Steering wheel testing method and device, equipment, storage medium and product

Abstract

The invention discloses a steering wheel testing method, device and equipment, a storage medium and a product, and relates to the technical field of vehicle testing. In the process that the to-be-tested vehicle (namely the target vehicle) runs at a constant speed at the target yaw rate, the test data in the target time period is obtained through the data interface of the vehicle, so that the data measured in the vehicle body is directly adopted to execute the subsequent steering wheel test, and the test accuracy is ensured. Besides, the change relation between the steering angle of the steering wheel and the time is determined based on the test data, so that the return time corresponding to the steering angle of the steering wheel corresponding to the target yaw rate is accurately calculated, the steering wheel of the vehicle is conveniently tested, and compared with the test scheme of the related technology, the extra cost is saved, and the test accuracy is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle testing technology, and in particular to a steering wheel testing method, device, equipment, storage medium and product. Background Art

[0002] In related technologies, with the continuous updating of vehicle suspension systems and the continuous changes in steering assistance methods, it is necessary to measure the steering rotation time for new models to ensure the safety of vehicle control.

[0003] Currently, when conducting a turning time test on a vehicle, it is necessary to install relevant sensors on the vehicle, such as yaw rate sensors, steering wheel angle sensors, signal converters, etc. These additional sensors will bring additional costs to the testing work and the operation is more complicated.

[0004] Therefore, how to test the steering wheel turning time of a vehicle more accurately and conveniently is a problem that needs to be solved urgently. Summary of the invention

[0005] The main purpose of this application is to provide a steering wheel testing method, device, equipment, storage medium and product, aiming to solve the technical problem of how to test the steering wheel turning time of a vehicle more accurately and conveniently.

[0006] To achieve the above objectives, the present application proposes a steering wheel testing method, which includes: During a target period when the target vehicle is running at a constant speed at a target yaw rate, continuously acquiring test data through a data interface of the target vehicle, the test data including steering wheel steering angles corresponding to different moments in the target period; Based on the test data, determining a change relationship between a steering wheel steering angle and time of the target vehicle at the target yaw rate; Based on the change relationship, the steering wheel return time of the target vehicle is determined.

[0007] In some embodiments, the continuously acquiring test data through the data interface of the target vehicle includes: The test data transmitted in real time on the bus of the target vehicle is continuously acquired through the data interface of the target vehicle.

[0008] In some embodiments, determining, based on the test data, a changing relationship between a steering wheel steering angle and time of the target vehicle at the target yaw rate includes: Based on the test data, a curve of a change between a steering wheel steering angle and time of the target vehicle at the target yaw rate is obtained by fitting; Based on the change curve, the change relationship between the steering wheel steering angle and time is determined.

[0009] In some embodiments, during the target period when the target vehicle is running at a target yaw rate and at a constant speed, before continuously acquiring test data through a data interface of the target vehicle, the method further includes: When the target vehicle is running at a set speed and the steering wheel is turned, obtaining the yaw rate of the vehicle at different steering wheel steering angles; determining a steering wheel steering angle corresponding to the target yaw rate as a target steering angle; Turn the steering wheel of the target vehicle to the target steering angle and maintain the set speed.

[0010] In some embodiments, the change relationship is a linear change relationship, and determining the steering wheel return time of the target vehicle based on the change relationship includes: The target steering angle is used as a known parameter of the linear variation relationship, and the unknown parameter is calculated through the linear variation relationship to obtain the steering wheel return time of the target vehicle.

[0011] In some embodiments, after fitting the change curve between the steering wheel steering angle and time of the target vehicle at the target yaw rate based on the test data, the method further includes: Calculating the fitting degree of the change curve; When the degree of fit is less than a set threshold, a prompt message indicating that an error has occurred in the data fitting is issued; When the degree of fit is greater than or equal to a set threshold, determining the changing relationship between the steering wheel steering angle and time based on the changing curve is performed.

[0012] In addition, to achieve the above-mentioned purpose, the present application also proposes a steering wheel testing device, which includes: A data acquisition module, used to continuously acquire test data through a data interface of the target vehicle during the process of the target vehicle running at a constant speed at a target yaw rate, wherein the test data includes steering wheel steering angles corresponding to different moments in a target period; A relationship determination module, used to determine, based on the test data, a change relationship between a steering wheel steering angle and time of the target vehicle at the target yaw rate; The time calculation module is used to determine the steering wheel return time of the target vehicle based on the change relationship.

[0013] In addition, to achieve the above-mentioned objectives, the present application also proposes a steering wheel testing device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the steering wheel testing method described above.

[0014] In addition, to achieve the above objectives, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the steering wheel testing method described above are implemented.

