Steering pull rod adjusting method and system, vehicle, equipment and program product

Abstract

The invention relates to the technical field of vehicles, in particular to a steering pull rod adjusting method and system, a vehicle, equipment and a program product. The method comprises the steps that the actual driving track of vehicle driving is obtained, driving behavior data corresponding to the actual driving track are obtained, and a steering pull rod adjusting system is assembled on a vehicle; if the actual driving track is not matched with the driving behavior data, an adjusting instruction for adjusting a vehicle steering pull rod is generated based on the reference structure parameters of the vehicle; and controlling a steering pull rod adjusting system to adjust the length of the steering pull rod based on the adjusting instruction. In the vehicle development process, the assembly error rate of the steering pull rod can be reduced, the equipment utilization rate of the steering pull rod is improved, and the development cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a steering rod adjustment method, system, vehicle, equipment and program product. Background Art

[0002] With the development of vehicle technology, in order to save development costs, the vehicle development process has gradually formed a platform. For example, the chassis, steering gear and steering tie rod assembly of a vehicle are defined as frame components. During the vehicle development process, in order to fully understand the vehicle performance, it is necessary to test the vehicle at different development stages. However, in the face of multiple models of vehicle development, there is a phenomenon of differences in vehicle wheelbase and track width of each model, and the length of the steering tie rod of different models is also different. In the existing platform development process, steering tie rods of corresponding lengths are usually provided for each model respectively, so as to test different vehicle individuals of the same model and improve the reuse rate of steering tie rods. However, due to the similar shapes of steering tie rods of different models, there is a problem of high error rate in steering tie rod assembly during testing. In addition, providing similar steering tie rods for multiple models is not conducive to full utilization of equipment and cost reduction. Summary of the invention

[0003] Based on the defects and shortcomings of the above-mentioned prior art, the present application proposes a steering rod adjustment method, system, vehicle, equipment and program product, which can reduce the steering rod assembly error rate, improve the equipment utilization rate of the steering rod and reduce development costs during the vehicle development process.

[0004] According to a first aspect of the present application, a steering rod adjustment method is provided, which is applied to a controller included in a steering rod adjustment system, and the method comprises: obtaining an actual driving trajectory of a vehicle, and obtaining driving behavior data corresponding to the actual driving trajectory, wherein the vehicle is equipped with the steering rod adjustment system; if the actual driving trajectory does not match the driving behavior data, then based on the reference structural parameters of the vehicle, generating an adjustment instruction for adjusting the steering rod of the vehicle; based on the adjustment instruction, controlling the steering rod adjustment system to adjust the length of the steering rod.

[0005] According to the steering rod adjustment method provided in the first aspect of the present application, obtaining the actual driving trajectory of the vehicle includes: detecting the relative position information between a reference object and the vehicle during the driving of the vehicle, wherein the reference object is an object with known position information; and obtaining the actual driving trajectory based on the relative position information.

[0006] According to the steering rod adjustment method provided in the first aspect of the present application, the vehicle includes a visual detection device; the relative position information between the reference object and the vehicle is detected during the driving of the vehicle, including: obtaining visual detection data of the reference object by the visual detection device during the driving of the vehicle; parsing the visual detection data to obtain the relative position information between the reference object and the vehicle.

[0007] According to the steering rod adjustment method provided in the first aspect of the present application, the steering rod adjustment system also includes an inner steering rod, an outer steering rod, a motor shaft and a linear motor; at least a portion of the inner steering rod is sleeved in the cavity of the outer steering rod; the motor shaft is connected to the inner steering rod or the outer steering rod; the inner steering rod, the outer steering rod, the motor shaft and the linear motor are coaxially arranged; based on the adjustment instruction, controlling the steering rod adjustment system to adjust the length of the steering rod includes: based on the adjustment instruction, controlling the linear motor to drive the motor shaft to move, adjusting the relative positions of the inner steering rod and the outer steering rod, so as to adjust the length of the steering rod.

[0008] According to the steering rod adjustment method provided in the first aspect of the present application, the adjustment instruction includes a target adjustment position; the adjustment of the relative position of the steering inner rod and the steering outer rod includes: if the relative position of the steering inner rod and the steering outer rod reaches the target adjustment position, controlling the linear motor to lock.

