Method, device, equipment and program for determining moving distance of rear wheel steering half axle

Abstract

The invention is suitable for the technical field of vehicles, and provides a method, a device, equipment and a program for determining the moving distance of a rear wheel steering half shaft. The method for determining the moving distance of the rear wheel steering half shaft comprises the steps that a target image on a lead screw nut of the rear wheel steering half shaft is obtained; wherein the target image comprises a partial pattern of a preset pattern of the lead screw nut; according to part of the patterns, the moving distance of the rear wheel steering half shaft is determined; wherein different partial patterns correspond to different moving distances. According to the method, the moving distance of the rear wheel steering half shaft can be determined only by setting the preset pattern on the lead screw nut of the rear wheel steering half shaft and acquiring the image of part of the pattern including the preset pattern, so that the moving distance of the rear wheel steering half shaft can be determined only by installing the image acquisition device; the convenience of determining the moving distance of the rear wheel steering half shaft is improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a method, device, equipment and program for determining a movement distance of a rear-wheel steering half-axle. Background Art

[0002] In the Automotive Safety Integration Level (ASIL), the safety integrity level of the rear-wheel steering system is the highest level, which means that the safety integrity requirements of the rear-wheel steering system are the highest. In order to ensure the safety integrity of the rear-wheel steering system, the movement distance of the rear-wheel steering axle of the vehicle must be determined first, and then the rear-wheel steering system can be monitored to see if it is working properly based on the movement distance of the rear-wheel steering axle.

[0003] Currently, permanent magnets and displacement sensors are usually used to determine the moving distance of the rear-wheel steering half-axle. This method requires more parts and is therefore inconvenient to install, reducing the convenience of determining the moving distance of the rear-wheel steering half-axle. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a method, device, equipment and program for determining the moving distance of a rear-wheel steering half-axle, so as to solve the technical problem of low convenience in the existing determination of the moving distance of a rear-wheel steering half-axle.

[0005] In a first aspect, an embodiment of the present application provides a method for determining a movement distance of a rear-wheel steering half-axle, comprising:

[0006] Acquire a target image on a lead screw nut of a rear wheel steering half shaft; wherein the target image includes a partial pattern of a preset pattern of the lead screw nut;

[0007] The moving distance of the rear wheel steering half-axle is determined according to the partial pattern; wherein different partial patterns correspond to different moving distances.

[0008] Optionally, the preset pattern is a symmetrical pattern including a first line segment, a second line segment and a third line segment, the first line segment is perpendicular to the axis of symmetry of the preset pattern, and the second line segment, the third line segment and the axis of symmetry intersect.

[0009] Optionally, the partial pattern is a partial line segment of the first line segment and a partial line segment of the second line segment; and determining the moving distance of the rear wheel steering half shaft according to the partial pattern includes:

[0010] Determining a first distance between a first endpoint of a portion of the second line segment and a portion of the first line segment, and determining a second distance between a second endpoint of a portion of the second line segment and a portion of the first line segment;

[0011] The moving distance of the rear-wheel steering half-axle is determined according to the first distance and the second distance.

[0012] Optionally, determining the moving distance of the rear-wheel steering half-axle according to the first distance and the second distance includes:

[0013] Acquire a third distance between a third endpoint of the second line segment and the first line segment, a fourth distance between a fourth endpoint of the second line segment and the first line segment, a first length of the first line segment, and a second length of a partial line segment of the first line segment;

[0014] The moving distance of the rear-wheel steering half-axle is determined according to the first distance, the second distance, the third distance, the fourth distance, the first length, and the second length.

[0015] Optionally, the partial pattern is a partial line segment of the first line segment and a partial line segment of the third line segment; and determining the moving distance of the rear wheel steering half shaft according to the partial pattern includes:

[0016] determining a fifth distance between a fifth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment, and determining a sixth distance between a sixth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment;

[0017] The moving distance of the rear wheel steering axle is determined according to the fifth distance and the sixth distance. Optionally, the partial pattern is a partial line segment of the first line segment, a partial line segment of the second line segment, and a partial line segment of the third line segment; the determining the moving distance of the rear wheel steering axle according to the partial pattern includes:

[0018] If the length of the partial line segment of the second line segment is greater than the length of the partial line segment of the third line segment, determining a first distance between a first end point of the partial line segment of the second line segment and a partial line segment of the first line segment, and determining a second distance between a second end point of the partial line segment of the second line segment and a partial line segment of the first line segment; determining a moving distance of the rear wheel steering half shaft according to the first distance and the second distance;

[0019] If the length of the partial line segment of the second line segment is less than the length of the partial line segment of the third line segment, determine the fifth distance between the fifth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment, and determine the sixth distance between the sixth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment; determine the moving distance of the rear wheel steering half shaft based on the fifth distance and the sixth distance.

