Vehicle detection method and device, vehicle and storage medium

Abstract

The invention provides a vehicle detection method and device, a vehicle and a storage medium, and the method is applied to the field of vehicles, and comprises the steps: obtaining an actual driving track radius and a target driving track radius of the vehicle under the condition of determining that the vehicle is in a straight driving state; based on the actual driving track radius and the target driving track radius, whether the wheel parameters of the vehicle are abnormal or not is judged; and when it is determined that the wheel parameters of the vehicle are abnormal, fault prompting is carried out. According to the method, the abnormal condition of the wheel parameters of the vehicle can be detected in time, so that fault prompting is carried out in time, a user can take measures according to the abnormal condition of the wheel parameters as early as possible, and unnecessary loss brought to the user due to untimely maintenance is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle detection method, device, vehicle and storage medium in the field of vehicles. Background Art

[0002] With the widespread use of vehicles, the driving conditions they face are becoming more and more complex. Especially after experiencing strong off-road conditions, the chassis of the vehicle is often subjected to a large impact, resulting in significant changes in the parameters of the four wheels. Excessive tolerance of the four-wheel parameters will cause the vehicle to deviate from the straight line and affect the vehicle's automatic driving function. If it is not adjusted for a long time, it will cause abnormal wear of the tires and abnormal deformation of chassis components.

[0003] However, users usually cannot perceive the problem of four-wheel parameter deviations in a short period of time, which may result in the inability to repair the vehicle in time, which may cause more serious vehicle failures and cause unnecessary losses to users. Summary of the invention

[0004] The present application provides a vehicle detection method, device, vehicle and storage medium. The method can detect abnormal wheel parameters of the vehicle in a timely manner, thereby providing timely fault prompts, helping users to take measures against abnormal wheel parameters as early as possible and avoid unnecessary losses to users due to untimely maintenance.

[0005] In a first aspect, a vehicle detection method is provided, the method comprising: when it is determined that the vehicle is in a straight-line driving state, obtaining an actual driving trajectory radius and a target driving trajectory radius of the vehicle; based on the actual driving trajectory radius and the target driving trajectory radius, determining whether there is an abnormality in wheel parameters of the vehicle; and when it is determined that there is an abnormality in wheel parameters of the vehicle, providing a fault prompt.

[0006] The above technical solution obtains the actual driving trajectory radius and target driving trajectory radius of the vehicle when the vehicle is in a straight-line driving state, and judges whether there is an abnormality in the wheel parameters of the vehicle based on the actual driving trajectory radius and the target driving trajectory radius. By real-time monitoring the actual driving trajectory radius and the target driving trajectory radius of the vehicle when it is driving in a straight line, and judging whether the wheel parameters are abnormal based on this, potential faults can be discovered before wheel-related problems have a significant impact on driving and cause serious safety accidents. When it is determined that the wheel parameters of the vehicle are abnormal, timely fault prompts will help users take measures against the abnormal wheel parameters as soon as possible, avoid more serious vehicle failures due to untimely maintenance, avoid unnecessary losses to users, and improve users' car experience.

[0007] In combination with the first aspect, in certain implementations of the first aspect, based on the actual driving trajectory radius and the target driving trajectory radius, determining whether there is an abnormality in the wheel parameters of the vehicle includes: calculating the radius difference between the actual driving trajectory radius and the target driving trajectory radius; and determining that there is an abnormality in the wheel parameters of the vehicle when it is determined that the absolute value of the radius difference is greater than a first preset difference and the duration for which the absolute value of the radius difference is greater than the first preset difference is greater than the preset duration.

[0008] The above technical solution calculates the difference between the actual driving trajectory radius and the target driving trajectory radius, and not only determines the wheel parameter abnormality based on the radius difference at a certain moment, but also sets more rigorous judgment conditions. While determining that the absolute value of the radius difference is greater than the first preset difference, it is also necessary to meet the condition that the absolute value of the radius difference is greater than the first preset difference for a duration greater than the preset duration before it can be determined that the vehicle's wheel parameters are abnormal. This can avoid the situation where the radius difference caused by short-term interference to the vehicle is misjudged as an abnormal wheel parameter, and can more accurately identify abnormal wheel parameters, effectively improving the accuracy of fault judgment.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some implementation methods of the first aspect, obtaining the actual driving trajectory radius of the vehicle includes: obtaining the actual driving curvature of the vehicle; and determining the inverse of the actual driving curvature as the actual driving trajectory radius of the vehicle.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some implementation methods of the first aspect, obtaining the target driving trajectory radius of the vehicle includes: obtaining the wheelbase, angular transmission ratio and current rotation angle of the steering wheel of the vehicle; wherein the angular transmission ratio refers to the ratio between the rotation angle of the steering wheel of the vehicle and the rotation angle of the wheel; based on the current rotation angle of the steering wheel, the wheelbase and the angular transmission ratio, determining the target driving trajectory radius of the vehicle.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some implementation methods of the first aspect, the target driving trajectory radius of the vehicle is determined based on the current rotation angle of the steering wheel, the wheelbase and the angular transmission ratio, including: calculating the ratio of the current rotation angle of the steering wheel and the angular transmission ratio to obtain the current rotation angle of the wheel of the vehicle; calculating the tangent value corresponding to the current rotation angle of the wheel, and determining the ratio of the wheelbase and the tangent value as the target driving trajectory radius of the vehicle.