[0015] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the steering wheel testing method described above are implemented.

[0016] One or more technical solutions proposed in this application have at least the following technical effects: When the vehicle to be tested (i.e., the target vehicle) is running at a constant speed at a target yaw rate, the test data in the target period is obtained through the vehicle's data interface, so that the subsequent steering wheel test is performed directly using the data measured inside the vehicle body, ensuring the accuracy of the test. In addition, the relationship between the steering wheel steering angle and time is determined based on the test data, so that the return time corresponding to the steering wheel steering angle corresponding to the target yaw rate can be accurately calculated, which is convenient for testing the vehicle's steering wheel. Compared with the test scheme of related technologies, it saves additional costs and improves test accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A schematic diagram of a process flow of a steering wheel testing method provided in an embodiment of the present application is shown; Figure 2 A schematic diagram showing a flow chart of a steering wheel testing method provided by another embodiment of the present application is shown; Figure 3 A schematic diagram of a change curve provided by an exemplary embodiment of the present application is shown; Figure 4 A schematic structural diagram of a steering wheel testing device provided in an embodiment of the present application is shown; Figure 5 A schematic structural diagram of a steering wheel testing device provided in an embodiment of the present application is shown.

[0020] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0022] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0023] The main solution of the embodiment of the present application is: during a target period when the target vehicle runs at a constant speed at a target yaw rate, test data is continuously acquired through a data interface of the target vehicle, the test data including steering wheel steering angles corresponding to different moments in the target period; based on the test data, a change relationship between the steering wheel steering angle and time of the target vehicle at the target yaw rate is determined; based on the change relationship, a steering wheel return time of the target vehicle is determined.

[0024] In related technologies, steering turn time is an important indicator to measure the vehicle's ability to respond to the driver's steering command. If the vehicle's steering turn time is too long, it may cause the driver to react slowly when he needs to quickly avoid obstacles or change lanes, which will increase the risk of traffic accidents. Therefore, before the vehicle leaves the factory, it is generally necessary to measure the vehicle's steering turn time.

[0025] However, the measurement scheme in the related art requires the vehicle to be equipped with an additional vehicle yaw rate sensor, a steering wheel angle meter and a signal converter, and then the data is recorded through a programmable logic controller (PLC) program, and then the terminal is used to obtain the data. The equipment is complex and expensive. In addition, since the measurement is based on the data collected by external sensors, its accuracy is difficult to guarantee.

[0026] In summary, how to test the steering wheel turning time of a vehicle more accurately and conveniently is a problem that needs to be solved urgently.

[0027] Based on this, the present application provides a solution that can accurately test the vehicle steering wheel rotation time using the vehicle's internal data while reducing additional costs.

[0028] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a steering wheel test device capable of realizing the above functions, etc. The following takes the steering wheel test device as an example to illustrate this embodiment and the following embodiments.

[0029] Reference Figure 1 , Figure 1 The flowchart of the steering wheel testing method provided by an embodiment of the present application is shown. The steering wheel testing method can be applied to a steering wheel testing device, and includes the following steps S110 to S130: Step S110 , during a target period of time when the target vehicle is running at a constant speed at a target yaw rate, test data is continuously acquired through a data interface of the target vehicle.

[0030] In some implementations, the test data transmitted in real time on the bus of the target vehicle may be continuously acquired through a data interface of the target vehicle.

[0031] The test data includes the steering wheel angles corresponding to different moments in the target period.

[0032] Specifically, the target vehicle refers to the vehicle to be tested. The target vehicle can be controlled by a staff member and driven into an open test site, and perform relevant operating operations according to the staff member's instructions.

[0033] The yaw rate refers to the angular velocity of a vehicle swinging around its longitudinal axis. It is an important parameter for measuring whether a vehicle is oversteering or understeering. Usually, a yaw rate sensor is installed inside the vehicle. The yaw rate sensor can collect the vehicle's yaw rate changes in real time and send the data to the vehicle's bus, which is then transmitted to the relevant domain controller to control the vehicle.

[0034] In the embodiment of the present application, according to the general standard, the target yaw rate may be 25 deg / s.

[0035] In some embodiments, the uniform speed operation means that the target vehicle continuously runs at a fixed test speed. For example, the test speed may be 20 km / h, which is not limited in the embodiments of the present application.

[0036] The start time of the target period is the moment when the steering wheel is released after the target vehicle has been running at a constant speed according to the target yaw rate and test speed for a set time; the end time of the target period can be a set time after the start time, for example, the set time can be 1 second. It should be noted that in actual experiments, 1 second is the preferred solution for the target period, because after 1 second, the accuracy of the test results cannot be guaranteed due to changes in the wheel force state.