[0020] Optionally, acquiring a target image on a lead screw nut of a rear wheel steering half shaft includes:

[0021] The target image is captured by an image acquisition device fixed above the lead screw nut.

[0022] In a second aspect, an embodiment of the present application provides a device for determining a movement distance of a rear-wheel steering half-axle, comprising:

[0023] An image acquisition unit, used for acquiring a target image on a lead screw nut of a rear wheel steering half shaft; wherein the target image includes a partial pattern of a preset pattern of the lead screw nut;

[0024] The moving distance determining unit is used to determine the moving distance of the rear wheel steering half shaft according to the partial pattern; wherein different partial patterns correspond to different moving distances.

[0025] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, each step of the method for determining the movement distance of the rear-wheel steering half-axle as described in any one of the first aspects above is implemented.

[0026] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, each step in the method for determining the movement distance of the rear-wheel steering half-axle as described in any one of the above-mentioned first aspects is implemented.

[0027] In a fifth aspect, an embodiment of the present application provides a computer program, which, when executed on an electronic device, enables the electronic device to execute each step of the method for determining the movement distance of the rear-wheel steering half-axle as described in any one of the first aspects above.

[0028] The method, device, equipment and program for determining the movement distance of the rear-wheel steering half-axle provided in the embodiments of the present application have the following beneficial effects:

[0029] In the method for determining the moving distance of the rear-wheel steering axle provided in the embodiment of the present application, the target image on the lead screw nut of the rear-wheel steering axle is first obtained; wherein the target image includes a partial pattern of the preset pattern of the lead screw nut; and then the moving distance of the rear-wheel steering axle is determined according to the partial pattern; wherein different partial patterns correspond to different moving distances. Through this method, it is only necessary to set a preset pattern on the lead screw nut of the rear-wheel steering axle and obtain an image of a partial pattern including the preset pattern to determine the moving distance of the rear-wheel steering axle. Therefore, it is only necessary to install an image acquisition device to determine the moving distance of the rear-wheel steering axle. Compared with the method of using a permanent magnet and a displacement sensor to determine the moving distance of the rear-wheel steering axle, this method requires fewer parts and is easy to install, which improves the convenience of determining the moving distance of the rear-wheel steering axle. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0031] Figure 1 A flowchart of a method for determining a moving distance of a rear-wheel steering half-axle provided in an embodiment of the present application;

[0032] Figure 2 A schematic diagram of a method for acquiring a target image provided in an embodiment of the present application;

[0033] Figure 3 A schematic diagram of a preset pattern provided in an embodiment of the present application;

[0034] Figure 4 A schematic diagram of a partial pattern provided in an embodiment of the present application;

[0035] Figure 5 A schematic diagram of another partial pattern provided in an embodiment of the present application;

[0036] Figure 6 A schematic diagram of another partial pattern provided in an embodiment of the present application;

[0037] Figure 7 A schematic diagram of another partial pattern provided in an embodiment of the present application;

[0038] Figure 8 A schematic diagram of another partial pattern provided in an embodiment of the present application;

[0039] Fig. 9A schematic diagram of four sub-line segments in a partial pattern provided in an embodiment of the present application;

[0040] Fig.10 A schematic diagram of determining the moving distance of a rear-wheel steering half-axle provided in an embodiment of the present application;

[0041] Fig.11 A schematic diagram of the structure of a device for determining the movement distance of a rear-wheel steering half-axle provided in an embodiment of the present application;

[0042] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] It should be noted that the terms used in the embodiments of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application. In the description of the embodiments of the present application, unless otherwise specified, "multiple" refers to two or more than two, and "at least one", "one or more" refers to one, two or more. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, it is defined that the "first" and "second" features can explicitly or implicitly include one or more of the features.

[0044] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear at different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0045] The execution subject of the method for determining the movement distance of the rear-wheel steering axle provided in the embodiment of the present application may be an electronic device, and the electronic device may include but is not limited to a vehicle control device. The electronic device may execute each step of the method for determining the movement distance of the rear-wheel steering axle provided in the embodiment of the present application.

[0046] The method for determining the moving distance of the rear-wheel steering axle provided in the embodiment of the present application can be applied to various scenarios where the moving distance of the rear-wheel steering axle needs to be determined. For example, when the user wants to conveniently obtain the moving distance of the rear-wheel steering axle, a preset pattern can be set on the lead screw nut of the rear-wheel steering axle, and an image acquisition device can be installed above the lead screw nut of the rear-wheel steering axle, and each step of the method for determining the moving distance of the rear-wheel steering axle provided in the embodiment of the present application can be performed by an electronic device, so that the moving distance of the rear-wheel steering axle can be conveniently obtained.

