the first cycle, the target cycle parameter i=1. The two subsequences determined based on the target cycle parameter are [10, 13, 20] and [5, 10, 13]. The differences between 10 and 5, 13 and 10, and 20 and 13 are calculated to obtain the difference sequence [5, 3, 7]. Each difference in the difference sequence is greater than the preset error threshold, the cycle is stopped, and i=1 is recorded.

[0169] The target cycle parameter corresponding to wheel FL is 2, the target cycle parameter corresponding to wheel RL is 3, the target cycle parameter corresponding to wheel FR is 1, the target cycle parameter corresponding to wheel RR is 1, the maximum target cycle parameter is 3, and the corresponding first gear tooth counting sequence is [1,2,3,3], so the first gear tooth counting sequence [1,2,3,3] is determined as the target gear tooth counting sequence, [1,2,3,3] corresponds to wheel RL, so wheel RL is determined as the wheel where the target tire pressure sensor is located.

[0170] The present application also provides an electronic device, such as Figure 5 As shown, it shows a schematic diagram of the structure of the electronic device involved in the embodiment of the present application, specifically:

[0171] The electronic device may include components such as a processor 1001 with one or more processing cores, a memory 1002 with one or more computer-readable storage media, a power supply 1003, and an input unit 1004. Those skilled in the art will appreciate that Figure 5 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0172] The processor 1001 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1002 and calling data stored in the memory 1002, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. Optionally, the processor 1001 may include one or more processing cores; preferably, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, computer program, etc., and the modem processor mainly processes wireless communication. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1001.

[0173] The memory 1002 can be used to store software programs and modules. The processor 1001 executes various functional applications and data processing by running the software programs and modules stored in the memory 1002. The memory 1002 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 1002 may also include a memory controller to provide the processor 1001 with access to the memory 1002.

[0174] The electronic device also includes a power supply 1003 for supplying power to each component. Preferably, the power supply 1003 can be logically connected to the processor 1001 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 1003 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0175] The electronic device may further include an input unit 1004, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0176] Although not shown, the electronic device may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 1001 in the electronic device will load the executable files corresponding to the processes of one or more computer programs into the memory 1002 according to the following instructions, and the processor 1001 will run the computer programs stored in the memory 1002, thereby realizing various functions, as follows:

[0177] Acquire multiple target times when a target tire pressure sensor detects that a wheel rotates to a target position;

[0178] For each wheel, based on the number of teeth detected by the gear sensor of the wheel at each target time, a first gear tooth counting sequence corresponding to each wheel is generated;

[0179] Subtract any two target gear tooth numbers whose position distance satisfies the offset distance in each first gear tooth counting sequence to obtain the offset subtraction result of each first gear tooth counting sequence;

[0180] According to the offset subtraction result, a target wheel where the target tire pressure sensor is located is determined from the multiple wheels.

[0181] The specific implementation of the above operations can be found in the previous embodiments and will not be described in detail here.

[0182] As can be seen from the above, in the embodiment of the present application, a plurality of wheels and tire pressure sensors are provided on the vehicle, each wheel corresponds to a gear sensor, and a plurality of target times for the wheel to rotate to the target position are detected by acquiring the target tire pressure sensor; for each wheel, a first gear tooth count sequence corresponding to each wheel is generated based on the number of gear teeth detected by the gear sensor of the wheel at each target time; from the plurality of first gear tooth count sequences corresponding to the plurality of wheels, a target gear tooth count sequence that meets the preset conditions is determined, and the wheel corresponding to the target gear tooth count sequence is determined as the wheel corresponding to the target tire pressure sensor.

[0183] The embodiment of the present application can accurately determine the target wheel where the target tire pressure sensor is located based on the target tooth counting sequence that meets the preset conditions in the multiple first tooth counting sequences, thereby improving the accuracy of determining the wheel where the tire pressure sensor is located.

[0184] According to one aspect of the present application, a vehicle is provided, which includes wheels, tire pressure sensors, gear sensors, and electronic devices. The vehicle can execute the methods provided in various optional implementations of the above embodiments through the electronic devices.

[0185] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a vehicle reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the vehicle executes the methods provided in various optional implementations in the above-mentioned embodiments.

[0186] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0187] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. The computer program can be loaded by a processor to execute any vehicle tire pressure sensor positioning method provided in the embodiment of the present application.