[0009] According to the steering rod adjustment method provided in the first aspect of the present application, the adjustment instructions for adjusting the steering rod of the vehicle are generated based on the baseline structural parameters of the vehicle, including: based on the target vehicle identification of the vehicle, querying the corresponding relationship, and obtaining the target baseline structural parameters corresponding to the target vehicle identification, wherein the corresponding relationship includes at least one vehicle identification, and the baseline structural parameters corresponding to each of the vehicle identifications; based on the target baseline structural parameters, generating the adjustment instructions for adjusting the steering rod of the vehicle.

[0010] According to a second aspect of the present application, a steering rod adjustment system is provided, the steering rod adjustment system comprising a controller; the steering rod adjustment system is mounted on a vehicle; the controller is used to obtain an actual driving trajectory of the vehicle, and to obtain driving behavior data corresponding to the actual driving trajectory, if the actual driving trajectory does not match the driving behavior data, then based on the reference structural parameters of the vehicle, an adjustment instruction for adjusting the steering rod of the vehicle is generated, and based on the adjustment instruction, the steering rod adjustment system is controlled to adjust the length of the steering rod.

[0011] According to the steering rod adjustment system provided in the second aspect of the present application, the steering rod adjustment system also includes an inner steering rod, an outer steering rod, a motor shaft and a linear motor; at least a portion of the inner steering rod is sleeved in the cavity of the outer steering rod; the motor shaft is connected to the inner steering rod or the outer steering rod; the inner steering rod, the outer steering rod, the motor shaft and the linear motor are coaxially arranged; the controller is used to control the linear motor to drive the motor shaft to move based on the adjustment instruction, adjust the relative positions of the inner steering rod and the outer steering rod, so as to adjust the length of the steering rod.

[0012] According to a third aspect of the present application, a vehicle is provided, wherein the vehicle is equipped with a steering rod adjustment system as described in any one of the second aspects, and the steering rod adjustment system comprises a controller; the controller adjusts the length of the vehicle steering rod through a steering rod adjustment method as described in any one of the first aspects.

[0013] According to a fourth aspect of the present application, an electronic device is provided, comprising: a memory and a processor; the memory is connected to the processor and is used to store programs; the processor is used to implement the steering rod adjustment method as described in the first aspect by running the program in the memory.

[0014] According to a fifth aspect of the present application, a computer program product is provided, comprising computer program instructions; when the computer program instructions are executed by a processor, the processor executes the steering rod adjustment method as described in the first aspect.

[0015] The present application provides a steering rod adjustment method, which is applied to a controller included in a steering rod adjustment system, and the method includes: obtaining the actual driving trajectory of the vehicle, and obtaining the driving behavior data corresponding to the actual driving trajectory, wherein the vehicle is equipped with a steering rod adjustment system; if the actual driving trajectory does not match the driving behavior data, then based on the vehicle's reference structural parameters, an adjustment instruction for adjusting the vehicle's steering rod is generated; based on the adjustment instruction, the steering rod adjustment system is controlled to adjust the length of the steering rod. Through this method, the length of the steering rod can be flexibly adjusted, so as to be adapted to a variety of vehicles, reduce the steering rod assembly error rate, improve the equipment utilization rate of the steering rod, and reduce the development cost. At the same time, based on the actual driving trajectory and driving behavior data of the vehicle, the automation of the steering rod length adjustment process is realized, and the development cost is further reduced in terms of manpower, time, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0017] Figure 1 A schematic diagram of a process flow of a steering rod adjustment method provided in an embodiment of the present application;

[0018] Figure 2 A schematic diagram of the structure of a steering rod adjustment system provided in an embodiment of the present application;

[0019] Figure 3 A schematic diagram of a steering rod adjustment logic processing provided in an embodiment of the present application;

[0020] Figure 4 A block diagram of a steering rod adjustment device provided in an embodiment of the present application;

[0021] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] Exemplary Methods

[0024] In response to the problems existing in the prior art, the present application provides a steering rod adjustment method, which is implemented through a software algorithm. The software algorithm that implements the method is configured in a controller included in a steering rod adjustment system. By combining the software algorithm with the steering rod adjustment system, the length of the steering rod can be adjusted, and then the wheelbase of the vehicle can be adjusted, thereby solving problems such as vehicle deviation.