[0047] See also Figure 1 , Figure 1 The present invention provides a flowchart of a method for determining a rear-wheel steering axle movement distance according to an embodiment of the present invention. The method for determining a rear-wheel steering axle movement distance may include S101 to S102, which are described in detail as follows:

[0048] In S101, a target image on the lead screw nut of the rear wheel steering half shaft is acquired.

[0049] In an embodiment of the present application, before the electronic device acquires the target image on the lead screw nut of the rear wheel steering axle, the user can set a preset pattern on the lead screw nut of the rear wheel steering axle in advance, and can install a fixed image acquisition device above the lead screw nut of the rear wheel steering axle in advance. Based on this, the electronic device can obtain the target image by photographing the image acquisition device fixed above the lead screw nut of the rear wheel steering axle. The target image includes a partial pattern of the preset pattern of the lead screw nut.

[0050] See also Figure 2 , Figure 2 A schematic diagram of a method for acquiring a target image provided by an embodiment of the present application. Figure 2 In the embodiment, the camera can be connected to the electronic device as an image acquisition device, a preset pattern is set on the lead screw nut, the image acquisition device is fixed above the preset pattern of the lead screw nut, the image acquisition device can be used to capture a part of the preset pattern, and send the captured part of the pattern to the electronic device, so that the electronic device can obtain the part of the pattern including the preset pattern of the lead screw nut.

[0051] It should be noted that when the movement distance of the rear wheel steering axle is different, the partial pattern captured by the image acquisition device is also different, that is, each different partial pattern corresponds to a different movement distance of the rear wheel steering axle. Based on this, the preset pattern needs to meet the following conditions: when the movement distance of the rear wheel steering axle is different, the partial pattern in the preset pattern captured by the image acquisition device is different.

[0052] In addition, in the embodiment of the present application, the value of the moving distance of the rear-wheel steering axle can be a positive number, a negative number, and 0. When the value of the moving distance of the rear-wheel steering axle is a positive number, it can be considered that the moving direction of the rear-wheel steering axle is the first direction, when the value of the moving distance of the rear-wheel steering axle is a negative number, it can be considered that the moving direction of the rear-wheel steering axle is the second direction, and when the value of the moving distance of the rear-wheel steering axle is 0, it can be considered that the rear-wheel steering axle has not moved. Exemplarily, when the value of the moving distance of the rear-wheel steering axle is a positive number, it can be considered that the rear-wheel steering axle has moved to the right, and when the value of the moving distance of the rear-wheel steering axle is a negative number, it can be considered that the rear-wheel steering axle has moved to the left.

[0053] As an example and not a limitation, the following is an example of a preset pattern. Figure 3 , Figure 3 A schematic diagram of a preset pattern provided in an embodiment of the present application. Figure 3 As shown, the preset pattern may be a symmetrical pattern including a first line segment, a second line segment and a third line segment, wherein the first line segment may be perpendicular to the axis of symmetry of the preset pattern, and the second line segment, the third line segment and the axis of symmetry of the preset pattern intersect.

[0054] For example, in practical applications, when the movement distance of the rear wheel steering semi-axle is 0, the image acquisition device can be fixed just above the intersection of the second line segment, the third line segment and the symmetry axis of the preset pattern. At this time, the partial pattern acquired by the image acquisition device can be as follows: Figure 4 As shown, Figure 4 A schematic diagram of a partial pattern provided in an embodiment of the present application.

[0055] exist Figure 4 In the corresponding partial pattern, the partial pattern includes partial segments of the first line segment, partial segments of the second line segment, and partial segments of the third line segment, and the length of the partial segment of the second line segment is the same as the length of the partial segment of the third line segment.

[0056] For example, in actual application, when the movement distance of the rear wheel steering semi-axis is a positive number, that is, when the rear wheel steering semi-axis moves to the right, since the image acquisition device is fixed, the partial pattern acquired by the image acquisition device can be as follows: Figure 5 or Figure 6 As shown, Figure 5 A schematic diagram of another partial pattern provided in an embodiment of the present application, Figure 6 A schematic diagram of another partial pattern provided in an embodiment of the present application.

[0057] exist Figure 5 In the corresponding partial pattern, the partial pattern includes a partial line segment of the first line segment and a partial line segment of the second line segment.

[0058] exist Figure 6 In the corresponding partial pattern, the partial pattern includes partial segments of the first line segment, partial segments of the second line segment and partial segments of the third line segment, and the length of the partial segment of the second line segment is greater than the length of the partial segment of the third line segment.