[0188] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0189] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0190] Since the computer program stored in the computer-readable storage medium can execute any one of the tire pressure sensor positioning methods for vehicles provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the tire pressure sensor positioning methods for vehicles provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0191] The above is a detailed introduction to a vehicle tire pressure sensor positioning method, electronic device, vehicle and computer-readable storage medium provided in an embodiment of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for locating a tire pressure sensor of a vehicle, It is characterized in that The vehicle is provided with a plurality of wheels and tire pressure sensors, each wheel corresponds to a gear sensor, and the method comprises: Acquire a plurality of target times at which a target tire pressure sensor detects that the wheel rotates to a target position; For each wheel, a second gear tooth counting sequence is generated according to the remainder of the number of gear teeth detected by the gear sensor of the wheel at each target time and a fixed number of gear teeth, wherein the fixed number of gear teeth is the number of gear teeth detected by the gear sensor that increases when the wheel rotates one circle; Sorting the numbers of the gear teeth in the second gear tooth counting sequence to obtain a first gear tooth counting sequence; A target tooth count sequence satisfying a preset condition is determined from a plurality of first tooth count sequences corresponding to a plurality of wheels, and the wheel corresponding to the target tooth count sequence is determined as the wheel corresponding to the target tire pressure sensor, the target tooth count sequence being the first tooth count sequence having the largest target interval, and the target interval being an interval in which the difference between any two tooth numbers in the first tooth count sequence is less than a preset error threshold.

2. The method according to claim 1, It is characterized in that The step of determining a target gear tooth count sequence satisfying a preset condition from a plurality of first gear tooth count sequences corresponding to a plurality of wheels comprises: Subtract any two target gear tooth numbers whose position distance satisfies the offset distance in each of the first gear tooth counting sequences to obtain an offset subtraction result of each of the first gear tooth counting sequences, wherein the position distance is the distance between the positions of the two target gear tooth numbers in the first gear tooth counting sequence; According to the offset subtraction result of each of the gear tooth counting sequences, a target gear tooth counting sequence that meets a preset condition is determined from the plurality of first gear tooth counting sequences.

3. The method according to claim 2, It is characterized in that Subtracting any two target gear tooth numbers whose position distance satisfies the misalignment distance in each of the first gear tooth counting sequences to obtain the misalignment subtraction result of each of the first gear tooth counting sequences includes: Based on the first tooth count sequence of each wheel, determining at least one subsequence group corresponding to each wheel, wherein each subsequence group includes two subsequences; Determine, from two subsequences of the subsequence group, any two target numbers of gear teeth whose position distance satisfies the misalignment distance, wherein the any two target numbers of gear teeth are respectively located in different subsequences of the subsequence group; Subtracting any two target numbers of gear teeth in the subsequence group to obtain a misalignment subtraction result corresponding to each wheel.

4. The method according to claim 3, It is characterized in that The position distance between two gear tooth numbers at the same position in the two subsequences of the subsequence group satisfies the misalignment distance, and determining any two target gear tooth numbers whose position distance satisfies the misalignment distance from the two subsequences of the subsequence group comprises: The two gear tooth numbers at the same position in the two subsequences of the subsequence group are determined as the two target gear tooth numbers whose position distance satisfies the offset distance.

5. The method according to claim 4, It is characterized in that The offset subtraction result includes a difference sequence, wherein the difference sequence includes a difference between any two target gear tooth counts in the subsequence group, and determining a target gear tooth count sequence that meets a preset condition from the plurality of first gear tooth count sequences according to the offset subtraction result of each gear tooth count sequence, comprises: Determine a target difference sequence corresponding to each wheel according to a magnitude relationship between each difference in the difference sequence of each wheel and a preset error threshold; According to the target difference sequence corresponding to each of the wheels, a target tooth count sequence that meets a preset condition is determined from the plurality of first tooth count sequences.