[0012] The above technical scheme, since the obtained wheelbase and angular transmission ratio of the vehicle are the inherent characteristics of the vehicle itself, and the obtained current rotation angle of the steering wheel is the real-time driving operation, based on the combination of the vehicle's inherent characteristics and the real-time driving operation, can more accurately calculate the driving trajectory radius that the vehicle should theoretically follow under the current steering operation, that is, the target driving trajectory radius, and can provide an accurate reference basis for vehicle fault detection.

[0013] In combination with the first aspect and the above-mentioned implementations, in some implementations of the first aspect, the method also includes: obtaining the current vehicle speed, the first wheel speed of the left front wheel, and the second wheel speed of the right front wheel; based on the current vehicle speed, the first wheel speed, and the second wheel speed, determining whether the vehicle is in a straight-line driving state.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in certain implementation methods of the first aspect, judging whether the vehicle is in a straight-line driving state based on the current vehicle speed, the first wheel speed and the second wheel speed includes: calculating the wheel speed difference between the first wheel speed and the second wheel speed; and determining that the vehicle is in a straight-line driving state when it is determined that the current vehicle speed is greater than a preset speed threshold and the absolute value of the wheel speed difference is less than a second preset difference.

[0015] The above technical scheme can improve the accuracy and stability of judgment by selecting vehicle parameters that are not affected by the abnormal wheel parameter problem, namely the first wheel speed of the left front wheel and the second wheel speed of the right front wheel, and judging whether the vehicle is in a straight-line driving state based on the first wheel speed of the left front wheel and the second wheel speed of the right front wheel.

[0016] In a second aspect, a vehicle detection device is provided, which includes: an acquisition module, which is used to obtain the actual driving trajectory radius and the target driving trajectory radius of the vehicle when it is determined that the vehicle is in a straight-line driving state; a judgment module, which is used to judge whether there is an abnormality in the wheel parameters of the vehicle based on the actual driving trajectory radius and the target driving trajectory radius; and a prompt module, which is used to give a fault prompt when it is determined that there is an abnormality in the wheel parameters of the vehicle.

[0017] In combination with the second aspect, in certain implementations of the second aspect, the judgment module is specifically used to: calculate the radius difference between the actual driving trajectory radius and the target driving trajectory radius; when it is determined that the absolute value of the radius difference is greater than a first preset difference and the duration for which the absolute value of the radius difference is greater than the first preset difference is greater than the preset duration, determine that there is an abnormality in the wheel parameters of the vehicle.

[0018] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the acquisition module is specifically used to: obtain the actual driving curvature of the vehicle; and determine the inverse of the actual driving curvature as the actual driving trajectory radius of the vehicle.

[0019] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the acquisition module is also specifically used to: obtain the wheelbase, angular transmission ratio and current rotation angle of the steering wheel of the vehicle; wherein the angular transmission ratio refers to the ratio between the rotation angle of the steering wheel of the vehicle and the rotation angle of the wheel; based on the current rotation angle of the steering wheel, the wheelbase and the angular transmission ratio, determine the target driving trajectory radius of the vehicle.

[0020] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the acquisition module also includes a determination unit, which is specifically used to: calculate the ratio of the current rotation angle of the steering wheel and the angular transmission ratio to obtain the current rotation angle of the wheel of the vehicle; calculate the tangent value corresponding to the current rotation angle of the wheel, and determine the ratio of the wheelbase and the tangent value as the target driving trajectory radius of the vehicle.

[0021] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the device also includes a second judgment module, which is specifically used to: obtain the current vehicle speed, the first wheel speed of the left front wheel and the second wheel speed of the right front wheel of the vehicle; based on the current vehicle speed, the first wheel speed and the second wheel speed, determine whether the vehicle is in a straight driving state.

[0022] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the second judgment module includes a judgment unit, which is specifically used to: calculate the wheel speed difference between the first wheel speed and the second wheel speed; and determine that the vehicle is in a straight-line driving state when it is determined that the current vehicle speed is greater than a preset speed threshold and the absolute value of the wheel speed difference is less than a second preset difference.

[0023] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle detection method in the first aspect and any possible implementation of the first aspect.

[0024] In a fourth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the vehicle detection method in the above-mentioned first aspect and any possible implementation of the first aspect.

[0025] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle detection method in the above-mentioned first aspect and any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic flow chart of a vehicle detection method provided in an embodiment of the present application;

[0027] Figure 2 It is a structural schematic diagram of a vehicle fault detection system provided in an embodiment of the present application;

[0028] Figure 3 It is a structural schematic diagram of a vehicle detection device provided in an embodiment of the present application;

[0029] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0031] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0032] With the widespread use of vehicles, the driving conditions they face are becoming more and more complex. Especially after experiencing strong off-road conditions, the chassis of the vehicle is often subjected to a large impact, resulting in significant changes in the four-wheel parameters. Among them, the four-wheel parameter deviation refers to the positioning parameters of the vehicle (such as toe, toe, camber, etc.) exceeding the normal range.

[0033] If the four-wheel parameters are out of tolerance, the vehicle will deviate from the straight line and affect the vehicle's automatic driving function, such as causing abnormalities in the vehicle's Lane Keeping Assist (LKA) and Navigation on Highway (NOH) functions. If the abnormal four-wheel parameters are not adjusted for a long time, it will cause abnormal tire wear and abnormal deformation of chassis components.