[0059] For example, in actual application, when the movement distance of the rear wheel steering semi-axis is a negative number, that is, when the rear wheel steering semi-axis moves to the left, since the image acquisition device is fixed, the partial pattern acquired by the image acquisition device can be as follows: Figure 7 or Figure 8 As shown, Figure 7 A schematic diagram of another partial pattern provided in an embodiment of the present application, Figure 8 A schematic diagram of another partial pattern provided in an embodiment of the present application.

[0060] exist Figure 7 In the corresponding partial pattern, the partial pattern includes a partial line segment of the first line segment and a partial line segment of the third line segment.

[0061] exist Figure 8 In the corresponding partial pattern, the partial pattern includes partial segments of the first line segment, partial segments of the second line segment and partial segments of the third line segment, and the length of the partial segment of the second line segment is shorter than the length of the partial segment of the third line segment.

[0062] In S102, the movement distance of the rear-wheel steering half-axle is determined based on the partial pattern.

[0063] In the embodiment of the present application, after the electronic device acquires the target image, it can determine the movement distance of the rear wheel steering axle according to the partial pattern included in the target image, wherein each different partial pattern corresponds to a different movement distance of the rear wheel steering axle.

[0064] In practical applications, the electronic device may first determine the type of the partial pattern, that is, the electronic device may first determine that the acquired partial pattern belongs to Figures 4 to 8 Which of the various partial patterns shown in .

[0065] Specifically, the electronic device may first determine the slope and length of each inclined line segment in the partial pattern, and then determine to which type of partial pattern the acquired partial pattern belongs according to the slope and length of each inclined line segment.

[0066] If it is determined that the partial pattern includes two inclined line segments, and it is determined that the slopes of the two inclined line segments are one positive and one negative, and it is determined that the lengths of the two inclined line segments are the same, then the electronic device can determine that the acquired partial pattern belongs to Figure 4The corresponding partial pattern, that is, the partial pattern includes partial segments of the first line segment, partial segments of the second line segment and partial segments of the third line segment, and the length of the partial segment of the second line segment is the same as the length of the partial segment of the third line segment.

[0067] If it is determined that the partial pattern includes an inclined line segment and the slope of the inclined line segment is positive, the electronic device can determine that the acquired partial pattern belongs to Figure 5 The corresponding partial pattern, that is, the partial pattern includes a partial line segment of the first line segment and a partial line segment of the second line segment.

[0068] If it is determined that the partial pattern includes two inclined line segments, and it is determined that the slopes of the two inclined line segments are one positive and one negative, and it is determined that the length of the inclined line segment with the positive slope is greater than the length of the inclined line segment with the negative slope, then the electronic device can determine that the acquired partial pattern belongs to Figure 6 The corresponding partial pattern, that is, the partial pattern includes partial segments of the first line segment, partial segments of the second line segment and partial segments of the third line segment, and the length of the partial segment of the second line segment is greater than the length of the partial segment of the third line segment.

[0069] If it is determined that the partial pattern includes an inclined line segment, and the slope of the inclined line segment is negative, the electronic device can determine that the acquired partial pattern belongs to Figure 7 The corresponding partial pattern, that is, the partial pattern includes a partial line segment of the first line segment and a partial line segment of the third line segment.

[0070] If it is determined that the partial pattern includes two inclined line segments, and it is determined that the slopes of the two inclined line segments are one positive and one negative, and it is determined that the length of the inclined line segment with the positive slope is less than the length of the inclined line segment with the negative slope, then the electronic device can determine that the acquired partial pattern belongs to Figure 8 The corresponding partial pattern, that is, the partial pattern includes partial segments of the first line segment, partial segments of the second line segment and partial segments of the third line segment, and the length of the partial segment of the second line segment is shorter than the length of the partial segment of the third line segment.

[0071] In practical applications, the line segments included in the partial pattern obtained by the electronic device are not standard line segments, but graphics similar to line segments. Figure 5 For example, the partial line segments of the first line segment included in the partial pattern acquired by the electronic device are substantially rectangular, and the partial line segments of the second line segment are substantially parallelograms. Based on this, the electronic device can determine the following method Figure 5 The slope of the inclined line segment in the partial pattern in :

[0072] Electronic devices can first be determined by the Hough algorithm Figure 5Four sub-line segments in the partial pattern in: an upper line segment of a partial line segment of the first line segment, a lower line segment of a partial line segment of the first line segment, an upper line segment of a partial line segment of the second line segment, and a lower line segment of a partial line segment of the second line segment.

[0073] See also Fig. 9 , Fig. 9 A schematic diagram of four sub-line segments in a partial pattern provided in an embodiment of the present application. Fig. 9 , line segment ① is the upper line segment of part of the first line segment, line segment ② is the lower line segment of part of the first line segment, line segment ③ is the upper line segment of part of the second line segment, and line segment ④ is the lower line segment of part of the second line segment.