6. The method according to claim 5, It is characterized in that The determining, based on the first gear tooth count sequence of each of the wheels, at least one subsequence group corresponding to each of the wheels comprises: Determine target cycle parameters; Determining a subsequence group based on the misalignment distance corresponding to the target cycle parameter and the first gear tooth count sequence; The step of determining the target difference sequence corresponding to each wheel according to the magnitude relationship between each difference in the difference sequence of each wheel and a preset error threshold comprises: If the magnitude relationship between each difference in the difference sequence of the subsequence group and the preset error threshold does not satisfy a preset condition, the target cycle parameter is updated, and the step of returning to the step of determining a subsequence group based on the misalignment distance corresponding to the target cycle parameter and the first gear tooth count sequence is executed; If the magnitude relationship between each difference in the difference sequence of the subsequence group and the preset error threshold satisfies a preset condition, the difference sequence of the subsequence group is determined as the target difference sequence.

7. The method according to claim 6, It is characterized in that The determining a subsequence group based on the offset distance corresponding to the target cycle parameter and the first gear tooth count sequence comprises: Based on the target cycle parameter, a plurality of first gear tooth numbers with consecutive positions are acquired from the first gear tooth counting sequence to obtain a subsequence, wherein the first gear tooth numbers include the first gear tooth number in the first gear tooth counting sequence; Based on the offset distance corresponding to the target cycle parameter, a plurality of second gear tooth numbers with consecutive positions are obtained from the first gear tooth counting sequence to obtain another subsequence, wherein the second gear tooth numbers include the last gear tooth number in the first gear tooth counting sequence, and the first gear tooth number and the second gear tooth number are the same in number.

8. The method according to claim 6, It is characterized in that The target cycle parameter indicates the number of cycles, and determining a target gear tooth count sequence target satisfying a preset condition from the plurality of first gear tooth count sequences according to the target difference sequence corresponding to each of the wheels, comprises: Determining the number of cycles required to obtain each of the target difference sequences based on the target cycle parameters; If the offset distance corresponding to the target cycle parameter increases monotonically with the number of cycles, the first gear tooth count sequence with the largest number of cycles required to obtain the target difference sequence is determined as the target gear tooth count sequence that meets the preset conditions; If the offset distance corresponding to the target cycle parameter decreases monotonically with the number of cycles, the first gear tooth count sequence with the least number of cycles required to obtain the target difference sequence is determined as the target gear tooth count sequence that meets the preset conditions.

9. The method according to claim 5, It is characterized in that Before determining the target difference sequence corresponding to each wheel according to the magnitude relationship between each difference in the difference sequence of each wheel and the preset error threshold, the method further includes: Acquire a gear tooth count sequence sample, wherein the gear tooth count sequence sample is generated based on the number of gear teeth detected by a gear sensor configured on a sampling wheel when the sampling wheel rotates to a target position; Calculating the discreteness of the gear tooth counting sequence samples according to the number of gear teeth in the gear tooth counting sequence samples; The preset error threshold is determined based on the dispersion.

10. The method according to claim 1, It is characterized in that The vehicle further includes a high-frequency receiver, and the target tire pressure sensor detects a plurality of target times when the wheel rotates to a target position, including: sending a detection signal to the high-frequency receiver through the target tire pressure sensor, the detection signal including a signal generated by the target tire pressure sensor when the wheel rotates to the target position; Processing the detection signal by the high-frequency receiver to obtain a first signal processing duration, where the first signal processing duration includes a time interval from when the target tire pressure sensor generates the detection signal to when it sends the detection signal; Acquire a second signal processing duration of the detection signal by the high-frequency receiver, and acquire a time when the high-frequency receiver acquires the first signal processing duration; A target time for the target tire pressure sensor to detect that the wheel rotates to a target position is calculated based on the acquisition time, the first signal processing time, and the second signal processing time.

11. The method according to any one of claims 1 to 10, It is characterized in that The method further comprises: Acquiring tire pressure information detected by the tire pressure sensor; Based on the tire pressure information and the target wheel corresponding to the tire pressure sensor, a tire pressure detection result of each wheel of the vehicle is generated.

12. An electronic device, It is characterized in that It comprises a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the tire pressure sensor positioning method for a vehicle as described in any one of claims 1 to 11.

13. A vehicle, It is characterized in that The invention comprises a wheel, a tire pressure sensor, a gear sensor, and the electronic device as claimed in claim 12.

14. A computer-readable storage medium, It is characterized in that The computer-readable storage medium is used to store a computer program, and the computer program is loaded by a processor to execute the tire pressure sensor positioning method for a vehicle according to any one of claims 1 to 11.

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