[0034] However, users usually cannot perceive the problem of four-wheel parameter deviations in a short period of time, which may result in the inability to repair the vehicle in time, which may cause more serious vehicle failures and cause unnecessary losses to users.

[0035] In order to solve the above technical problems, an embodiment of the present application provides a vehicle detection method, in which the executor of the method is a vehicle, specifically a controller in the vehicle.

[0036] Figure 1 It is a schematic flow chart of a vehicle detection method provided in an embodiment of the present application.

[0037] For example, Figure 1 As shown, the method 100 includes:

[0038] S101, when it is determined that the vehicle is in a straight-line driving state, obtaining an actual driving track radius and a target driving track radius of the vehicle.

[0039] S102: Based on the actual driving track radius and the target driving track radius, determine whether there is any abnormality in the wheel parameters of the vehicle.

[0040] S103, when it is determined that the wheel parameters of the vehicle are abnormal, a fault prompt is issued.

[0041] In an embodiment of the present application, when the vehicle is in a straight-line driving state, the actual driving trajectory radius and the target driving trajectory radius of the vehicle are obtained, and based on the actual driving trajectory radius and the target driving trajectory radius, it is determined whether the wheel parameters of the vehicle are abnormal. By real-time monitoring the actual driving trajectory radius and the target driving trajectory radius of the vehicle when it is driving in a straight line, and judging whether the wheel parameters are abnormal based on this, potential faults can be discovered before wheel-related problems have a significant impact on driving and cause serious safety accidents. When it is determined that the wheel parameters of the vehicle are abnormal, timely fault prompts are issued, which helps users take measures as soon as possible for the abnormal wheel parameters, avoid more serious vehicle failures caused by untimely maintenance, avoid unnecessary losses to users, and improve the user's car experience.

[0042] Below Figure 1 The specific implementation of each step in the embodiment shown is described as follows:

[0043] Regarding the above S101, it can be understood that the above straight-line driving state refers to a state in which the vehicle is driving in a straight line without any steering operation.

[0044] In some embodiments, the driving state of the vehicle can be monitored by sensors in the vehicle (such as a speed sensor, a steering angle sensor, a gyroscope, and other sensors) to determine whether the vehicle is in a straight-line driving state.

[0045] For example, the current vehicle speed measured by the vehicle speed sensor and the current steering wheel rotation angle measured by the steering angle sensor can be obtained. If it is determined that the current vehicle speed is greater than the preset speed and the current steering wheel rotation angle is less than or equal to the preset angle, it can be determined that the vehicle is in a straight-line driving state.

[0046] The current vehicle speed measured by the vehicle speed sensor and the angular velocity of the vehicle around the vertical axis measured by the gyroscope, that is, the current yaw angular velocity of the vehicle, can also be obtained. If it is determined that the current vehicle speed is greater than the preset speed and the current yaw angular velocity is less than or equal to the preset angular velocity, it can be determined that the vehicle is in a straight-line driving state.

[0047] It is understandable that the above preset speed, preset angle and preset angular velocity can be set according to actual needs. For example, the preset speed is set to 30 kilometers per hour (km / h), the preset angle is set to 5 degrees (°), and the preset angular velocity is set to 5 radians per second (rad / s).

[0048] When it is determined that the current vehicle speed is greater than 30 km / h and the current steering wheel turning angle is less than or equal to 5°, the vehicle is determined to be in a straight-line driving state; or, when it is determined that the current vehicle speed is greater than 30 km / h and the current yaw angular velocity of the vehicle is less than or equal to 5 rad / s, the vehicle is determined to be in a straight-line driving state.

[0049] If the vehicle's wheel parameters are abnormal, that is, if the four-wheel parameters are out of tolerance, the steering wheel rotation angle measured by the steering angle sensor and the vehicle's yaw rate measured by the gyroscope may no longer be accurate. For example, if the toe, toe or camber angle of the wheel changes, the vehicle may still have a certain steering angle when driving in a straight line, resulting in an inaccurate steering wheel rotation angle measured by the steering angle sensor.

[0050] Based on this, it is possible to determine whether the vehicle is in a straight-line driving state based on vehicle parameters that are not affected by the four-wheel parameter deviation problem. For example, the wheel speed corresponding to the left front wheel and the wheel speed corresponding to the right front wheel of the vehicle can be obtained, and based on the wheel speed of the left front wheel and the wheel speed of the right front wheel, it is possible to determine whether the vehicle is in a straight-line driving state.

[0051] In a possible implementation, the method further includes: obtaining the current vehicle speed, the first wheel speed of the left front wheel, and the second wheel speed of the right front wheel; and judging whether the vehicle is in a straight-line driving state based on the current vehicle speed, the first wheel speed, and the second wheel speed.

[0052] It is understandable that, under normal circumstances, when the vehicle is in a straight-line driving state, the first wheel speed of the left front wheel and the second wheel speed of the right front wheel are substantially the same, and the wheel speed and the vehicle speed are not affected by the four-wheel parameter deviation problem. Therefore, it is possible to determine whether the vehicle is in a straight-line driving state based on the current vehicle speed, the first wheel speed of the left front wheel and the second wheel speed of the right front wheel.

[0053] The current speed of the vehicle can be measured by a speed sensor of the vehicle; the first wheel speed of the left front wheel and the second wheel speed of the right front wheel can both be measured by a wheel speed sensor of the vehicle.