[0074] After determining the four sub-line segments in the partial pattern, the electronic device can determine the slope of the inclined line segment according to the slope of the upper line segment of the partial line segment of the second line segment and the slope of the lower line segment of the partial line segment of the second line segment. For example, the electronic device can determine the slope of the upper line segment of the partial line segment of the second line segment as Figure 5 Alternatively, the electronic device may determine the slope of the lower line segment of the partial line segment of the second line segment as Figure 5 The slope of the inclined line segment in the partial pattern.

[0075] The above describes a specific method for determining the type of a partial pattern. The following describes a method for determining the moving distance of the rear wheel steering half-axle corresponding to each different type of partial pattern.

[0076] When the electronic device determines that the acquired part of the pattern belongs to Figure 4 When a corresponding partial pattern is obtained, that is, the partial pattern includes partial segments of the first line segment, partial segments of the second line segment and partial segments of the third line segment, and the length of the partial segments of the second line segment is the same as the length of the partial segments of the third line segment, the electronic device can determine that the moving distance of the rear-wheel steering half-axis is 0, that is, the rear-wheel steering half-axis has not moved.

[0077] When the electronic device determines that the acquired part of the pattern belongs to Figure 5 When the partial pattern corresponds, that is, the partial pattern includes a partial segment of the first line segment and a partial segment of the second line segment, the electronic device can determine a first distance between the first endpoint of the partial segment of the second line segment and the partial segment of the first line segment, and determine a second distance between the second endpoint of the partial segment of the second line segment and the partial segment of the first line segment. After determining the first distance and the second distance, the electronic device can determine the moving distance of the rear wheel steering half-axle based on the first distance and the second distance.

[0078] The electronic device may determine the moving distance of the rear wheel steering half shaft according to the first distance and the second distance in the following manner:

[0079] The electronic device may first obtain a third distance between a third endpoint of the second line segment and the first line segment, a fourth distance between a fourth endpoint of the second line segment and the first line segment, a first length of the first line segment, and a second length of a portion of the first line segment.

[0080] Among them, since the third distance, the fourth distance and the first length are determined by a preset pattern, and the second length is determined by the image acquisition width of the image acquisition device, the third distance, the fourth distance, the first length and the second length are all fixed values. Therefore, the electronic device can pre-store the third distance, the fourth distance, the first length and the second length, so that the electronic device can obtain the third distance, the fourth distance, the first length and the second length at this time.

[0081] After the electronic device acquires the third distance, the fourth distance, the first length and the second length, the electronic device may determine the moving distance of the rear wheel steering half shaft according to the first distance, the second distance, the third distance, the fourth distance, the first length and the second length.

[0082] See also Fig.10 , Fig.10 A schematic diagram of determining the moving distance of a rear-wheel steering half-axle provided in an embodiment of the present application.

[0083] exist Fig.10 In the equation, point A is the first endpoint of the partial segment of the second line segment, point B is the second endpoint of the partial segment of the second line segment, the first distance is the sum of La and a, the second distance is the sum of Lb and a, where a is the third distance, the fourth distance is the sum of L and a, and the first length is 2S, that is, Fig.10 The S in is half of the first length, and the second length is ΔC.

[0084] The electronic device can determine the movement distance of the rear wheel steering half shaft according to the following formula:

[0085] Sx=[(La+Lb) / L*S-ΔC] / 2

[0086] Sy=S-Sx

[0087] Among them, Sy is the moving distance of the rear wheel steering half axis, Sx is the displacement of the first endpoint and the third endpoint in the parallel direction, La is the difference between the first distance and the third distance, Lb is the difference between the second distance and the third distance, L is the difference between the fourth distance and a, S is half of the first length, ΔC is the second length, and a is the third distance.

[0088] According to the above formula, since a is the third distance, La can be determined according to the first distance and the third distance, Lb can be determined according to the second distance and the third distance, L can be determined according to the fourth distance and the third distance, and ΔC can be determined according to the second length. Therefore, the electronic device can determine Sx according to the acquired first distance, second distance, third distance, fourth distance and second length. And S can be determined according to the first length, so the electronic device can determine the moving distance of the rear wheel steering half shaft according to Sx and the first length.

[0089] When the electronic device determines that the acquired part of the pattern belongs to Figure 6 When the partial pattern corresponds, that is, the partial pattern includes a partial segment of the first line segment, a partial segment of the second line segment and a partial segment of the third line segment, and the length of the partial segment of the second line segment is greater than the length of the partial segment of the third line segment, the electronic device can determine a first distance between a first endpoint of the partial segment of the second line segment and the partial segment of the first line segment, and determine a second distance between a second endpoint of the partial segment of the second line segment and the partial segment of the first line segment. After determining the first distance and the second distance, the electronic device can determine the moving distance of the rear-wheel steering half-axle based on the first distance and the second distance.

