Steering angle accuracy evaluation method of kingpin steering system, vehicle and electronic equipment

Abstract

The invention provides a steering angle accuracy evaluation method of a kingpin steering system.The steering angle accuracy evaluation method comprises the steps that a plurality of torque preset values, a plurality of rotating speed preset values, a plurality of preset target angle values and a plurality of preset working conditions are set; a plurality of preset working conditions are input into the kingpin steering system, under each preset working condition, a plurality of preset target angle values are input into the input end of the kingpin steering system, and a plurality of actual turning angle values output by the output end of the kingpin steering system are measured; determining the ratio of the preset target angle value to the corresponding actual rotation angle value as a first numerical value, wherein the total number of the first numerical values is equal to the product of the number of the torque preset values and the number of the rotation speed preset values; when the ratio of the number of the qualified first numerical values to the total number of the first numerical values is larger than or equal to a third threshold value, it is judged that the steering angle accuracy of the kingpin steering system is qualified.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a method for evaluating the turning angle accuracy of a kingpin steering system, a vehicle and electronic equipment. Background Art

[0002] At present, the mainstream kingpin steering system adopts motor output steering. The main controller sends the target angle to the kingpin steering controller through the bus and other communication forms. The kingpin steering controller then controls the output shaft of the motor to rotate to the target angle, and the power of the output shaft is transmitted to the output end through the gear transmission mechanism. Since the mechanical transmission mechanism of the kingpin steering system is relatively complex, the performance of the angle is inconsistent under different load conditions. At present, there is no more accurate verification method to know whether the angle accuracy of the kingpin steering system meets the requirements. Summary of the invention

[0003] The invention provides a method for evaluating the turning angle accuracy of a kingpin steering system, a vehicle and electronic equipment, which can accurately judge whether the turning angle accuracy of the kingpin steering system meets the requirements.

[0004] A method for evaluating the turning angle accuracy of a kingpin steering system according to a first embodiment of the present invention includes: Setting a plurality of torque preset values, a plurality of speed preset values, a plurality of preset target angle values ​​and a plurality of preset working conditions, wherein the preset working condition is determined by one of the torque preset values ​​and one of the speed preset values; Inputting a plurality of the preset working conditions into the kingpin steering system respectively, inputting a plurality of the preset target angle values ​​into an input end of the kingpin steering system under each of the preset working conditions respectively, and measuring a plurality of actual steering angle values ​​outputted from an output end of the kingpin steering system; Determine that the ratio of the preset target angle value to the corresponding actual rotation angle value is a first value, and the total number of the first values ​​is equal to the product of the number of the preset torque values ​​and the number of the preset speed values; When the first value is less than or equal to a first threshold and greater than or equal to a second threshold, the first value is determined to be qualified, and the first threshold is greater than the second threshold; When the ratio of the number of qualified first values ​​to the total number of the first values ​​is greater than or equal to a third threshold, it is determined that the steering angle accuracy of the kingpin steering system is qualified.

[0005] The method for evaluating the turning angle accuracy of a kingpin steering system according to an embodiment of the present invention has at least the following beneficial effects: The embodiment of the present invention measures the ratio of a preset target angle value to an actual turning angle value of the kingpin steering system under multiple preset working conditions, and determines whether the turning angle accuracy of the kingpin steering system is qualified according to the qualified number of the ratio. This can make the determination result more accurate and is helpful to determine whether the kingpin steering system meets the requirements.

[0006] According to some embodiments of the present invention, a plurality of preset target angle values ​​constitute a first arithmetic sequence, a second arithmetic sequence, and a third arithmetic sequence that are ascending and arranged in sequence, the tolerance of the first arithmetic sequence is the same as the tolerance of the third arithmetic sequence, the tolerance of the first arithmetic sequence is greater than the tolerance of the second arithmetic sequence, the largest term in the first arithmetic sequence is less than or equal to a fourth threshold, the term of the second arithmetic sequence is between the fourth threshold and a fifth threshold, the smallest term in the third arithmetic sequence is greater than or equal to the fifth threshold, the fifth threshold is equal to the product of the maximum turning angle of the kingpin steering system and the first coefficient, the fourth threshold is a negative value, and the absolute value of the fourth threshold is equal to the fifth threshold.

[0007] According to some embodiments of the present invention, the fifth threshold is a product of a first coefficient and a maximum steering angle of the kingpin steering system, and the range of the first coefficient is 0.68.