[0054] Further, a wheel speed difference between a first wheel speed of the left front wheel and a second wheel speed of the right front wheel may be calculated, and based on the calculated wheel speed difference, it may be determined whether the vehicle is in a straight-line driving state.

[0055] In one possible implementation, based on the current vehicle speed, the first wheel speed and the second wheel speed, determining whether the vehicle is in a straight-line driving state includes: calculating the wheel speed difference between the first wheel speed and the second wheel speed; and determining that the vehicle is in a straight-line driving state when it is determined that the current vehicle speed is greater than a preset speed threshold and the absolute value of the wheel speed difference is less than a second preset difference.

[0056] It can be understood that, as mentioned above, when the vehicle is in a straight-line driving state, the first wheel speed of the left front wheel and the second wheel speed of the right front wheel of the vehicle are usually very small. Based on this, the wheel speed difference between the first wheel speed and the second wheel speed can be calculated, and it can be determined whether the calculated wheel speed difference is within the allowable range.

[0057] Furthermore, a second preset difference may be set, and by judging whether the absolute value of the wheel speed difference between the first wheel speed and the second wheel speed is less than the second preset difference, it is determined whether the vehicle is in a straight-line driving state. The second preset difference may be set according to actual needs, and may generally be set to a value between 0 and 1.

[0058] For example, assuming that the preset speed threshold is 30 km / h, the second preset difference is 0.1 rad / s, and the first wheel speed of the left front wheel is recorded as v 1 , and the second wheel of the right front wheel is abbreviated as v 2 , then the difference between the first wheel speed and the second wheel speed is: v 1 -v 2 In order to eliminate the influence of positive and negative signs, take the absolute value of the wheel speed difference and judge |v 1 -v 2 | is less than 0.1rad / s, determine whether the current vehicle speed is greater than 30km / h. If it is determined |v 1 -v 2| is less than 0.1rad / s and the current vehicle speed is greater than 30km / h, it is determined that the vehicle is in a straight-line driving state.

[0059] The above method can improve the accuracy and stability of the judgment by selecting vehicle parameters that are not affected by the abnormal wheel parameters, namely the first wheel speed of the left front wheel and the second wheel speed of the right front wheel, and judging whether the vehicle is in a straight-line driving state based on the first wheel speed of the left front wheel and the second wheel speed of the right front wheel.

[0060] Further, when it is determined that the vehicle is in a straight-line driving state, the actual driving track radius and the target driving track radius of the vehicle may be obtained.

[0061] It can be understood that the above-mentioned actual driving trajectory radius refers to the curvature radius of the driving trajectory of the vehicle during actual driving; the above-mentioned target driving trajectory radius refers to the curvature radius of the driving trajectory expected by the vehicle under ideal conditions.

[0062] In some embodiments, the actual driving trajectory radius may be calculated based on the actual driving curvature.

[0063] In a possible implementation, obtaining the actual driving trajectory radius of the vehicle includes: obtaining the actual driving curvature of the vehicle; and determining the inverse of the actual driving curvature as the actual driving trajectory radius of the vehicle.

[0064] It is understandable that the actual driving curvature of the vehicle can usually be measured by an Advanced Driver Assistance Systems (ADAS) in the vehicle.

[0065] Specifically, ADAS can indirectly measure the vehicle's actual driving curvature through a variety of sensors and algorithms.

[0066] For example, the vehicle's position data can be obtained through a GPS sensor, and the vehicle's driving trajectory can be fitted through the position data; the acceleration and angular velocity of the vehicle on three axes can be measured by an accelerometer and a gyroscope, and the vehicle's driving trajectory can be calculated through the acceleration and angular velocity data; the wheel speed of the vehicle's wheels can also be measured by a wheel speed sensor, and the vehicle's driving trajectory can be calculated through the wheel speed data.

[0067] Furthermore, after the vehicle's driving trajectory is calculated, a curve fitting method can be used to obtain a smooth trajectory curve, and then the first-order and second-order derivatives of the trajectory curve can be calculated, and the actual driving curvature can be calculated using the curvature formula. For example, if the fitted trajectory curve is y=f(x), the curvature K can be calculated using the following formula (1).

[0068]

[0069] Wherein, f'(x) in the above formula (1) is the first-order derivative of the trajectory curve; f"(x) is the second-order derivative of the trajectory curve.

[0070] Furthermore, after calculating the curvature K, the actual driving trajectory radius R of the vehicle can be calculated. 1 .

[0071] For example, the actual driving trajectory radius is the inverse of the actual driving curvature, that is, R 1 =1 / K.

[0072] Assuming that the actual driving curvature measured by ADAS is 0.001, the actual driving trajectory radius R can be obtained 1 is 1000 meters.

[0073] In some embodiments, the target driving trajectory radius may be calculated based on the steering system parameters of the vehicle and the steering wheel rotation angle.

[0074] In one possible implementation, obtaining the target driving trajectory radius of the vehicle includes: obtaining the wheelbase, angular transmission ratio and current rotation angle of the steering wheel of the vehicle; wherein the angular transmission ratio refers to the ratio between the rotation angle of the steering wheel of the vehicle and the rotation angle of the wheel; based on the current rotation angle of the steering wheel, the wheelbase and the angular transmission ratio, determining the target driving trajectory radius of the vehicle.

[0075] It is understood that the wheelbase refers to the distance between the front and rear axles of the vehicle, which can be represented by L, in meters (m). The wheelbase determines the turning radius of the vehicle when turning. The larger the wheelbase, the larger the turning radius of the vehicle.

