Steering angle accuracy evaluation method for kingpin steering system, vehicle, and electronic device

Abstract

The application provides a kind of kingpin steering system's rotation accuracy evaluation method, vehicle and electronic equipment, wherein the rotation accuracy evaluation method includes: setting multiple torque preset values, multiple rotation speed preset values, multiple preset target angle values and multiple preset working condition conditions;Multiple preset working condition conditions are input into kingpin steering system respectively, multiple preset target angle values are input into the input end of kingpin steering system under each preset working condition condition, and multiple actual rotation angle values output by the output end of kingpin steering system are measured;The ratio of preset target angle value and corresponding actual rotation angle value is determined as first value, and the total number of first value is equal to the product of the number of torque preset values and the number of rotation speed preset values;When the ratio of the number of qualified first values and the total number of first values is greater than or equal to a third threshold value, it is determined that the rotation accuracy of kingpin steering system is qualified.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method for evaluating the steering angle accuracy of a kingpin steering system, a vehicle, and electronic equipment. Background Technology

[0002] Currently, mainstream kingpin steering systems use motor-driven steering. The main controller sends the target steering angle to the kingpin steering controller via bus or other communication methods. The kingpin steering controller then controls the motor's output shaft to rotate to the target angle, and the power from the output shaft is transmitted to the output end through a gear transmission mechanism. Because the mechanical transmission mechanism of the kingpin steering system is relatively complex, the steering angle performance varies under different load conditions. Currently, there is no accurate verification method to determine whether the steering angle accuracy of the kingpin steering system meets the requirements. Summary of the Invention

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

[0004] A method for evaluating the steering angle accuracy of a kingpin steering system according to a first aspect of the present invention includes:

[0005] Multiple preset torque values, multiple preset speed values, multiple preset target angle values, and multiple preset operating conditions are set, wherein the preset operating conditions are determined by one of the preset torque values ​​and one of the preset speed values;

[0006] Multiple preset operating conditions are input into the kingpin steering system. Under each preset operating condition, multiple preset target angle values ​​are input into the input terminal of the kingpin steering system, and multiple actual steering angle values ​​output by the output terminal of the kingpin steering system are measured.

[0007] The ratio of the preset target angle value to the corresponding actual rotation angle value is determined to be a first value, and the total number of the first values ​​is equal to the product of the number of preset torque values ​​and the number of preset speed values;

[0008] When the first value is less than or equal to the first threshold and greater than or equal to the second threshold, the first value is deemed to be qualified, and the first threshold is greater than the second threshold.

[0009] When the ratio of the number of qualified first values ​​to the total number of first values ​​is greater than or equal to the third threshold, the steering angle accuracy of the kingpin steering system is deemed qualified.

[0010] The method for evaluating the steering angle accuracy of the kingpin steering system according to embodiments of the present invention has at least the following beneficial effects:

[0011] This invention, through measuring the ratio of a preset target angle value to the actual steering angle value of the kingpin steering system under multiple preset operating conditions, determines whether the steering accuracy of the kingpin steering system is qualified based on the number of qualified ratios. This can make the determination result more accurate and is beneficial for determining whether the kingpin steering system meets the requirements.

[0012] According to some embodiments of the present invention, a plurality of the preset target angle values ​​constitute an increasing and sequentially arranged first arithmetic sequence, a second arithmetic sequence, and a third arithmetic sequence. The common difference of the first arithmetic sequence is the same as the common difference of the third arithmetic sequence. The common difference of the first arithmetic sequence is greater than the common difference of the second arithmetic sequence. The largest term in the first arithmetic sequence is less than or equal to a fourth threshold. The terms of the second arithmetic sequence are 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 angle of the kingpin steering system and a first coefficient. The fourth threshold is negative. The absolute value of the fourth threshold is equal to the fifth threshold.

[0013] According to some embodiments of the present invention, the fifth threshold is the product of a first coefficient and the maximum steering angle of the kingpin steering system, wherein the range of the first coefficient is 0.68.

[0014] According to some embodiments of the present invention, the tolerance range of the first arithmetic sequence is 1.5° to 2.5°, and the tolerance range of the second arithmetic sequence is 0.75° to 1.25°.

[0015] According to some embodiments of the present invention, multiple preset speed values ​​constitute a fourth arithmetic sequence, wherein the common difference of the fourth arithmetic sequence is the product of the maximum speed value of the kingpin steering system and a second coefficient.

[0016] According to some embodiments of the present invention, the second coefficient ranges from 0.05 to 0.2.