[0008] According to some embodiments of the present invention, the tolerance range of the first arithmetic progression is 1.5° to 2.5°, and the tolerance range of the second arithmetic progression is 0.75° to 1.25°.

[0009] According to some embodiments of the present invention, a plurality of preset speed values ​​constitute a fourth arithmetic progression, and a tolerance of the fourth arithmetic progression is a product of a maximum speed value of the kingpin steering system and a second coefficient.

[0010] According to some embodiments of the present invention, the second coefficient ranges from 0.05 to 0.2.

[0011] According to some embodiments of the present invention, the plurality of preset torque values ​​constitute a fifth arithmetic progression, and a tolerance of the fifth arithmetic progression is a product of a maximum output torque value of the kingpin steering system and a third coefficient.

[0012] According to some embodiments of the present invention, the third coefficient ranges from 0.01 to 0.05.

[0013] According to some embodiments of the present invention, the first threshold is 1.001, the second threshold is 0.999, and the third threshold ranges from 0.997 to 0.999.

[0014] According to the kingpin steering system of the second embodiment of the present invention, the turning angle accuracy is determined to be qualified by the turning angle accuracy evaluation method of the kingpin steering system of the first embodiment.

[0015] The kingpin steering system according to the embodiment of the present invention has at least the following beneficial effects: Since the turning angle accuracy evaluation method of the kingpin steering system according to the first embodiment is used to determine that the turning angle accuracy is qualified and the determination result is relatively accurate, the turning angle accuracy of the kingpin steering system is relatively precise.

[0016] A vehicle according to an embodiment of the third aspect of the present invention comprises the kingpin steering system of the embodiment of the second aspect.

[0017] The vehicle according to the embodiment of the present invention comprises the kingpin steering system of the second aspect embodiment and therefore has at least the above-mentioned beneficial effects, which will not be elaborated herein.

[0018] According to an embodiment of the fourth aspect of the present invention, the electronic device includes: at least one processor; at least one memory for storing at least one program; when the at least one program is executed by the at least one processor, the at least one processor implements the method for evaluating the turning angle accuracy of the kingpin steering system as described in the embodiment of the first aspect.

[0019] The electronic device according to the embodiment of the present invention has at least the above-mentioned beneficial effects, because its processor implements the method for evaluating the turning angle accuracy of the kingpin steering system of the above-mentioned embodiment, and thus, it will not be described in detail here.

[0020] According to the computer-readable storage medium of the fifth aspect embodiment of the present invention, processor-executable instructions are stored therein, and when the processor-executable instructions are executed by the processor, the method for evaluating the turning angle accuracy of the kingpin steering system of the first aspect embodiment is used to execute the instructions.

[0021] The computer program product according to the sixth aspect of the present invention comprises a computer program, which, when executed by a processor, implements the method for evaluating the turning angle accuracy of the kingpin steering system according to the first aspect.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 A flowchart of the steps of a method for evaluating the turning angle accuracy of a kingpin steering system according to some embodiments of the present invention; Figure 2A schematic diagram of the structure of a kingpin steering system according to some embodiments of the present invention; Figure 3 A schematic diagram of the distribution of values ​​of multiple preset target angle values ​​in some embodiments of the present invention; Figure 4 It is a schematic diagram of the hardware structure of an electronic device according to some embodiments of the present invention.

[0024] Reference numerals: Power input mechanism 100, motor 110, worm 120; A first transmission mechanism 200, a turbine 210, and a first gear 220; A second transmission mechanism 300, a second gear 310, and a third gear 320; Power output mechanism 400 . DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0026] Reference Figure 2 As shown, it is a kingpin steering system of an embodiment of the present invention, which is applied to the steering system of a vehicle. The kingpin steering system includes a power input mechanism 100, a first transmission mechanism 200, a second transmission mechanism 300 and a power output mechanism 400 connected in sequence. The power input mechanism 100 is used to input rotational power. The power input mechanism 100 includes a motor 110 and a worm 120. The output shaft of the motor 110 is connected to the worm 120. The first transmission mechanism 200 includes a turbine 210 and a first gear 220. The turbine 210 and the first gear 220 are coaxially arranged. The turbine 210 is connected to the worm 120. The second transmission mechanism 300 includes a second gear 310 and a third gear 320. The second gear 310 is meshed with the first gear 220. The third gear 320 is coaxially arranged with the second gear 310. The power output mechanism 400 is configured as a gear fan, and the gear fan is coaxially arranged with the second gear 310. When the output shaft of the motor 110 drives the worm 120 to rotate, the worm 120 drives the turbine 210 to rotate, the turbine 210 drives the first gear 220 to rotate, the first gear 220 drives the second gear 310 to rotate, the second gear 310 drives the third gear 320 and the gear fan to rotate synchronously, and the gear fan outputs rotational power, which in turn drives the vehicle's tires to turn.