[0076] The angular transmission ratio refers to the proportional relationship between the steering wheel rotation angle and the wheel rotation angle, which is usually a constant and can be represented by M. The angular transmission ratio determines the angle at which the wheel rotates with the steering wheel. For example, if the angular transmission ratio is 15, it means that a 15-degree rotation of the steering wheel will cause the wheel to rotate 1 degree.

[0077] The current rotation angle of the steering wheel refers to the rotation angle of the steering wheel relative to the static position, which can be represented by θ, and the unit is degree (°) or radian (rad). The current rotation angle of the steering wheel determines the rotation angle of the wheel and also affects the turning radius of the vehicle.

[0078] The wheelbase and angular transmission ratio are usually fixed values ​​calibrated before the vehicle leaves the factory; the current rotation angle of the steering wheel can be measured by a steering angle sensor.

[0079] It should be understood that if the vehicle currently has four-wheel parameter deviation problems, it may cause the vehicle to slightly deviate. In order to keep the vehicle in a straight-line state, the user usually turns the steering wheel to a smaller angle to keep the vehicle in a straight-line state. Therefore, even if the vehicle is in a straight-line state, the steering wheel of the vehicle may have a certain turning angle.

[0080] Furthermore, the target driving trajectory radius of the vehicle may be calculated based on the current rotation angle of the steering wheel, the wheelbase, and the angular transmission ratio.

[0081] In one possible implementation, the target driving trajectory radius of the vehicle is determined based on the current rotation angle of the steering wheel, the wheelbase and the angular transmission ratio, including: calculating the ratio of the current rotation angle of the steering wheel and the angular transmission ratio to obtain the current rotation angle of the wheel of the vehicle; calculating the tangent value corresponding to the current rotation angle of the wheel, and determining the ratio of the wheelbase and the tangent value as the target driving trajectory radius of the vehicle.

[0082] It can be understood that, as mentioned above, the above-mentioned angular transmission ratio refers to the ratio between the rotation angle of the steering wheel and the rotation angle of the wheel. By calculating the ratio between the current rotation angle of the steering wheel and the angular transmission ratio, the current rotation angle of the wheel can be obtained.

[0083] The current rotation angle of the wheel can be represented by α, with the unit being degree (°) or radian (rad).

[0084] Exemplarily, the current rotation angle of the wheel is α=θ / M.

[0085] Furthermore, after calculating the current rotation angle α of the wheel, the target driving trajectory radius R of the vehicle can be calculated. 2 .

[0086] For example, the target driving trajectory radius R 2 is the ratio of the wheelbase to the tangent value corresponding to the current rotation angle α of the wheel, that is, R 2 =L / tan(α).

[0087] Assuming that the vehicle's wheelbase is 2.8 meters, the current steering angle of the vehicle's steering wheel is 30 degrees, and the vehicle's angular transmission ratio is 15, it can be calculated that the current rotation angle of the wheel is 2 degrees. Substituting the above values ​​into the calculation formula of the target driving trajectory radius, the target driving trajectory radius R can be calculated. 2 It is 80.23 meters.

[0088] The above method, since the obtained wheelbase and angular transmission ratio of the vehicle are the inherent characteristics of the vehicle itself, and the current rotation angle of the steering wheel obtained is the real-time driving operation, based on the combination of the vehicle's inherent characteristics and the real-time driving operation, can more accurately calculate the driving trajectory radius that the vehicle should theoretically follow under the current steering operation, that is, the target driving trajectory radius, and can provide an accurate reference basis for vehicle fault detection.

[0089] Regarding the above S102 and S103, it can be understood that the above wheel parameter abnormalities can also be called four-wheel parameter out of tolerance, and the above wheel parameter abnormalities can include but are not limited to: abnormal tire pressure, severe tire wear, unbalanced tires, abnormal tire toe angles, abnormal tire caster angles, abnormal wheel kingpin inclination angles, inaccurate wheel alignment, abnormal suspension system, and abnormal steering system.

[0090] Specifically, the tire pressure refers to the air pressure inside the tire. The abnormal tire pressure may include excessively high tire pressure and excessively low tire pressure. Excessively high tire pressure may increase tire rigidity, affecting grip and ride comfort; while excessively low tire pressure may cause tire deformation, increase rolling resistance, reduce fuel economy, and may also cause tire damage.

[0091] The above-mentioned tire wear refers to the loss of rubber on the tire surface. Severe tire wear may lead to reduced grip and increase the risk of accidents.

[0092] The above-mentioned unbalanced tires refer to the uneven mass distribution of the tires and wheels, which may cause vehicle vibration and affect driving stability and ride comfort.

[0093] The toe angle of the tires mentioned above refers to the relative position of the wheels in the forward direction of the vehicle. The abnormal toe angle of the tires mentioned above may include excessive toe angle and insufficient toe angle. Excessive toe angle means that the front end of the wheel opens outward, which may cause wear on the outer side of the tire; insufficient toe angle means that the front end of the wheel moves inward, which may cause wear on the inner side of the tire.

[0094] The caster angle of the tire refers to the tilt angle of the wheel in the vertical direction. The abnormal caster angle of the tire may include positive caster and negative caster. Positive caster means that the wheel tilts outward, which may cause wear on the outer side of the tire; negative caster means that the wheel tilts inward, which may cause wear on the inner side of the tire.