[0025] In one embodiment, if Figure 1 As shown, the process steps for implementing the steering rod adjustment method include:

[0026] Step 101, obtaining an actual driving trajectory of a vehicle, and obtaining driving behavior data corresponding to the actual driving trajectory, wherein the vehicle is equipped with a steering rod adjustment system.

[0027] In this embodiment, during the test process, the vehicle needs to actually drive to collect test data. Before the test, the vehicle is equipped with a steering rod adjustment system, which can adjust the length of the vehicle's tie rod. It should be noted that the steering rod adjustment system can be reused. After the first vehicle completes the test using the steering rod adjustment system, the steering rod adjustment system is removed from the first vehicle and assembled on the next second vehicle that needs to be tested. The first vehicle and the second vehicle that need to be tested can be vehicles of the same model or vehicles of different models. Since the steering rod adjustment system can adjust the length of the steering rod, even if the wheelbases of different models of vehicles are different, the length of the steering rod can be flexibly adjusted through the steering rod adjustment system, so that the steering rod adjustment system is adapted to multiple models of vehicles, and it is no longer necessary to configure a fixed-length steering rod for each model of vehicle, thereby improving the equipment utilization rate of the steering rod adjustment system. At the same time, since different models of vehicles can use the steering rod adjustment system, there is no need to assemble steering rods of corresponding lengths for different vehicle models, which avoids assembly errors caused by the similar appearance of steering rods of different models of vehicles during testing, improves the efficiency of the vehicle testing and development process, and reduces the maintenance costs of equipment and vehicles.

[0028] In this embodiment, in order to determine whether the vehicle has abnormal driving phenomenon, the actual driving trajectory and driving behavior data of the vehicle during driving can be obtained to make a judgment. During the driving process of the vehicle, the actual driving trajectory of the vehicle is obtained, and the actual driving trajectory can be obtained based on a trajectory detection device configured on the vehicle, such as a visual detection device. During the driving process of the vehicle, the driver needs to perform driving operations to generate driving behavior data, such as steering wheel rotation angle, vehicle speed signal, etc.

[0029] Step 102: If the actual driving trajectory does not match the driving behavior data, an adjustment instruction for adjusting the vehicle steering rod is generated based on the reference structural parameters of the vehicle.

[0030] In this embodiment, during the driving process of the vehicle, it is determined in real time whether the actual driving trajectory of the vehicle matches the driving behavior data corresponding to the actual driving trajectory. For example, during the straight-line driving process of the vehicle, the driver does not perform a steering operation, but the actual driving trajectory of the vehicle has a direction deviation, then the actual driving trajectory of the vehicle and the driving behavior data do not match; if the driver performs a steering operation, and the angle of the vehicle steering deviation is consistent with the angle provided by the steering operation, then the actual driving trajectory of the vehicle and the driving behavior data match. If the actual driving trajectory of the vehicle and the driving behavior data do not match, an adjustment instruction is generated based on the vehicle's baseline structural parameters. If the actual driving trajectory of the vehicle and the driving behavior data match, the vehicle continues to drive normally and the vehicle test process continues to be completed.

[0031] Step 103: Based on the adjustment instruction, control the steering rod adjustment system to adjust the length of the steering rod.

[0032] In this embodiment, when the actual driving trajectory of the vehicle does not match the driving behavior data, the steering rod adjustment system is controlled by the adjustment command generated by the controller to adjust the length of the steering rod, thereby adjusting the wheelbase of the vehicle. When the vehicle deviates during the test, the length of the steering rod can be adjusted by the steering rod adjustment system to correct the abnormal phenomenon such as the vehicle deviating. This process realizes the automatic adjustment of the length of the steering rod based on the actual driving trajectory and driving behavior data of the vehicle, avoiding the need to re-align the vehicle and adjust the wheelbase every time the vehicle deviates, thereby improving the degree of automation of the vehicle development process and the testing process, and saving human resources and time resources.