[0027] It should be noted that, in some other embodiments, the kingpin steering system may also use other different transmission mechanisms to achieve steering transmission.

[0028] Reference Figure 1 As shown, the method for evaluating the turning angle accuracy of a kingpin steering system provided by an embodiment of the present invention includes step S100, step S200, step S300, step S400 and step S500.

[0029] Step S100: setting a plurality of preset torque values, a plurality of preset speed values, a plurality of preset target angle values ​​and a plurality of preset working conditions, wherein the preset working condition is determined by a preset torque value and a preset speed value.

[0030] It should be noted that in this step, a plurality of different torque preset values, a plurality of different speed preset values ​​and a plurality of different preset target angle values ​​are first set, wherein a torque preset value and a speed preset value can determine a preset working condition, and for two different preset working conditions, at least one torque preset value or a speed preset value is different. In addition, a torsion actuator is also required during the test, and the torsion actuator can output torque to the output end of the kingpin steering system and measure the actual turning angle of the output end of the kingpin steering system. Before use, the torque and turning angle of the torsion actuator need to be calibrated, and its parameters are adjusted to an accuracy of 0.001°, 0.001Nm or above. The torsion actuator acts on the power output mechanism 400 of the kingpin steering system.

[0031] Step S200: inputting a plurality of preset working conditions into the kingpin steering system respectively, inputting a plurality of preset target angle values ​​into the kingpin steering system respectively under each preset working condition, and measuring a plurality of actual steering angle values ​​output by the kingpin steering system.

[0032] It should be noted that, in this step, the kingpin steering system is installed on the test bench according to the actual vehicle state for a simulation experiment. The kingpin steering system is first fixed to operate under a preset operating condition, which corresponds to a torque preset value and a speed preset value. The torque input by the torsion actuator is set to the torque preset value, and the speed of the motor of the power input mechanism is set to the speed preset value. Then, all the preset target angle values ​​set in step S100 are respectively input to the motor of the power input mechanism. After the motor drives the turning angle, the actual turning angle value outputted from the output end of the kingpin steering system is measured by the torsion actuator. Finally, a large amount of data on actual turning angle values ​​can be obtained.

[0033] Step S300: Determine that the ratio of the preset target angle value to the corresponding actual rotation angle value is a first value, and the total number of the first values ​​is equal to the product of the number of torque preset values ​​and the number of speed preset values.

[0034] It should be noted that, in this step, a large amount of first value data can be obtained, and the rotation angle accuracy of the system can be determined based on the first value.

[0035] Step S400: When the first value is less than or equal to the first threshold and greater than or equal to the second threshold, it is determined that the first value is qualified and the first threshold is greater than the second threshold.

[0036] It should be noted that, in this step, when the first numerical value is less than or equal to the first threshold value and greater than or equal to the second threshold value, it means that the output of a specific steering angle under a preset operating condition corresponding to the first numerical value is relatively accurate and meets the requirements. When the number of qualified first numerical values ​​is large, it means that the steering angle of the kingpin steering system is relatively accurate.

[0037] Step S500: When the ratio of the number of qualified first values ​​to the total number of first values ​​is greater than or equal to a third threshold, it is determined that the steering angle accuracy of the kingpin steering system is qualified.

[0038] In this embodiment, a method for verifying whether the turning angle accuracy of the kingpin steering system is qualified is proposed. The steering performance of the kingpin steering system under multiple different preset working conditions is specifically measured, and its steering performance is evaluated. It can be more accurately known whether the turning angle accuracy of the kingpin steering system meets the requirements. Among them, the first threshold, the second threshold and the third threshold can be adaptively set according to the actual accuracy requirements. When the accuracy requirement for the steering performance is high, the difference between the first threshold and the second threshold is small, and the difference between the third threshold and 1 is small.

[0039] It should be noted that the kingpin steering system provided in the embodiment of the present invention is determined as the steering angle accuracy by the above evaluation method.