[0095] The above-mentioned kingpin inclination angle refers to the angle between the steering axis and the vertical line. The above-mentioned kingpin inclination angle abnormality can include positive kingpin inclination and negative kingpin inclination. Positive kingpin inclination means that the steering axis tilts forward, affecting the vehicle's straight-line driving stability and steering return ability; negative kingpin inclination means that the steering axis tilts backward, which may cause the vehicle's straight-line driving stability to deteriorate.

[0096] The wheel alignment refers to the position and angle of the wheel in the vehicle. The inaccurate wheel alignment refers to the position or angle of the wheel not meeting the manufacturer's standards, which may cause the vehicle to have unstable driving trajectory and increased tire wear.

[0097] The above suspension system refers to the mechanical device connecting the wheels and the vehicle body, including shock absorbers, springs, connecting rods, etc. The above suspension system abnormalities may include shock absorber failure, spring damage, and connecting rod loosening. Shock absorber failure may cause the vehicle to bump while driving; spring damage may affect the suspension capacity of the vehicle; and connecting rod loosening may affect the vehicle's handling ability.

[0098] The above-mentioned steering system refers to the mechanical device that controls the steering of the wheels, including the steering tie rod, power steering pump, etc. The above-mentioned steering system abnormalities may include loose steering tie rod and power steering failure. Loose steering tie rod may cause inaccurate vehicle steering, and power steering system failure may increase the steering burden of the driver.

[0099] Under normal circumstances, the actual driving track radius of the vehicle matches the target driving track radius, that is, the actual driving track radius and the target driving track radius are close in value. If the difference between the actual driving track radius of the vehicle and the target driving track radius is large, it means that there may be a problem with the wheel parameters of the vehicle.

[0100] Based on this, after obtaining the actual driving trajectory radius and the target driving trajectory radius of the vehicle, it can be determined whether there is an abnormality in the wheel parameters of the vehicle based on the actual driving trajectory radius and the target driving trajectory radius.

[0101] In one possible implementation, based on the actual driving trajectory radius and the target driving trajectory radius, it is determined whether there is an abnormality in the wheel parameters of the vehicle, including: calculating the radius difference between the actual driving trajectory radius and the target driving trajectory radius; when it is determined that the absolute value of the radius difference is greater than a first preset difference and the duration for which the absolute value of the radius difference is greater than the first preset difference is greater than a preset duration, it is determined that there is an abnormality in the wheel parameters of the vehicle.

[0102] It is understandable that, as mentioned above, when the difference between the actual driving trajectory radius of the vehicle and the target driving trajectory radius is large, it can be considered that there is a problem with the wheel parameters of the vehicle.

[0103] After obtaining the actual driving trajectory radius R 1 and the target driving trajectory radius R 2 Afterwards, the actual driving trajectory radius R can be calculated 1 and the target driving trajectory radius R 2 The radius difference between them is △R, that is, △R=R1 -R 2 .

[0104] The first preset difference value may be set according to actual needs. For example, the first preset difference value may be set to 1000 meters.

[0105] In order to eliminate the influence of positive and negative signs, it can be determined whether the absolute value of the radius difference is greater than a first preset difference. If |△R|> the first preset difference, it means that the wheel parameters of the vehicle may be abnormal.

[0106] Furthermore, the vehicle may encounter instantaneous external interferences during driving, such as uneven road surface, wind speed changes, the influence of other vehicles, etc., which may cause a temporary large deviation between the actual driving trajectory and the target driving trajectory in a short period of time. In order to avoid misjudging the wheel parameter abnormality due to the deviation in a short period of time, when it is determined that the absolute value of the radius difference is greater than the first preset difference, the timing can be started to obtain the timing duration, so as to determine whether the duration for which the absolute value of the radius difference is greater than the first preset difference is greater than the preset duration.

[0107] It is understandable that the above preset duration can be set according to actual needs, for example, set to 10 seconds (S).

[0108] For example, assuming that the first preset difference is 1000 meters and the preset duration is 10 seconds, if the actual driving trajectory radius R is calculated 1 and the target driving trajectory radius R 2 The radius difference △R between them is 1200 meters, and it is determined that |△R|>the first preset difference 1000 meters, indicating that the wheel parameters of the vehicle may be abnormal. At the same time, when it is determined that |△R|>the first preset difference, the timing is started to obtain the timing duration. If it is determined that the duration of |△R|>the first preset difference is greater than 10 seconds, it is determined that the wheel parameters of the vehicle are abnormal.

[0109] The above method calculates the difference between the actual driving trajectory radius and the target driving trajectory radius, and not only uses the radius difference at a certain moment to determine the wheel parameter abnormality, but also sets more rigorous judgment conditions. While determining that the absolute value of the radius difference is greater than the first preset difference, it is also necessary to meet the condition that the absolute value of the radius difference is greater than the first preset difference for a duration greater than the preset duration before it can be determined that the vehicle's wheel parameters are abnormal. This can avoid the situation where the radius difference caused by short-term interference to the vehicle is misjudged as an abnormal wheel parameter, and can more accurately identify abnormal wheel parameters, effectively improving the accuracy of fault judgment.

[0110] Furthermore, abnormal wheel parameters of the vehicle may cause the vehicle to deviate when driving in a straight line, abnormal autonomous driving function of the vehicle, and if not adjusted for a long time, it may also cause serious wear of tires and damage to chassis parts. Based on this, when it is determined that the wheel parameters are abnormal, a fault prompt can be given in time.