[0037] In some embodiments, the target vehicle has a data interface. It is understood that the data interface refers to a diagnostic interface, which is used to establish a connection with the steering wheel test device (such as a diagnostic device) in the present application. Through the diagnostic interface, the data inside the target vehicle can be transmitted to the diagnostic device for analysis, and the diagnostic device can also transmit the data to the target vehicle for upgrading.

[0038] In some embodiments, the diagnostic interface may be a data link connector (DLC), which is a standard interface for diagnostic communications on a car, typically located under the dashboard near the driver's seat, and is used for data communications between an external test device (i.e., the steering wheel test device / diagnostic device in this application) and the vehicle.

[0039] It is understandable that the data collected inside the vehicle is generally transmitted through the Controller Area Network (CAN) bus. The sensor sends the data to the CAN bus, and each domain controller obtains the corresponding data through the CAN bus and performs related operations. In this application, the relevant sensors inside the vehicle can collect test data during the uniform speed operation of the target vehicle. The sensors may include but are not limited to steering wheel steering angle sensors, yaw rate sensors, speed sensors, etc.

[0040] The test data refers to the driving data of the target vehicle during the test process, and may include the steering angles of the steering wheel corresponding to different moments in the target period. In this embodiment, the collection interval can be set by the staff according to the measurement accuracy. For example, the collection interval can be set to 0.25 seconds, that is, the target vehicle can collect test data every 0.25 seconds, and each time the test data is collected, the test data and the corresponding timestamp are sent to the CAN bus.

[0041] In summary, as an example, the staff can turn on the cruise control and other functions for the target vehicle, set the vehicle speed to a fixed 20KM / H, and at the same time, turn the steering wheel in one direction (clockwise or counterclockwise) at a speed of 45deg / s, and continuously obtain and record the vehicle yaw rate values ​​corresponding to different angles during the steering wheel rotation process through the vehicle's CAN bus.

[0042] When the yaw rate value of the vehicle reaches 25 degrees per second, the corresponding steering wheel angle value is recorded. In some embodiments, in order to obtain a more accurate value, the above operation can be performed multiple times (for example, three times), and the average of the steering wheel angles obtained multiple times is taken as the steering wheel angle value corresponding to the yaw rate value of the vehicle reaching 25 degrees per second.

[0043] Step S120, based on the test data, determining the change relationship between the steering wheel steering angle and time of the target vehicle at the target yaw rate.

[0044] It is understandable that after the steering wheel of the vehicle is unmanned, in order to ensure the safety of the vehicle as much as possible, the steering wheel is generally designed to automatically return to the center position to reduce the change range of the vehicle's moving direction. After the steering wheel is not controlled by the user, the return of the steering wheel is a continuous process. Therefore, this embodiment focuses on the change relationship between the steering angle of the steering wheel and time, so as to better detect the return time of the steering wheel.

[0045] In some implementations, a curve of a change between the steering wheel steering angle and time of the target vehicle at a target yaw rate may be fitted based on test data; and a relationship between the change of the steering wheel steering angle and time may be determined based on the curve.

[0046] In some embodiments, when the target vehicle is running at a set speed and the steering wheel is turned, the yaw rate of the vehicle at different steering wheel angles is obtained; the steering wheel steering angle corresponding to the target yaw rate is determined as the target steering angle; the steering wheel of the target vehicle is turned to the target steering angle and the set speed is maintained.

[0047] In the specific implementation, the staff can control the target vehicle to drive at a speed of 20KM / H through cruise control, and at the same time, turn the steering wheel to the steering wheel angle value corresponding to the aforementioned target yaw rate (the steering wheel angle value corresponding to 25deg / s). After the target vehicle continues to run at the steering wheel angle value for a preset time (for example, 3 seconds), release the steering wheel and continue to record the test data of the target period (within 1 second).

[0048] As mentioned above, the test data may include the steering wheel steering angles corresponding to different moments in the target period. For example, taking the target vehicle collecting test data every 0.01 seconds as an example, the test data obtained in the target period (the above collection operation is performed in both clockwise and counterclockwise directions) can be recorded in the form of the following table.

[0049]

[0050] Based on the test data obtained above, a curve of the change between the steering angle and time can be fitted for both the clockwise and counterclockwise directions of the steering wheel.

[0051] By observing the test data, it is easy to find that there is a roughly linear correlation between the steering angle and time. Therefore, the above test data can be analyzed through a linear model, and a linear equation with time as x and the steering wheel steering angle as y can be obtained, that is, the change curve between the steering angle and time.