[0040] In some embodiments, a plurality of preset target angle values ​​constitute a first arithmetic sequence, a second arithmetic sequence, and a third arithmetic sequence that are arranged in ascending order, and the items in these arithmetic sequences are preset target angle values, wherein the tolerance of the first arithmetic sequence is the same as the tolerance of the third arithmetic sequence, and the tolerance of the first arithmetic sequence is greater than the tolerance of the second arithmetic sequence, that is, the difference between two adjacent items in the first arithmetic sequence is greater than the difference between two adjacent items in the second arithmetic sequence. The largest item in the first arithmetic sequence is less than or equal to a fourth threshold value, the item in the second arithmetic sequence is between the fourth threshold value and the fifth threshold value, the smallest item in the third arithmetic sequence is greater than or equal to a fifth threshold value, the fifth threshold value is equal to the product of the maximum value of the kingpin steering system's turning angle and the first coefficient, the fourth threshold value is a negative value, and the absolute value of the fourth threshold value is equal to the fifth threshold value. The maximum steering angle refers to the maximum angle value that the input end of the kingpin steering system can accept. Since the input end of the kingpin steering system can accept forward or reverse input and control the wheel to swing left or right, the maximum steering angle range of the kingpin steering system is from negative to positive values. For example, the maximum steering angle range of the kingpin steering system is -40° to 40°.

[0041] For further explanation, see Figure 3 As shown, it can be understood as the distribution diagram of the input angle range of the kingpin steering system. The figure shows the range of turning left or right around point o starting from the 0° line. It can also be understood as the angle range of the vehicle tire. In order for the kingpin steering system to work properly, multiple preset target angle values ​​should be selected within the angle range in the figure. When turning left from the 0° line, the turning angle is a negative value, and the angle at the extreme position is -A max When turning right from the 0° line, the rotation angle is positive, and the rotation angle at the extreme position is A. max , regardless of positive or negative, A max It can be understood as the maximum turning angle of the kingpin steering system. max The absolute value of A is equal to max The fourth threshold is equal to -a*A max , the fifth threshold mentioned above is equal to a*A max , where a is the first coefficient, a is less than 1 and greater than 0, and a is preferably 0.68, which can be understood as Figure 3 The rotation angle range is divided into three areas, W1, W2 and W3, and these three areas are symmetrical about the 0° line. The first arithmetic progression falls into the W1 area, the second arithmetic progression falls into the W2 area, and the third arithmetic progression falls into the W3 area. In this way, the selected preset target angle value can better cover the entire rotation angle range, so that the final judgment result is more accurate. In addition, in the W1 area and the W3 area, the tolerance of the first arithmetic progression and the third arithmetic progression is larger, that is, in these two areas, the difference between the two adjacent preset target angle values ​​selected is larger.

[0042] It should be noted that during normal driving, when the vehicle is traveling at high speed, in order to ensure safety, the turning angle accuracy is required to be high. However, when the vehicle is traveling at high speed, the steering angle of the wheels is small and it is unlikely to turn to the extreme position. When the steering angle of the wheels is large, the vehicle is generally turning slowly. Therefore, in actual application scenarios, the turning angle accuracy requirement near the extreme position is low, and the turning angle accuracy requirement near the 0° line is high. This arrangement of the present embodiment can appropriately reduce the number of preset target angle values ​​in the W1 area and the W3 area. The span of selecting the preset target angle values ​​in the W1 area and the W3 area is large, and the span and number of preset target angle values ​​selected in the W2 area are small, which can improve the accuracy of the final evaluation result and speed up the calculation.

[0043] In some embodiments, the tolerance range of the first arithmetic progression is 1.5° to 2.5°, preferably 2°. The tolerance range of the second arithmetic progression is 0.75° to 1.25°. Preferably, it is 1°. It can be understood that in the W1 region and the W3 region, the interval between two adjacent preset target angle values ​​is 2°, and in the W2 region, the interval between two adjacent preset target angle values ​​is 1°. Such a setting can make the preset target angle values ​​in the W2 region distributed more densely, which is conducive to improving the accuracy of the evaluation results.

[0044] In some embodiments, the above-mentioned multiple speed preset values ​​constitute a fourth arithmetic progression, the tolerance of the fourth arithmetic progression is the product of the maximum speed value of the kingpin steering system and the second coefficient, the maximum speed value is the maximum speed value of the motor output of the kingpin steering system. It can be understood that it is more reasonable to select the above-mentioned multiple speed preset values ​​within the maximum speed range of the motor output.