[0017] According to some embodiments of the present invention, a plurality of the preset torque values ​​constitute a fifth arithmetic sequence, wherein the common difference of the fifth arithmetic sequence is the product of the maximum output torque value of the kingpin steering system and a third coefficient.

[0018] According to some embodiments of the present invention, the third coefficient ranges from 0.01 to 0.05.

[0019] 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.

[0020] According to the second aspect of the present invention, the kingpin steering system is determined to have qualified steering accuracy by the steering accuracy evaluation method of the kingpin steering system of the first aspect.

[0021] The kingpin steering system according to embodiments of the present invention has at least the following beneficial effects:

[0022] Since the steering angle accuracy evaluation method of the kingpin steering system according to the first aspect embodiment is used to determine that the steering angle accuracy is qualified and the determination result is relatively accurate, the steering angle accuracy of the kingpin steering system is guaranteed to be relatively precise.

[0023] A vehicle according to a third aspect of the present invention includes a kingpin steering system according to a second aspect of the present invention.

[0024] The vehicle according to the embodiments of the present invention, since it includes the kingpin steering system of the second aspect embodiment, has at least the above-mentioned beneficial effects, which will not be repeated here.

[0025] An electronic device according to a fourth aspect of the present invention 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 steering angle accuracy evaluation method of the kingpin steering system as described in the first aspect embodiment.

[0026] The electronic device according to the embodiments of the present invention has at least the above-described beneficial effects because its processor implements the steering angle accuracy evaluation method of the kingpin steering system described above, and will not be repeated here.

[0027] According to a fifth aspect of the present invention, a computer-readable storage medium stores processor-executable instructions, which, when executed by a processor, are used to perform the steering angle accuracy evaluation method of the kingpin steering system according to the first aspect of the present invention.

[0028] A computer program product according to a sixth aspect of the present invention includes a computer program that, when executed by a processor, implements the steering angle accuracy evaluation method of the kingpin steering system according to the first aspect of the present invention.

[0029] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0031] Figure 1 This is a flowchart illustrating the steps of a method for evaluating the steering angle accuracy of a kingpin steering system according to some embodiments of the present invention.

[0032] Figure 2 This is a schematic diagram of the structure of the kingpin steering system according to some embodiments of the present invention;

[0033] Figure 3 This is a schematic diagram showing the value distribution of multiple preset target angle values ​​in some embodiments of the present invention;

[0034] Figure 4 These are schematic diagrams of the hardware structure of electronic devices according to some embodiments of the present invention.

[0035] Figure label:

[0036] Power input mechanism 100, motor 110, worm gear 120;

[0037] First transmission mechanism 200, turbine 210, first gear 220;

[0038] Second transmission mechanism 300, second gear 310, third gear 320;

[0039] Power take-off mechanism 400. Detailed Implementation

[0040] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0041] Reference Figure 2The diagram illustrates a kingpin steering system according to an embodiment of the present invention. The kingpin steering system 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 and includes a motor 110 and a worm gear 120. The output shaft of the motor 110 is connected to the worm gear 120. The first transmission mechanism 200 includes a worm gear 210 and a first gear 220, which are coaxially arranged. The worm gear 210 is connected to the worm gear 120. The second transmission mechanism 300 includes a second gear 310 and a third gear 320. The second gear 310 meshes with the first gear 220, and the third gear 320 is coaxially arranged with the second gear 310. The power output mechanism 400 is configured as a sector gear, which is coaxially arranged with the second gear 310. When the output shaft of the motor 110 drives the worm gear 120 to rotate, the worm gear 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 sector gear to rotate synchronously, and the sector gear outputs rotational power, thereby driving the vehicle's tires to steer.

[0042] It should be noted that in some other embodiments, the kingpin steering system may also employ other different transmission mechanisms to achieve steering transmission.

[0043] Reference Figure 1 As shown, the method for evaluating the steering angle accuracy of the kingpin steering system provided in the embodiment of the present invention includes steps S100, S200, S300, S400 and S500.

[0044] Step S100: Set multiple preset torque values, multiple preset speed values, multiple preset target angle values, and multiple preset operating conditions. The preset operating conditions are determined by a preset torque value and a preset speed value.

[0045] It should be noted that in this step, multiple different preset torque values, multiple different preset speed values, and multiple different preset target angle values ​​are first set. One preset torque value and one preset speed value define a preset operating condition. For two different preset operating conditions, at least one preset torque value or one preset speed value must be different. Additionally, a torsion actuator is required during testing. The torsion actuator outputs torque to the output end of the kingpin steering system and measures the actual rotation angle of the kingpin steering system's output end. Before use, the torque and rotation angle of the torsion actuator must be calibrated, and its parameters adjusted to an accuracy of 0.001° and 0.001 Nm or higher. The torsion actuator acts on the power output mechanism 400 of the kingpin steering system.