[0033] In this embodiment, in order to improve the accuracy of the steering rod adjustment process, the actual driving trajectory and driving behavior data can be periodically detected based on a preset time. For example, the preset time is set to 5 minutes. During the vehicle driving process, the actual driving trajectory and driving behavior data within 5 minutes are detected continuously, and then the actual driving trajectory and driving behavior data within 5 minutes are processed to determine whether the actual driving trajectory within 5 minutes matches the driving behavior data (i.e., determine whether the vehicle has problems such as deviation or misalignment within 5 minutes). If the actual driving trajectory within 5 minutes matches the driving behavior data, the timing is restarted, the actual driving trajectory and driving behavior data within the next 5 minutes are counted, and the step of determining whether the actual driving trajectory within 5 minutes matches the driving behavior data is repeated; if the actual driving trajectory within 5 minutes does not match the driving behavior data, an adjustment instruction for adjusting the vehicle steering rod is generated based on the vehicle's reference structural parameters. After the steering rod adjustment system adjusts the length of the steering rod based on the adjustment instruction, the timing is restarted, the actual driving trajectory and driving behavior data within the next 5 minutes are counted, and the step of determining whether the actual driving trajectory within 5 minutes matches the driving behavior data is repeated. Through the process of periodic detection and adjustment, the length of the steering rod can be adjusted multiple times during vehicle driving, forming long-term detection of the vehicle during driving and improving vehicle testing results.

[0034] In one embodiment, obtaining an actual driving trajectory of a vehicle includes: detecting relative position information between a reference object and the vehicle during vehicle driving, wherein the reference object is an object with known position information; and obtaining the actual driving trajectory based on the relative position information.

[0035] In this embodiment, the reference object refers to any object with known position information, such as the lane line of the lane where the vehicle is located, a pre-set marker, etc. By detecting the relative position information between the reference object and the vehicle, the actual driving trajectory of the vehicle can be accurately known.

[0036] For example, during the driving process, the vehicle can obtain the actual driving trajectory of the vehicle by detecting the relative position information between the lane line of the road where the vehicle is located and the vehicle. For example, when the vehicle is driving straight in a straight lane, the vehicle can detect the lane line of the straight lane, use the lane line as a reference, and then combine the vehicle body position information to determine the relative position information between the vehicle and the lane line, thereby obtaining the actual driving trajectory of the vehicle during the driving process.

[0037] In this embodiment, if the road where the vehicle is located does not have obvious lane lines, other objects with known specific positions can be detected as a reference to determine the actual driving trajectory of the vehicle. For example, a marker can be set in advance, and the vehicle moves in a circle with the marker as the center. The actual driving trajectory of the vehicle can be obtained by detecting the relative position information between the marker and the vehicle.

[0038] In one embodiment, the vehicle includes a visual detection device. During the driving of the vehicle, the relative position information between the reference object and the vehicle is detected, including: during the driving of the vehicle, obtaining visual detection data of the reference object by the visual detection device; and analyzing the visual detection data to obtain the relative position information between the reference object and the vehicle.

[0039] In this embodiment, if the vehicle is equipped with a visual detection device, the relative position information between the reference object and the vehicle is detected by the visual detection device. Specifically, the visual detection device includes but is not limited to a camera and a laser radar. The reference object can be detected by a camera or a laser radar alone, so that the relative position information between the reference object and the vehicle is analyzed using image data or radar data; the reference object can also be detected by a camera and a laser radar at the same time, and the image data and radar data are combined and analyzed to obtain the relative position relationship between the reference object and the vehicle. Optionally, the visual detection device already configured on the vehicle is preferentially used to detect the relative position information, thereby avoiding the additional increase in hardware costs and reducing the overall cost of the vehicle testing and development process.