[0045] In some embodiments, the range of the second coefficient is 0.05 to 0.2, preferably 0.2, which can be understood as dividing the maximum speed range according to a certain ratio, and selecting multiple speed preset values ​​at the same time. Such selection allows multiple speed preset values ​​to evenly cover the maximum speed range of the motor output, and can more comprehensively determine the actual steering angle under each different speed condition, and judge whether the steering angle accuracy of the kingpin steering system meets the requirements based on these steering angle data, so that the inspection result is more accurate.

[0046] In some embodiments, multiple torque preset values ​​constitute a fifth arithmetic progression, and the tolerance of the fifth arithmetic progression is the product of the maximum output torque value of the kingpin steering system and the third coefficient. The maximum output torque value can be understood as the maximum output capacity of the kingpin steering system, that is, the maximum torque value that the kingpin steering system can withstand.

[0047] In some embodiments, the third coefficient ranges from 0.01 to 0.05, preferably is 0.05, which can be understood as dividing the maximum torque range that the kingpin steering system can withstand according to a certain ratio, and selecting multiple torque preset values ​​at the same time. Such selection allows multiple torque preset values ​​to evenly cover the above-mentioned maximum tolerable torque range, and can more comprehensively determine the actual steering angle under each different torque condition, and judge whether the steering angle accuracy of the kingpin steering system meets the requirements based on these steering angle data, so that the inspection result is more accurate.

[0048] In some embodiments, the first threshold is 1.001, the second threshold is 0.999, and the third threshold ranges from 0.997 to 0.999, preferably 0.995. It can be understood that when the ratio of the number of the above-mentioned qualified first numerical values ​​to the total number of first numerical values ​​exceeds 99.5%, the steering angle accuracy of the kingpin steering system is determined to be qualified.

[0049] In some embodiments, before executing step S200, the power output mechanism 400 may be dismantled, the torsion actuator may be connected to the rotating shaft of the second transmission mechanism 300, and the torque value output by the torsion actuator may be recalculated according to the product of the preset torque value and the corresponding transmission efficiency, and then the subsequent steps may be continued. Similarly, in some other embodiments, the second transmission mechanism 300 or the first transmission mechanism 200 may be further dismantled, and the torque value output by the torsion actuator may be recalculated according to the product of the preset torque value and the corresponding transmission efficiency, and then the subsequent steps may be continued. This operation in this embodiment can verify the accuracy of the angular output of each level of the transmission mechanism separately, so that the evaluation results obtained are more accurate.

[0050] An embodiment of the present invention further provides a vehicle, comprising the kingpin steering system of the above embodiment, the kingpin steering system is judged to be qualified by the steering angle accuracy evaluation method of the above embodiment and can meet the working condition requirements.

[0051] Specifically, the vehicle of the embodiment of the present invention may be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle may also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle may be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it may be a hybrid vehicle or a pure electric vehicle.

[0052] An embodiment of the present invention further provides an electronic device, comprising at least one processor and at least one memory, wherein the memory is used to store at least one program. When the at least one program is executed by the at least one processor, the at least one processor implements the method for evaluating the turning angle accuracy of the kingpin steering system as described in the above embodiment.

[0053] Reference Figure 4 As shown, Figure 4The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes: a processor, which can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solution provided in the embodiment of the present application; a memory, which can be implemented in the form of a read-only memory (Read Only Memory, ROM), a static storage device, a dynamic storage device or a random access memory (Random Access Memory, RAM), etc. The memory can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program codes are stored in the memory and are called by the processor to execute the turning angle accuracy evaluation method of the kingpin steering system of the embodiment of this application; an input / output interface for realizing information input and output; a communication interface for realizing communication interaction between this device and other devices, which can be realized through wired methods (such as USB, network cables, etc.) or wireless methods (such as mobile networks, WIFI, Bluetooth, etc.); a bus for transmitting information between various components of the device (such as processors, memory, input / output interfaces and communication interfaces); wherein the processor, memory, input / output interface and communication interface realize communication connection with each other within the device through the bus.

[0054] An embodiment of the present invention further provides a computer-readable storage medium, which includes a stored program, wherein when the program is run, the method for evaluating the turning angle accuracy of the kingpin steering system of the above embodiment is executed in a processor of a device where the program is controlled.