[0046] Step S200: Input multiple preset working conditions into the kingpin steering system. Under each preset working condition, input multiple preset target angle values ​​into the kingpin steering system and measure the multiple actual steering angle values ​​output by the kingpin steering system.

[0047] It should be noted that in this step, the kingpin steering system is installed on a test bench in the actual vehicle state for simulation experiments. First, the kingpin steering system is fixed to operate under a certain preset working condition, which corresponds to a preset torque value and a preset speed value. The torque input of the torsion actuator is set to the preset torque value, and the speed of the motor of the power input mechanism is set to the preset speed value. Then, all the preset target angle values ​​set in step S100 are input to the motor of the power input mechanism. After the motor drives the rotation angle, the actual rotation angle value output by the output end of the kingpin steering system is measured by the torsion actuator. Finally, a large amount of actual rotation angle value data can be obtained.

[0048] Step S300: Determine the ratio of the preset target angle value to the corresponding actual rotation angle value as the first value. The total number of the first values ​​is equal to the product of the number of preset torque values ​​and the number of preset speed values.

[0049] It should be noted that a large amount of initial numerical data can be obtained in this step, and the accuracy of the system's turning angle can be determined based on the initial numerical data.

[0050] Step S400: When the first value is less than or equal to the first threshold and greater than or equal to the second threshold, the first value is deemed qualified, and the first threshold is greater than the second threshold.

[0051] It should be noted that in this step, when the first value is less than or equal to the first threshold and greater than or equal to the second threshold, it means that the output of a specific steering angle under a certain preset working condition corresponding to the first value is relatively accurate and meets the requirements. When there are a large number of qualified first values, it means that the steering angle of the kingpin steering system is relatively accurate.

[0052] 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 the third threshold, the steering angle accuracy of the kingpin steering system is determined to be qualified.

[0053] In this embodiment, a method for verifying whether the steering angle accuracy of the kingpin steering system is qualified is proposed. Specifically, the steering performance of the kingpin steering system under multiple different preset working conditions is measured and its steering performance is evaluated. This method can determine more accurately whether the steering angle accuracy of the kingpin steering system meets the requirements. The first threshold, the second threshold, and the third threshold can be adaptively set according to the actual accuracy requirements. When the accuracy requirements of steering performance are high, the difference between the first threshold and the second threshold is small, and the difference between the third threshold and 1 is small.

[0054] It should be noted that the kingpin steering system provided in this embodiment of the invention is judged to have good steering angle accuracy by the above-mentioned evaluation method.

[0055] In some embodiments, multiple preset target angle values ​​constitute an increasing and sequentially arranged first arithmetic sequence, second arithmetic sequence, and third arithmetic sequence. The terms in these arithmetic sequences are the preset target angle values. The common difference of the first arithmetic sequence is the same as the common difference of the third arithmetic sequence. The common difference of the first arithmetic sequence is greater than the common difference of the second arithmetic sequence; that is, the difference between two adjacent terms in the first arithmetic sequence is greater than the difference between two adjacent terms in the second arithmetic sequence. The largest term in the first arithmetic sequence is less than or equal to a fourth threshold. The terms in the second arithmetic sequence are between the fourth and fifth thresholds. 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 steering angle of the kingpin steering system and the first coefficient. The fourth threshold is negative, and its absolute value is equal to the fifth threshold. 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, controlling the wheels to swing left or right, the maximum steering angle range of the kingpin steering system is from negative to positive. For example, the maximum steering angle range of the kingpin steering system is -40° to 40°.

[0056] For further explanation, refer to Figure 3 The diagram shown can be interpreted as a distribution of the steering angle range of the kingpin steering system. It illustrates the range of rotation to the left or right around point O, starting from the 0° line. This can also be understood as the steering angle range of the vehicle's tires. For the kingpin steering system to function properly, multiple preset target angle values ​​should be selected within the steering angle range shown in the diagram. When rotating to the left from the 0° line, the rotation angle is negative, with the extreme position having an angle of -A. max When rotating to the right from the 0° line, the rotation angle is positive, and the rotation angle at the extreme position is A. max If we don't consider positive or negative signs, A max This can be understood as the maximum steering angle of the kingpin steering system. Among them, -A max The absolute value of A is equal to max The fourth threshold mentioned above is equal to -a*A. maxThe 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. This can be understood as... Figure 3 The turning angle range is divided into three regions: W1, W2, and W3. These three regions are symmetrical about the 0° line. The first arithmetic sequence mentioned above falls within the W1 region, the second arithmetic sequence falls within the W2 region, and the third arithmetic sequence falls within the W3 region. In this way, the selected preset target angle value can better cover the entire turning angle range, making the final judgment result more accurate. In addition, the common difference between the first and third arithmetic sequences is large in the W1 and W3 regions, that is, the difference between two adjacent preset target angle values ​​selected in these two regions is large.