[0052] For example, in some embodiments, the curve fitted by the data within 1 second can be expressed as Figure 3The method shown is used to represent the

[0053] In some implementations, to ensure the accuracy of curve fitting, step S120 may further include the following steps S210 to S220.

[0054] Step S210, calculating the fitting degree of the change curve.

[0055] Step S220, when the degree of fit is less than a set threshold, a prompt message indicating that an error has occurred in the data fitting is issued; when the degree of fit is greater than or equal to the set threshold, step S130 is executed.

[0056] Specifically, after obtaining the change curve using the linear model, the fit (R²) of the linear model can be calculated. Specifically, R² can be calculated using the following expression:

[0057] Among them, SSR refers to the residual sum of squares, which can be calculated by the following expression:

[0058] in, refers to the predicted value corresponding to time i, It refers to the actual value corresponding to time i.

[0059] SST refers to the total sum of squares and can be calculated by the following expression:

[0060] in, It is the average of the actual values.

[0061] After obtaining the degree of fit, it is possible to determine whether the linear model meets the required fitting accuracy based on a preset threshold. For example, the threshold may be 0.85. When R² is greater than or equal to 0.85, it is determined that the linear model meets the required fitting accuracy, and step S130 is allowed to be executed; when R² is less than 0.85, it indicates that the linear model does not meet the required fitting accuracy. At this time, a prompt message indicating an error in data fitting may be issued to prompt the user to check the test data. There may be errors in the test data itself, or there may be errors in the fitting process, and other scenarios, which are not limited in this embodiment.

[0062] Step S130, determining the steering wheel return time of the target vehicle based on the change relationship.

[0063] In some implementations, the target steering angle may be used as a known parameter of a linear variation relationship, and the unknown parameter may be calculated through the linear variation relationship to obtain the steering wheel return time of the target vehicle.

[0064] Through step S120, the relationship between the steering wheel steering angle and time in the clockwise / counterclockwise direction can be calculated, which is expressed in the form of y=ax+b. Among them, the target steering angle is the known value tested in step S110, that is, the known parameter y is obtained, and the unknown parameter x can be calculated by substituting it into the above formula, that is, the return time required for the steering wheel of the target vehicle to return to the initial position under the target yaw rate.

[0065] This embodiment provides a steering wheel test method. When a vehicle to be tested (i.e., a target vehicle) is running at a constant speed at a target yaw rate, test data in a target period is obtained through a data interface of the vehicle, so that subsequent steering wheel tests are directly performed using data measured inside the vehicle body, thereby ensuring test accuracy. In addition, the change relationship between the steering wheel steering angle and time is determined based on the test data, so that the return time corresponding to the steering wheel steering angle corresponding to the target yaw rate is accurately calculated, which is convenient for testing the steering wheel of the vehicle. Compared with the test scheme of the related art, it saves additional costs and improves test accuracy.

[0066] This application also provides a steering wheel testing device, please refer to Figure 4 , the steering wheel testing device 100 comprises: The data acquisition module 110 is used to continuously acquire test data through the data interface of the target vehicle when the target vehicle is running at a constant speed at a target yaw rate, wherein the test data includes steering wheel steering angles corresponding to different moments in the target period; A relationship determination module 120, for determining, based on the test data, a change relationship between a steering wheel steering angle and time of a target vehicle at a target yaw rate; The time calculation module 130 is used to determine the steering wheel return time of the target vehicle based on the change relationship. The steering wheel testing device 100 provided by the present application adopts the steering wheel testing method in the above embodiment, and can solve the technical problem of how to test the steering wheel turning time of the vehicle more accurately and conveniently. Compared with the prior art, the beneficial effects of the steering wheel testing device 100 provided by the present application are the same as the beneficial effects of the steering wheel testing method provided by the above embodiment, and the other technical features of the steering wheel testing device 100 are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0067] The present application provides a steering wheel testing device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the steering wheel testing method in the above-mentioned embodiment one.

[0068] Reference below Figure 5 , which shows a schematic diagram of the structure of a steering wheel test device suitable for implementing an embodiment of the present application. The steering wheel test device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The steering wheel testing device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0069] like Figure 5 As shown, the steering wheel test device 200 may include a processing device 210 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 220 or a program loaded from a storage device 230 to a random access memory (RAM: Random Access Memory) 240. In RAM240, various programs and data required for the operation of the steering wheel test device are also stored. The processing device 210, ROM220 and RAM240 are connected to each other through a bus 250. An input / output (I / O) interface 260 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 260: an input device 270 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 280 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 230 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 290. The communication device 290 can allow the steering wheel test device to communicate with other devices wirelessly or by wire to exchange data. Although the steering wheel test device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have instead.