[0111] In some embodiments, a warning light or text may be displayed on the dashboard of the vehicle to indicate a fault; a warning sound may be played through the vehicle audio system to indicate a fault; detailed fault information may be displayed on the screen of the vehicle infotainment system to indicate a fault; or a notification may be sent to a mobile phone connected to the vehicle to indicate a fault. The specific manner of the fault indication is not limited in the embodiments of the present application.

[0112] For example, if it is determined that there is an abnormality in the wheel parameters of the vehicle, then "Four wheel parameters are abnormal, please stop and check in time" may be displayed on the vehicle's instrument panel.

[0113] The above method can promptly issue a fault prompt when it is determined that the wheel parameters of the vehicle are abnormal, so that the driver can know the problem of the vehicle at the first time and take corresponding measures, such as reducing the speed, driving carefully and going to the maintenance site as soon as possible, thereby effectively avoiding various dangerous situations caused by abnormal wheel parameters and ensuring the safe driving of the vehicle on the road. In addition, timely fault prompts can prompt the owner to repair the vehicle as soon as possible, so that the problem can be solved at an early stage, avoiding further damage to the vehicle parts, reducing subsequent maintenance costs, extending the service life of various vehicle parts, and helping to maintain the vehicle parts in good mechanical condition, thereby improving the overall reliability and service life of the vehicle.

[0114] Furthermore, the above Figure 1 The embodiment shown can be Figure 2 The fault detection system of the vehicle is implemented.

[0115] For example, Figure 2 As shown, the system 200 includes an ADAS 201 , an Electronic Stability Program (ESP) 202 , a Steering Angle Sensor (SAS) 203 , an Electric Power Steering (EPS) 204 , and an instrument 205 .

[0116] Among them, ADAS201 can measure the actual driving curvature of the vehicle through sensors and send the actual driving curvature to EPS204.

[0117] ESP 202 can monitor the driving status of the vehicle through sensors, including vehicle speed, lateral acceleration, turning angle and wheel speed, and send the vehicle speed and wheel speed to EPS204.

[0118] In some embodiments, EPS204 may also obtain the vehicle speed and wheel speed of the vehicle through an anti-lock braking system (ABS). Specifically, ABS may obtain the vehicle speed and wheel speed of the vehicle through sensors and send the vehicle speed and wheel speed to EPS204.

[0119] SAS203 can measure the rotation angle and rotation speed of the steering wheel and send the rotation angle of the steering wheel to EPS204.

[0120] EPS204 is used to receive the actual driving curvature of the vehicle sent by ADAS201, the vehicle speed and wheel speed sent by ESP 202, and the steering wheel rotation angle measured by SAS203.

[0121] EPS204 can determine whether the vehicle is traveling in a straight line based on the vehicle speed and wheel speed.

[0122] Furthermore, when it is determined that the vehicle is in a straight-line driving state, EPS204 can calculate the target driving trajectory radius of the vehicle based on the steering wheel turning angle and the calibrated wheelbase and angular transmission ratio of the vehicle, and can also determine the actual driving trajectory radius of the vehicle based on the actual driving curvature of the vehicle, thereby judging whether there is any abnormality in the wheel parameters of the vehicle based on the target driving trajectory radius and the actual driving trajectory radius.

[0123] If it is determined that the wheel parameters of the vehicle are abnormal, EPS204 can feed back the wheel parameter abnormality information to the instrument 205.

[0124] After receiving the wheel parameter abnormality information sent by EPS204, the meter 205 can display fault prompt information to remind the user to repair the vehicle in time.

[0125] In the above embodiment, ADAS, ESP and SAS monitor the driving parameters of the vehicle from different dimensions, and send the monitored data to EPS in a timely manner, so that EPS can capture various changes in the driving state of the vehicle in a timely manner, and discover potential abnormalities such as abnormal wheel parameters in advance, thereby ensuring the stability and safety of the driving process. In the case of determining that there is an abnormality in the wheel parameters, EPS can promptly feedback the relevant information to the instrument, so that the instrument can display fault prompt information, thereby helping the driver to know the problem of the vehicle at the first time, to repair the vehicle in time, to avoid continuing to drive the vehicle in a state with hidden dangers, which can effectively reduce the risk of traffic accidents caused by vehicle failures and further ensure the safety of the vehicle.

[0126] Figure 3 It is a structural schematic diagram of a vehicle detection device provided in an embodiment of the present application.

[0127] For example, Figure 3 As shown, the device 300 includes:

[0128] The acquisition module 301 is used to acquire the actual driving track radius and the target driving track radius of the vehicle when it is determined that the vehicle is in a straight-line driving state.

[0129] The judgment module 302 is used to judge whether there is an abnormality in the wheel parameters of the vehicle based on the actual driving track radius and the target driving track radius.

[0130] The prompt module 303 is used to issue a fault prompt when it is determined that the wheel parameters of the vehicle are abnormal.

[0131] In one possible implementation, the judgment module is specifically used to: calculate the radius difference between the actual driving trajectory radius and the target driving trajectory radius; when it is determined that the absolute value of the radius difference is greater than a first preset difference and the duration for which the absolute value of the radius difference is greater than the first preset difference is greater than a preset duration, determine that there is an abnormality in the wheel parameters of the vehicle.

[0132] In a possible implementation, the acquisition module is specifically used to: acquire an actual driving curvature of the vehicle; and determine the inverse of the actual driving curvature as the actual driving trajectory radius of the vehicle.