[0040] In one embodiment, if Figure 2 As shown, the steering rod adjustment system includes a controller 6, and optionally, the controller 6 includes a linear motor controller to better control the linear motor 4. The steering rod adjustment system also includes an inner steering rod 1, an outer steering rod 5, a motor shaft 3 and a linear motor 4; at least a portion of the inner steering rod 1 is sleeved in the cavity of the outer steering rod 5; the motor shaft 3 is connected to the inner steering rod 1 or the outer steering rod 5, for example, Figure 2The middle motor shaft 3 is connected to the steering inner tie rod 1, and at the same time, the linear motor 4 is fixed to the bottom of the cavity of the steering outer tie rod 5; according to the actual mechanical characteristics, the motor shaft 3 can also be connected to the steering outer tie rod 5, and at the same time, the linear motor 4 is fixed to the end of the steering inner tie rod 1 in the cavity; the steering inner tie rod 1, the steering outer tie rod 5, the motor shaft 3 and the linear motor 4 are coaxially arranged, that is, the axes of the steering inner tie rod 1, the steering outer tie rod 5, the motor shaft 3 and the linear motor 4 coincide.

[0041] Based on the adjustment instruction, the steering rod adjustment system is controlled to adjust the length of the steering rod, including: based on the adjustment instruction, the linear motor is controlled to drive the motor shaft to move, and the relative positions of the steering inner rod and the steering outer rod are adjusted to adjust the length of the steering rod.

[0042] In this embodiment, after the controller 6 obtains the adjustment instruction, it controls the linear motor 4 to move. The movement of the linear motor 4 drives the motor shaft 3 to move along the axis, and then drives the steering inner tie rod 1 or the steering outer tie rod 5 to move. The relative positions of the steering inner tie rod 1 and the steering outer tie rod 5 change, thereby realizing the adjustment of the steering rod length.

[0043] In this embodiment, the steering rod adjustment system further includes a dustproof oil seal 2 to prevent dirt from entering the cavity of the steering outer rod 5, thereby ensuring smooth movement of the steering inner rod 1 or the steering outer rod 5.

[0044] In this embodiment, the motor shaft 3 is threadedly connected to the inner steering tie rod 1 or the outer steering tie rod 5, and the linear motor 4 drives the motor shaft 3 to rotate. The rotational force of the motor shaft 3 is transferred to the inner steering tie rod 1 or the inner steering tie rod 5, and the internal threads drive the wheel end to perform contraction / extension adjustment. The threaded connection can achieve a slight adjustment of the relative position of the inner steering tie rod 1 and the outer steering tie rod 5, thereby providing a basis for adjusting the length of the steering tie rod during driving of the vehicle, and avoiding the problem of hardware damage caused by a large adjustment amount.

[0045] In one embodiment, the adjustment instruction includes a target adjustment position. Adjusting the relative position of the inner steering rod and the outer steering rod includes: if the relative position of the inner steering rod and the outer steering rod reaches the target adjustment position, controlling the linear motor to lock.

[0046] In this embodiment, the adjustment instruction includes a target adjustment position. When adjusting the length of the steering rod, the relative positions of the steering inner rod and the steering outer rod are adjusted to the target adjustment position. The controller then controls the linear motor to lock, thereby avoiding the problem of changes in the length of the steering rod during an adjustment process that does not require adjustment, thereby ensuring the safety of the vehicle during driving.

[0047] In one embodiment, based on the vehicle's baseline structural parameters, an adjustment instruction for adjusting the vehicle's steering rod is generated, including: based on the vehicle's target vehicle identification, querying a correspondence relationship to obtain target baseline structural parameters corresponding to the target vehicle identification, wherein the correspondence relationship includes at least one vehicle identification, and the baseline structural parameters corresponding to each vehicle identification; based on the target baseline structural parameters, an adjustment instruction for adjusting the vehicle's steering rod is generated.

[0048] In this embodiment, the correspondence between the vehicle identifications of various vehicle models and the corresponding reference structural parameters is preconfigured, and the correspondence is stored in the storage space of the controller, and the reference structural parameters include the reference parameters of the vehicle four-wheel alignment. When the vehicle being tested has problems such as deviation or misalignment, the corresponding relationship is queried through the target vehicle identification of the vehicle being tested to obtain the target reference structural parameters corresponding to the target vehicle identification. Through the corresponding relationship, it is possible to avoid multiple four-wheel alignments for various vehicle models, thereby reducing the testing cost.