[0090] The specific method for the electronic device to determine the moving distance of the rear wheel steering half shaft according to the first distance and the second distance can be referred to Figure 5 The methods corresponding to the corresponding partial patterns will not be described in detail here.

[0091] That is, when the electronic device determines that the acquired part of the pattern belongs to Figure 6 When the corresponding part pattern is used, the electronic device can Figure 5 The method described in the corresponding part of the figure determines the movement distance of the rear wheel steering half shaft.

[0092] When the electronic device determines that the acquired part of the pattern belongs to Figure 7 When the partial pattern corresponds to the partial pattern, that is, when the partial pattern includes the partial line segment of the first line segment and the partial line segment of the third line segment, the electronic device can determine the fifth distance between the fifth end point of the partial line segment of the third line segment and the partial line segment of the first line segment, and determine the sixth distance between the sixth end point of the partial line segment of the third line segment and the partial line segment of the first line segment. After determining the fifth distance and the sixth distance, the electronic device can determine the movement distance of the rear wheel steering half shaft according to the fifth distance and the sixth distance.

[0093] The electronic device may determine the moving distance of the rear wheel steering half shaft according to the fifth distance and the sixth distance in the following manner:

[0094] The electronic device may first obtain a third distance between a third endpoint of the second line segment and the first line segment, a fourth distance between a fourth endpoint of the second line segment and the first line segment, a first length of the first line segment, and a second length of a portion of the first line segment.

[0095] After the electronic device acquires the third distance, the fourth distance, the first length and the second length, the electronic device may determine the moving distance of the rear wheel steering half shaft according to the third distance, the fourth distance, the fifth distance, the sixth distance, the first length and the second length.

[0096] The electronic device can determine the movement distance of the rear wheel steering half shaft according to the following formula:

[0097] Sx=2S-1 / 2(LaS+LbS+LΔc) / L

[0098] Sy=S-Sx

[0099] Among them, Sy is the moving distance of the rear wheel steering half axis, Sx is the displacement of the first endpoint and the third endpoint in the parallel direction, La is the difference between the first distance and the third distance, Lb is the difference between the second distance and the third distance, L is the difference between the fourth distance and a, S is half of the first length, ΔC is the second length, and a is the third distance.

[0100] When the electronic device determines that the acquired part of the pattern belongs to Figure 8 When the partial pattern corresponds to the partial pattern, that is, the partial pattern includes the partial line segment of the first line segment, the partial line segment of the second line segment and the partial line segment of the third line segment, and the length of the partial line segment of the second line segment is less than the length of the partial line segment of the third line segment, the electronic device can determine the fifth distance between the fifth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment, and determine the sixth distance between the sixth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment. After determining the fifth distance and the sixth distance, the electronic device can determine the moving distance of the rear wheel steering half shaft according to the fifth distance and the sixth distance.

[0101] The specific method for the electronic device to determine the moving distance of the rear wheel steering half shaft according to the fifth distance and the sixth distance can be referred to Figure 7 The methods corresponding to the corresponding partial patterns will not be described in detail here.

[0102] That is, when the electronic device determines that the acquired part of the pattern belongs to Figure 8 When the corresponding part pattern is used, the electronic device can Figure 7 The method described in the corresponding part of the figure determines the movement distance of the rear wheel steering half shaft.

[0103] It can be seen from the above that in the method for determining the moving distance of the rear-wheel steering axle provided in the embodiment of the present application, the target image on the lead screw nut of the rear-wheel steering axle is first obtained; wherein the target image includes a partial pattern of the preset pattern of the lead screw nut; and then the moving distance of the rear-wheel steering axle is determined according to the partial pattern; wherein different partial patterns correspond to different moving distances. Through this method, it is only necessary to set a preset pattern on the lead screw nut of the rear-wheel steering axle and obtain an image of a partial pattern including the preset pattern to determine the moving distance of the rear-wheel steering axle. Therefore, it is only necessary to install an image acquisition device to determine the moving distance of the rear-wheel steering axle. Compared with the method of using a permanent magnet and a displacement sensor to determine the moving distance of the rear-wheel steering axle, this method requires fewer parts and is easy to install, which improves the convenience of determining the moving distance of the rear-wheel steering axle.