[0133] In one possible implementation, the acquisition module is also specifically used to: obtain the vehicle's wheelbase, angular transmission ratio and current steering wheel angle; wherein the angular transmission ratio refers to the ratio between the steering wheel angle of the vehicle and the wheel angle; based on the current steering wheel angle, the wheelbase and the angular transmission ratio, determine the target driving trajectory radius of the vehicle.

[0134] In one possible implementation, the acquisition module also includes a determination unit, which is specifically used to: calculate the ratio of the current rotation angle of the steering wheel and the angular transmission ratio to obtain the current rotation angle of the wheel of the vehicle; calculate the tangent value corresponding to the current rotation angle of the wheel, and determine the ratio of the wheelbase and the tangent value as the target driving trajectory radius of the vehicle.

[0135] Optionally, the device also includes a second judgment module, which is specifically used to: obtain the current vehicle speed, the first wheel speed of the left front wheel and the second wheel speed of the right front wheel; based on the current vehicle speed, the first wheel speed and the second wheel speed, determine whether the vehicle is in a straight-line driving state.

[0136] In one possible implementation, the second judgment module includes a judgment unit, which is specifically used to: calculate the wheel speed difference between the first wheel speed and the second wheel speed; and determine that the vehicle is in a straight-line driving state when it is determined that the current vehicle speed is greater than a preset speed threshold and the absolute value of the wheel speed difference is less than a second preset difference.

[0137] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0138] For example, Figure 4 As shown, the vehicle 400 includes: a memory 401 and a processor 402, wherein the memory 401 stores an executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform a vehicle detection method.

[0139] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a vehicle detection method provided by an embodiment of the present application.

[0140] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0141] In the case of dividing each functional module according to each function, the device may also include an acquisition module, a judgment module, a prompt module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0142] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle detection method, and thus can achieve the same effect as the above-mentioned implementation method.

[0143] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes and data.

[0144] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0145] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle detection method provided in the above embodiment.

[0146] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle detection method provided in the above embodiment.

[0147] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle detection method provided in the above embodiment.

[0148] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0149] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0150] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0151] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle detection method, characterized in that: The method comprises: When it is determined that the vehicle is in a straight-line driving state, obtaining an actual driving track radius and a target driving track radius of the vehicle; Based on the actual driving track radius and the target driving track radius, determining whether there is an abnormality in the wheel parameters of the vehicle; When it is determined that the wheel parameters of the vehicle are abnormal, a fault prompt is given.

2. The method according to claim 1, characterized in that: The determining whether there is an abnormality in the wheel parameters of the vehicle based on the actual driving trajectory radius and the target driving trajectory radius includes: Calculating a radius difference between the actual driving trajectory radius and the target driving trajectory radius; When it is determined that the absolute value of the radius difference is greater than the first preset difference and the duration for which the absolute value of the radius difference is greater than the first preset difference is greater than the preset duration, it is determined that there is an abnormality in the wheel parameters of the vehicle.

3. The method according to claim 1 or 2, characterized in that: The obtaining of the actual driving trajectory radius of the vehicle includes: Acquiring an actual running curvature of the vehicle; The inverse of the actual driving curvature is determined as the actual driving track radius of the vehicle.

4. The method according to claim 1 or 2, characterized in that: The obtaining of the target driving trajectory radius of the vehicle includes: Acquire the wheelbase, angular transmission ratio and current rotation angle of the steering wheel of the vehicle; wherein the angular transmission ratio refers to the ratio between the rotation angle of the steering wheel of the vehicle and the rotation angle of the wheels; A target driving trajectory radius of the vehicle is determined based on the current rotation angle of the steering wheel, the wheelbase and the angular transmission ratio.

5. The method according to claim 4, characterized in that The step of determining a target driving trajectory radius of the vehicle based on the current rotation angle of the steering wheel, the wheelbase, and the angular transmission ratio includes: Calculating the ratio of the current rotation angle of the steering wheel and the angular transmission ratio to obtain the current rotation angle of the wheels of the vehicle; The tangent value corresponding to the current rotation angle of the wheel is calculated, and the ratio of the wheelbase to the tangent value is determined as the target driving trajectory radius of the vehicle.

6. The method according to claim 1, characterized in that The method further comprises: Obtaining the current vehicle speed, the first wheel speed of the left front wheel, and the second wheel speed of the right front wheel of the vehicle; Based on the current vehicle speed, the first wheel speed, and the second wheel speed, it is determined whether the vehicle is in a straight-line driving state.

7. The method according to claim 6, characterized in that The determining whether the vehicle is in a straight-line driving state based on the current vehicle speed, the first wheel speed, and the second wheel speed includes: calculating a wheel speed difference between the first wheel speed and the second wheel speed; When it is determined that the current vehicle speed is greater than the preset speed threshold and the absolute value of the wheel speed difference is less than a second preset difference, it is determined that the vehicle is in a straight-line driving state.

8. A vehicle detection device, characterized in that: The device comprises: An acquisition module, used for acquiring an actual driving trajectory radius and a target driving trajectory radius of the vehicle when it is determined that the vehicle is in a straight-line driving state; A judgment module, used for judging whether there is an abnormality in the wheel parameters of the vehicle based on the actual driving track radius and the target driving track radius; The prompt module is used to give a fault prompt when it is determined that the wheel parameters of the vehicle are abnormal.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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