[0049] In one embodiment, the controller can exchange data with other vehicle controllers or external controllers via a controller area network. Figure 3 As shown, after the vehicle is started, the vehicle's ignition signal is transmitted to the controller via CAN, and the vehicle's power signal and CAN signal ensure the basic working ability of the controller.

[0050] In this embodiment, the vehicle is equipped with a monocular camera and a laser radar. The controller obtains the relative position information between the reference object and the vehicle by analyzing the visual detection data (including image data and radar data) collected by the monocular camera and the laser radar, and then obtains the actual driving trajectory of the vehicle. At the same time, other components in the vehicle transmit the steering wheel angle signal, vehicle speed signal, yaw angle signal, and driving behavior data such as the forward and reverse rotation of the engine motor to the controller to monitor the real-time driving conditions or driving actions of the vehicle and determine whether the driver has operated steering, braking, acceleration and other actions. The controller determines whether the actual driving trajectory matches the driving behavior data. If not, based on the target vehicle identification of the vehicle being tested, the corresponding relationship is queried to determine the target reference structure parameters corresponding to the target vehicle identification.

[0051] Exemplarily, the corresponding relationship includes vehicle identifications of a minivan, a mini truck, a box truck and a small truck. The reference structural parameters corresponding to the minivan include a four-wheel alignment value 1 of the minivan, in which the toe-to-rear distance of the minivan is 1460 mm; the reference structural parameters corresponding to the mini truck include a four-wheel alignment value 2 of the mini truck, in which the toe-to-rear distance of the mini truck is 1465 mm; the reference structural parameters corresponding to the box truck include a four-wheel alignment value 3 of the box truck, in which the toe-to-rear distance of the box truck is 1470 mm; the reference structural parameters corresponding to the small truck include a four-wheel alignment value 4 of the small truck, in which the toe-to-rear distance of the small truck is 1475 mm. The corresponding relationship stored in the storage area in the controller can be modified, updated, deleted or added according to the space size of the storage area and actual needs.

[0052] The target adjustment position is determined by the toe-in left and right distances in the target reference structure parameters. The controller controls the linear motor to drive the motor shaft to rotate, and the motor shaft rotation force is transferred to the internal thread of the steering inner tie rod to drive the wheel end to contract or stretch until it is adjusted to the target adjustment position and stops working and controls the interlocking mechanism of the linear motor to lock.

[0053] In this embodiment, each time the steering rod length of the vehicle is adjusted, the target adjustment position, adjustment direction, adjustment time and other adjustment related information are stored in the storage area of ​​the controller, so as to facilitate further analysis of the vehicle testing process.

[0054] In this embodiment, when the controller is started, it first performs a self-check. Specifically, the controller is first initialized to set initial parameters and configurations. Then, a hardware self-check is performed to check the status of each hardware component in turn. Then, a software self-check is performed to verify the integrity and correctness of the software. Then, a communication self-check is performed to check whether the communication with other modules and systems is normal. Then, a fault detection is performed to detect and record any fault codes. Finally, the results are reported, and the self-check results are reported to the driver or maintenance personnel, usually displayed through an indicator light or display screen on the dashboard. Optionally, if the self-check is normal, the controller is put into normal use. If the self-check is abnormal, the corresponding fault light is displayed through the fault display instrument.

[0055] In this embodiment, during the use of the controller, a cyclic redundancy check (CRC) signal is used as a verification signal to determine whether there are garbled characters, erroneous commands, and other problems in the controller's regular transmission signal, thereby ensuring the normal operation of the controller and improving the reliability of the controller. Of course, other verification signals can also be used to implement the verification process of the controller.

[0056] The present application provides a steering rod adjustment method, which is applied to a controller included in a steering rod adjustment system, and the method includes: obtaining the actual driving trajectory of the vehicle, and obtaining the driving behavior data corresponding to the actual driving trajectory, wherein the vehicle is equipped with a steering rod adjustment system; if the actual driving trajectory does not match the driving behavior data, then based on the vehicle's reference structural parameters, an adjustment instruction for adjusting the vehicle's steering rod is generated; based on the adjustment instruction, the steering rod adjustment system is controlled to adjust the length of the steering rod. Through this method, the length of the steering rod can be flexibly adjusted, so as to be adapted to a variety of vehicles, reduce the steering rod assembly error rate, improve the equipment utilization rate of the steering rod, and reduce the development cost. At the same time, based on the actual driving trajectory and driving behavior data of the vehicle, the automation of the steering rod length adjustment process is realized, and the development cost is further reduced in terms of manpower, time, etc.