[0055] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the method for evaluating the turning angle accuracy of the kingpin steering system of the above embodiment.

[0056] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0057] In the description of the present invention, "a plurality" means more than two. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0058] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0059] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0060] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple. In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0061] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories), or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0062] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0063] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0064] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Acce Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0065] The step numbers in the above method embodiment are only provided for the convenience of explanation and description, and no limitation is imposed on the order of the steps. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

Claims

1. A method for evaluating the turning angle accuracy of a kingpin steering system, characterized in that: include: Setting a plurality of torque preset values, a plurality of speed preset values, a plurality of preset target angle values ​​and a plurality of preset working conditions, wherein one of the preset working conditions is determined by one of the torque preset values ​​and one of the speed preset values; Inputting a plurality of the preset working conditions into the kingpin steering system respectively, inputting a plurality of the preset target angle values ​​into the kingpin steering system respectively under each of the preset working conditions, and measuring a plurality of actual steering angle values ​​output by the kingpin steering system; Determine that the ratio of the preset target angle value to the corresponding actual rotation angle value is a first value, and the total number of the first values ​​is equal to the product of the number of the preset torque values ​​and the number of the preset speed values; When the first value is less than or equal to a first threshold and greater than or equal to a second threshold, the first value is determined to be qualified, and the first threshold is greater than the second threshold; When the ratio of the number of qualified first values ​​to the total number of the first values ​​is greater than or equal to a third threshold, it is determined that the steering angle accuracy of the kingpin steering system is qualified.

2. The method for evaluating the turning angle accuracy according to claim 1, characterized in that: The plurality of preset target angle values ​​constitute a first arithmetic sequence, a second arithmetic sequence and a third arithmetic sequence which are arranged in ascending order and in sequence, the tolerance of the first arithmetic sequence is the same as the tolerance of the third arithmetic sequence, the tolerance of the first arithmetic sequence is greater than the tolerance of the second arithmetic sequence, the largest term in the first arithmetic sequence is less than or equal to a fourth threshold, the term of the second arithmetic sequence is between the fourth threshold and a fifth threshold, the smallest term in the third arithmetic sequence is greater than or equal to the fifth threshold, the fifth threshold is equal to the product of the maximum value of the steering angle of the kingpin steering system and the first coefficient, the fourth threshold is a negative value, and the absolute value of the fourth threshold is equal to the fifth threshold.

3. The method for evaluating the turning angle accuracy according to claim 2, characterized in that: The fifth threshold is a product of the first coefficient and a maximum steering angle of the kingpin steering system.

4. The method for evaluating the turning angle accuracy according to claim 2, characterized in that: The tolerance range of the first arithmetic progression is 1.5° to 2.5°, and the tolerance range of the second arithmetic progression is 0.75° to 1.25°.

5. The method for evaluating the turning angle accuracy according to claim 3, characterized in that: A plurality of speed preset values ​​constitute a fourth arithmetic progression, and a tolerance of the fourth arithmetic progression is the product of a maximum speed value of the kingpin steering system and a second coefficient.

6. The method for evaluating the turning angle accuracy according to claim 5, characterized in that: The plurality of torque preset values ​​constitute a fifth arithmetic progression, and a tolerance of the fifth arithmetic progression is a product of a maximum output torque value of the kingpin steering system and a third coefficient.

7. The method for evaluating the turning angle accuracy according to claim 6, characterized in that: The first coefficient ranges from 0.68, the second coefficient ranges from 0.05 to 0.2, and the third coefficient ranges from 0.01 to 0.

05.

8. The method for evaluating the rotation angle accuracy according to claim 1, characterized in that: The first threshold is 1.001, the second threshold is 0.999, and the third threshold ranges from 0.997 to 0.

999.

9. Kingpin steering system, characterized in that: The turning angle accuracy of the kingpin steering system is determined to be qualified by the turning angle accuracy evaluation method of any one of claims 1 to 8.

10. A vehicle, characterized in that: Including the kingpin steering system as described in claim 9.

11. An electronic device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the turning angle accuracy evaluation method of the kingpin steering system according to any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: Used to store computer programs / instructions, characterized in that when the computer programs / instructions are executed by a processor, the steps of the method for evaluating the turning angle accuracy of a kingpin steering system according to any one of claims 1 to 8 are implemented.

13. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method for evaluating the turning angle accuracy of a kingpin steering system according to any one of claims 1 to 8 are implemented.

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