[0057] It should be noted that during normal driving, when a vehicle is traveling at high speed, a high degree of turning accuracy is required to ensure safety. However, when a vehicle is traveling at high speed, the steering angle of the wheels is relatively 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 practical applications, the turning accuracy requirement is lower near the extreme position, while the turning accuracy requirement is higher near the 0° line. This embodiment can appropriately reduce the number of preset target angle values ​​in the W1 and W3 regions. The range of preset target angle values ​​selected in the W1 and W3 regions is relatively large, while the range of preset target angle values ​​selected in the W2 region is relatively small and the number is relatively large. This can improve the accuracy of the final evaluation result and speed up the calculation.

[0058] In some embodiments, the tolerance range of the first arithmetic sequence is 1.5° to 2.5°, preferably 2°. The tolerance range of the second arithmetic sequence is 0.75° to 1.25°, preferably 1°. This can be understood as follows: in regions W1 and W3, adjacent preset target angle values ​​are spaced 2° apart; in region W2, adjacent preset target angle values ​​are spaced 1° apart. This arrangement allows for a finer distribution of preset target angle values ​​within region W2, which is beneficial for improving the accuracy of the evaluation results.

[0059] In some embodiments, the aforementioned multiple preset speed values ​​constitute a fourth arithmetic sequence. The difference of the fourth arithmetic sequence 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 output by the motor of the kingpin steering system. This can be understood as selecting the aforementioned multiple preset speed values ​​within the maximum speed range of the motor output, which is quite reasonable.

[0060] In some embodiments, the range of the second coefficient is from 0.05 to 0.2, preferably 0.2. This can be understood as dividing the maximum speed range according to a certain ratio and selecting multiple preset speed values. This selection allows multiple preset speed values ​​to evenly cover the maximum speed range of the motor output, and can more comprehensively obtain the actual steering angle under various different speed conditions. Based on these steering angle data, it can be determined whether the steering angle accuracy of the kingpin steering system meets the requirements, making the test results more accurate.

[0061] In some embodiments, multiple preset torque values ​​constitute a fifth arithmetic sequence. The difference of the fifth arithmetic sequence 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.

[0062] In some embodiments, the third coefficient ranges from 0.01 to 0.05, preferably 0.05. This can be understood as dividing the maximum torque range that the kingpin steering system can withstand into a certain proportion and selecting multiple preset torque values. This selection allows the multiple preset torque values ​​to evenly cover the aforementioned maximum tolerable torque range, enabling a more comprehensive determination of the actual steering angle under various torque conditions. Based on these steering angle data, it can be determined whether the steering angle accuracy of the kingpin steering system meets the requirements, making the test results more accurate.

[0063] 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. This can be understood as follows: when the ratio of the number of qualified first values ​​to the total number of first values ​​exceeds 99.5%, the steering angle accuracy of the kingpin steering system is deemed qualified.

[0064] In some embodiments, before performing step S200, the power output mechanism 400 can be removed, the torsion actuator can be connected to the shaft of the second transmission mechanism 300, and the torque value output by the torsion actuator can be recalculated based on the product of the preset torque value and the corresponding transmission efficiency, before proceeding to the next steps. Similarly, in other embodiments, the second transmission mechanism 300 or the first transmission mechanism 200 can be removed, the torque value output by the torsion actuator can be recalculated based on the product of the preset torque value and the corresponding transmission efficiency, and then proceeding to the next steps. This operation in this embodiment allows for the independent verification of the angular output accuracy of each stage of the transmission mechanism, resulting in more accurate evaluation results.

[0065] This invention also provides a vehicle including the kingpin steering system described above. The kingpin steering system is deemed qualified by the steering angle accuracy evaluation method described above and can meet the operating conditions.

[0066] Specifically, the vehicles in this embodiment of the invention can be private cars, such as sedans, SUVs, MPVs, or pickup trucks. Vehicles can also be commercial vehicles, such as vans, buses, small trucks, or large semi-trailers. Vehicles can be gasoline-powered or new energy vehicles. When a vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.

[0067] This invention also provides an electronic device, including at least one processor and at least one memory, the memory being 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 causes the at least one processor to implement the steering angle accuracy evaluation method of the kingpin steering system as described in the above embodiments.