[0104] It should be noted that the preset patterns provided in the embodiments of the present application and the specific methods for determining the moving distance of the rear-wheel steering half-axle based on the preset patterns are only examples and not limitations. The preset patterns of different forms obtained by technicians in this method and the specific methods for determining the moving distance of the rear-wheel steering half-axle based on the preset patterns of different forms should all be included in the protection scope of the present application.

[0105] Based on the method for determining the moving distance of the rear-wheel steering axle provided in the above embodiment, the present application further provides a device for determining the moving distance of the rear-wheel steering axle to implement the above method embodiment. Fig.11 , Fig.11 This is a schematic diagram of the structure of a device for determining the movement distance of a rear-wheel steering half-axle provided in an embodiment of the present application. Fig.11 As shown, the rear wheel steering half-axle moving distance determination device 110 may include: an image acquisition unit 111 and a moving distance determination unit 112. Among them:

[0106] The image acquisition unit 111 is used to acquire a target image on the lead screw nut of the rear wheel steering half shaft; wherein the target image includes a partial pattern of a preset pattern of the lead screw nut.

[0107] The moving distance determining unit 112 is used to determine the moving distance of the rear-wheel steering half-axle according to the partial pattern; wherein different partial patterns correspond to different moving distances.

[0108] Optionally, the preset pattern is a symmetrical pattern including a first line segment, a second line segment and a third line segment, the first line segment is perpendicular to the axis of symmetry of the preset pattern, and the second line segment, the third line segment and the axis of symmetry intersect.

[0109] Optionally, the moving distance determining unit 112 is specifically configured to:

[0110] Determining a first distance between a first endpoint of a portion of the second line segment and a portion of the first line segment, and determining a second distance between a second endpoint of a portion of the second line segment and a portion of the first line segment;

[0111] The moving distance of the rear-wheel steering half-axle is determined according to the first distance and the second distance.

[0112] Optionally, the moving distance determining unit 112 is specifically configured to:

[0113] Acquire a third distance between a third endpoint of the second line segment and the first line segment, a fourth distance between a fourth endpoint of the second line segment and the first line segment, a first length of the first line segment, and a second length of a partial line segment of the first line segment;

[0114] The moving distance of the rear-wheel steering half-axle is determined according to the first distance, the second distance, the third distance, the fourth distance, the first length, and the second length.

[0115] Optionally, the moving distance determining unit 112 is specifically configured to:

[0116] determining a fifth distance between a fifth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment, and determining a sixth distance between a sixth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment;

[0117] The moving distance of the rear-wheel steering half-axle is determined according to the fifth distance and the sixth distance.

[0118] Optionally, the moving distance determining unit 112 is specifically configured to:

[0119] If the length of the partial line segment of the second line segment is greater than the length of the partial line segment of the third line segment, determining a first distance between a first end point of the partial line segment of the second line segment and a partial line segment of the first line segment, and determining a second distance between a second end point of the partial line segment of the second line segment and a partial line segment of the first line segment; determining a moving distance of the rear wheel steering half shaft according to the first distance and the second distance;

[0120] If the length of the partial line segment of the second line segment is less than the length of the partial line segment of the third line segment, determine the fifth distance between the fifth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment, and determine the sixth distance between the sixth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment; determine the moving distance of the rear wheel steering half shaft based on the fifth distance and the sixth distance.

[0121] Optionally, the image acquisition unit 111 is specifically used for:

[0122] The target image is captured by an image acquisition device fixed above the lead screw nut.

[0123] See also Fig.12 , Fig.12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.12 As shown, the electronic device 12 provided in this embodiment may include: a processor 120, a memory 121, and a computer program 122 stored in the memory 121 and executable on the processor 120, such as a program corresponding to a method for determining a rear-wheel steering axle moving distance. When the processor 120 executes the computer program 122, the steps in the above-mentioned method for determining a rear-wheel steering axle moving distance in the embodiment are implemented, such as Figure 1 Alternatively, when the processor 120 executes the computer program 122, the functions of each module / unit in the above-mentioned embodiment of the device for determining the moving distance of the rear wheel steering half shaft are realized, for example Fig.11 The functions of the units 111 to 112 are shown.

[0124] Exemplarily, the computer program 122 may be divided into one or more modules / units, one or more modules / units are stored in the memory 121, and are executed by the processor 120 to complete the present application. One or more modules / units may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 122 in the electronic device 12. For example, the computer program 122 may be divided into an image acquisition unit 111 and a moving distance determination unit 112. For the specific functions of each unit, please refer to Fig.11 The relevant descriptions in the corresponding embodiments are not repeated here.

[0125] Those skilled in the art will understand that Fig.12 The electronic device 12 is merely an example and does not limit the electronic device 12 , and may include more or less components than those shown in the figure, or may combine certain components, or may include different components.