[0070] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication device, or installed from the storage device 230, or installed from the ROM 220. When the computer program is executed by the processing device 210, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0071] The steering wheel testing device provided by the present application adopts the steering wheel testing method in the above embodiment, which can solve the technical problem of how to test the steering wheel turning time of the vehicle more accurately and conveniently. Compared with the prior art, the beneficial effects of the steering wheel testing device provided by the present application are the same as the beneficial effects of the steering wheel testing method provided by the above embodiment, and the other technical features in the steering wheel testing device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0072] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0073] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present 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.

[0074] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, wherein the computer-readable program instructions are used to execute the steering wheel testing method in the above-mentioned embodiment.

[0075] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0076] The computer-readable storage medium may be included in the steering wheel test device; or may exist independently without being assembled into the steering wheel test device.

[0077] The computer-readable storage medium carries one or more programs, and when the one or more programs are executed by the steering wheel test device, the steering wheel test device can write computer program codes for performing the operations of the present application in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, through the Internet using an Internet service provider).

[0078] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0079] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0080] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned steering wheel test method, and can solve the technical problem of how to test the steering wheel turning time of a vehicle more accurately and conveniently. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the steering wheel test method provided in the above-mentioned embodiment, and will not be elaborated here.

[0081] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned steering wheel testing method when executed by a processor.

[0082] The computer program product provided by the present application can solve the technical problem of how to test the steering wheel turning time of a vehicle more accurately and conveniently. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the steering wheel testing method provided by the above embodiment, which will not be repeated here.

[0083] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A steering wheel testing method, characterized in that: The steering wheel testing method comprises: During a target period when the target vehicle is running at a constant speed at a target yaw rate, continuously acquiring test data through a data interface of the target vehicle, the test data including steering wheel steering angles corresponding to different moments in the target period; Based on the test data, determining a change relationship between a steering wheel steering angle and time of the target vehicle at the target yaw rate; Based on the change relationship, the steering wheel return time of the target vehicle is determined.

2. The steering wheel testing method according to claim 1, characterized in that: The continuously acquiring test data through the data interface of the target vehicle includes: The test data transmitted in real time on the bus of the target vehicle is continuously acquired through the data interface of the target vehicle.

3. The steering wheel testing method according to claim 1, characterized in that: The determining, based on the test data, a changing relationship between a steering wheel steering angle and time of the target vehicle at the target yaw rate comprises: Based on the test data, a curve of a change between a steering wheel steering angle and time of the target vehicle at the target yaw rate is obtained by fitting; Based on the change curve, the change relationship between the steering wheel steering angle and time is determined.

4. The steering wheel testing method according to claim 3, characterized in that: In the target period when the target vehicle is running at a target yaw rate and at a constant speed, before continuously acquiring test data through the data interface of the target vehicle, the method further includes: When the target vehicle is running at a set speed and the steering wheel is turned, obtaining the yaw rate of the vehicle at different steering angles of the steering wheel; determining a steering wheel steering angle corresponding to the target yaw rate as a target steering angle; Turn the steering wheel of the target vehicle to the target steering angle and maintain the set speed.

5. The steering wheel testing method according to claim 3, characterized in that: The change relationship is a linear change relationship, and determining the steering wheel return time of the target vehicle based on the change relationship includes: The target steering angle is used as a known parameter of the linear variation relationship, and the unknown parameter is calculated through the linear variation relationship to obtain the steering wheel return time of the target vehicle.

6. The steering wheel testing method according to claim 3, characterized in that: After fitting the change curve between the steering wheel steering angle and time of the target vehicle at the target yaw rate based on the test data, the method further includes: Calculating the fitting degree of the change curve; When the degree of fit is less than a set threshold, a prompt message indicating that an error has occurred in the data fitting is issued; When the degree of fit is greater than or equal to a set threshold, determining the changing relationship between the steering wheel steering angle and time based on the changing curve is performed.

7. A steering wheel testing device, characterized in that: The steering wheel testing device comprises: A data acquisition module, used to continuously acquire test data through a data interface of the target vehicle during the process of the target vehicle running at a constant speed at a target yaw rate, wherein the test data includes steering wheel steering angles corresponding to different moments in a target period; A relationship determination module, used for determining, based on the test data, a change relationship between a steering wheel steering angle and time of the target vehicle at the target yaw rate; The time calculation module is used to determine the steering wheel return time of the target vehicle based on the change relationship.

8. A steering wheel testing device, characterized in that: The steering wheel testing device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the steering wheel testing method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the steering wheel testing method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the steering wheel testing method according to any one of claims 1 to 6 are implemented.

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