[0068] Reference Figure 4 As shown, Figure 4 The illustration shows the hardware structure of an electronic device according to another embodiment. The electronic device includes: a processor, which can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, for executing related programs to implement the technical solutions provided in the embodiments of this application; and a memory, which can be implemented using a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM), etc. The memory can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory and called by the processor to execute the steering angle accuracy evaluation method of the kingpin steering system in the embodiments of this application. Input / output interface is used to realize information input and output. Communication interface is used to realize communication interaction between this device and other devices. Communication can be realized through wired means (such as USB, network cable, etc.) or through wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus transmits information between various components of the device (such as processor, memory, input / output interface and communication interface). The processor, memory, input / output interface and communication interface realize communication connection between each other within the device through the bus.

[0069] This invention also provides a computer-readable storage medium, which includes a stored program, wherein the program, when running, controls the execution of the steering angle accuracy evaluation method of the kingpin steering system described above in the processor of the device.

[0070] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steering angle accuracy evaluation method of the kingpin steering system described above.

[0071] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0072] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0073] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0074] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatuses.

[0075] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, apparatuses, or units, and may be electrical, mechanical, or other forms.

[0077] In the embodiments of this application, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0078] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0079] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0080] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0081] The step numbers in the above method embodiments are set only for ease of explanation and do not impose any restrictions on the order of the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

Claims

1. A method of evaluating the cornering accuracy of a kingpin steering system, characterized by, The method comprises: setting a plurality of torque preset values, a plurality of rotational speed preset values, a plurality of preset target angle values and a plurality of preset working conditions, wherein each preset working condition is determined by one torque preset value and one rotational speed preset value; inputting the plurality of preset working conditions into the kingpin steering system, inputting the plurality of preset target angle values into the kingpin steering system under each preset working condition, and measuring a plurality of actual turning angle values output by the kingpin steering system; determining a first value as a ratio of the preset target angle value to the corresponding actual turning angle value, wherein the total number of the first values is equal to the product of the number of torque preset values and the number of rotational speed preset values; determining that the first value is qualified when the first value is less than or equal to a first threshold value and greater than or equal to a second threshold value, wherein the first threshold value is greater than the second threshold value; determining that the turning angle accuracy of the kingpin steering system is qualified when a ratio of the number of qualified first values to the total number of first values is greater than or equal to a third threshold value; the plurality of preset target angle values form a first arithmetic sequence, a second arithmetic sequence and a third arithmetic sequence in ascending order, wherein the common difference of the first arithmetic sequence is the same as the common difference of the third arithmetic sequence, the common difference of the first arithmetic sequence is greater than the common difference of the second arithmetic sequence, the largest term in the first arithmetic sequence is less than or equal to a fourth threshold value, the terms in the second arithmetic sequence are between the fourth threshold value and a fifth threshold value, the smallest term in the third arithmetic sequence is greater than or equal to the fifth threshold value, the fifth threshold value is equal to the product of the maximum turning angle of the kingpin steering system and a 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 fifth threshold value is the product of the first coefficient and the maximum turning angle of the kingpin steering system, the common difference of the first arithmetic sequence ranges from 1.5° to 2.5°, and the common difference of the second arithmetic sequence ranges from 0.75° to 1.25°; the plurality of rotational speed preset values form a fourth arithmetic sequence, and the common difference of the fourth arithmetic sequence is the product of the maximum rotational speed of the kingpin steering system and a second coefficient; the plurality of torque preset values form a fifth arithmetic sequence, and the common difference of the fifth arithmetic sequence is the product of the maximum output torque of the kingpin steering system and a third coefficient.

2. The turn accuracy evaluation method according to claim 1, characterized by, 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.

3. The corner accuracy evaluation method of claim 1, wherein the first threshold value is 1.001, the second threshold value is 0.999, and the third threshold value ranges from 0.997 to 0.

999.

4. A kingpin steering system characterised in that, The kingpin steering system is determined to have qualified turning angle accuracy by the method of claim 1 to 3.

5. A vehicle characterized by comprising: The kingpin steering system of claim 4 is included.

6. An electronic device, comprising: The method comprises: 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 steering angle accuracy evaluation method of the kingpin steering system as claimed in any one of claims 1 to 3.

7. A computer readable storage medium characterized in that, A computer program / instruction for storing, wherein the computer program / instruction, when executed by a processor, implements the steps of the steering angle accuracy evaluation method of the kingpin steering system as claimed in any one of claims 1 to 3.

8. A computer program product comprising computer programs / instructions, characterized in that, The computer program / instruction, when executed by a processor, implements the steps of the steering angle accuracy evaluation method of the kingpin steering system as claimed in any one of claims 1 to 3.

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