[0126] The processor 120 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0127] The memory 121 may be an internal storage unit of the electronic device 12, such as a hard disk or memory of the electronic device 12. The memory 121 may also be an external storage device of the electronic device 12, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, or a flash card, etc., equipped on the electronic device 12. Further, the memory 121 may also include both an internal storage unit of the electronic device 12 and an external storage device. The memory 121 is used to store computer programs and other programs and data required by the electronic device. The memory 121 may also be used to temporarily store data that has been output or is to be output.

[0128] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional units as needed, that is, the internal structure of the device for determining the movement distance of the rear-wheel steering half-axle can be divided into different functional units to complete all or part of the functions described above. The functional units in the embodiment 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 above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0129] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0130] An embodiment of the present application provides a computer program product. When the computer program product is executed on a terminal device, the terminal device implements the steps in the above-mentioned various method embodiments.

[0131] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0132] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0133] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for determining the moving distance of a rear wheel steering half shaft, characterized in that: include: Acquire a target image on a lead screw nut of a rear wheel steering half shaft; wherein the target image includes a partial pattern of a preset pattern of the lead screw nut; The moving distance of the rear wheel steering half-axle is determined according to the partial pattern; wherein different partial patterns correspond to different moving distances.

2. The method according to claim 1, characterized in that The preset pattern is a symmetrical pattern including a first line segment, a second line segment and a third line segment, the first line segment is perpendicular to a symmetry axis of the preset pattern, and the second line segment, the third line segment and the symmetry axis intersect.

3. The method according to claim 2, characterized in that The partial pattern is a partial line segment of the first line segment and a partial line segment of the second line segment; and determining the moving distance of the rear wheel steering half shaft according to the partial pattern includes: Determining a first distance between a first endpoint of a portion of the second line segment and a portion of the first line segment, and determining a second distance between a second endpoint of a portion of the second line segment and a portion of the first line segment; The moving distance of the rear-wheel steering half-axle is determined according to the first distance and the second distance.

4. The method according to claim 3, characterized in that Determining the moving distance of the rear wheel steering half shaft according to the first distance and the second distance includes: Acquire a third distance between a third endpoint of the second line segment and the first line segment, a fourth distance between a fourth endpoint of the second line segment and the first line segment, a first length of the first line segment, and a second length of a partial line segment of the first line segment; The moving distance of the rear-wheel steering half-axle is determined according to the first distance, the second distance, the third distance, the fourth distance, the first length, and the second length.

5. The method according to claim 2, characterized in that: The partial pattern is a partial line segment of the first line segment and a partial line segment of the third line segment; and determining the moving distance of the rear wheel steering half shaft according to the partial pattern includes: determining a fifth distance between a fifth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment, and determining a sixth distance between a sixth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment; The moving distance of the rear-wheel steering half-axle is determined according to the fifth distance and the sixth distance.

6. The method according to claim 2, characterized in that The partial pattern is a partial line segment of the first line segment, a partial line segment of the second line segment, and a partial line segment of the third line segment; Determining the moving distance of the rear wheel steering half shaft according to the partial pattern includes: If the length of the partial line segment of the second line segment is greater than the length of the partial line segment of the third line segment, determining a first distance between a first end point of the partial line segment of the second line segment and a partial line segment of the first line segment, and determining a second distance between a second end point of the partial line segment of the second line segment and a partial line segment of the first line segment; determining a moving distance of the rear wheel steering half shaft according to the first distance and the second distance; If the length of the partial line segment of the second line segment is less than the length of the partial line segment of the third line segment, determine the fifth distance between the fifth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment, and determine the sixth distance between the sixth endpoint of the partial line segment of the third line segment and the partial line segment of the first line segment; determine the moving distance of the rear wheel steering half shaft based on the fifth distance and the sixth distance.

7. The method according to any one of claims 1 to 6, characterized in that: The step of acquiring a target image on a lead screw nut of a rear wheel steering half shaft comprises: The target image is captured by an image acquisition device fixed above the lead screw nut.

8. A device for determining the movement distance of a rear wheel steering half shaft, characterized in that: include: An image acquisition unit, used for acquiring a target image on a lead screw nut of a rear wheel steering half shaft; wherein the target image includes a partial pattern of a preset pattern of the lead screw nut; The moving distance determining unit is used to determine the moving distance of the rear wheel steering half shaft according to the partial pattern; wherein different partial patterns correspond to different moving distances.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, each step of the method for determining the movement distance of the rear-wheel steering half-axle as described in any one of claims 1 to 7 is implemented.

10. A computer program, characterized in that When the computer program is executed by a processor, each step of the method for determining the movement distance of the rear-wheel steering half-axle as claimed in any one of claims 1 to 7 is implemented.

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