[0057] Exemplary Systems

[0058] Correspondingly, an embodiment of the present application also provides a steering rod adjustment system, which includes a controller; the steering rod adjustment system is assembled on a vehicle; the controller is used to obtain the actual driving trajectory of the vehicle, and to obtain driving behavior data corresponding to the actual driving trajectory. If the actual driving trajectory does not match the driving behavior data, an adjustment instruction for adjusting the vehicle steering rod is generated based on the vehicle's baseline structural parameters, and based on the adjustment instruction, the steering rod adjustment system is controlled to adjust the length of the steering rod.

[0059] In one embodiment, the steering rod adjustment system also includes an inner steering rod, an outer steering rod, a motor shaft and a linear motor; at least a portion of the inner steering rod is sleeved in the cavity of the outer steering rod; the motor shaft is connected to the inner steering rod or the outer steering rod; the inner steering rod, the outer steering rod, the motor shaft and the linear motor are coaxially arranged; and a controller is used to control the linear motor to drive the motor shaft to move based on an adjustment instruction, adjust the relative positions of the inner steering rod and the outer steering rod, and adjust the length of the steering rod.

[0060] In one embodiment, the motor shaft is threadedly connected to the inner steering tie rod or the outer steering tie rod.

[0061] The steering rod adjustment system provided in this embodiment belongs to the same application concept as the steering rod adjustment method provided in the above embodiment of this application, and can apply the steering rod adjustment method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the steering rod adjustment method provided in the above embodiment of this application, and will not be repeated here.

[0062] Example Vehicles

[0063] Correspondingly, an embodiment of the present application also provides a vehicle, the vehicle is equipped with a steering rod adjustment system as provided in any of the above embodiments, and the steering rod adjustment system includes a controller; the controller adjusts the length of the vehicle steering rod through a steering rod adjustment method as provided in any of the above embodiments.

[0064] The vehicle provided in this embodiment belongs to the same application concept as the steering rod adjustment method provided in the above embodiment of this application, and can apply the steering rod adjustment method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the steering rod adjustment method provided in the above embodiment of this application, and will not be repeated here.

[0065] Exemplary Devices

[0066] Accordingly, the present application also provides a steering rod adjustment device, such as Figure 4 As shown, the device may include:

[0067] An acquisition module 401 is used to acquire an actual driving trajectory of the vehicle and to acquire driving behavior data corresponding to the actual driving trajectory, wherein the vehicle is equipped with a steering rod adjustment system;

[0068] The processing module 402 is used to generate an adjustment instruction for adjusting the vehicle steering rod based on the reference structural parameters of the vehicle if the actual driving trajectory does not match the driving behavior data;

[0069] The control module 403 is used to control the steering rod adjustment system to adjust the length of the steering rod based on the adjustment instruction.

[0070] In one embodiment, the acquisition module 401 is used to detect the relative position information between a reference object and the vehicle during vehicle driving, wherein the reference object is an object with known position information; and to acquire the actual driving trajectory based on the relative position information.

[0071] In one embodiment, the vehicle includes a visual detection device;

[0072] The acquisition module 401 is used to acquire visual detection data of the reference object by the visual detection device during the driving of the vehicle; analyze the visual detection data to acquire the relative position information between the reference object and the vehicle.

[0073] In one embodiment, the steering tie rod adjustment system further comprises an inner steering tie rod, an outer steering tie rod, a motor shaft and a linear motor; at least a portion of the inner steering tie rod is sleeved in a cavity of the outer steering tie rod; the motor shaft is connected to the inner steering tie rod or the outer steering tie rod; the inner steering tie rod, the outer steering tie rod, the motor shaft and the linear motor are coaxially arranged;

[0074] The control module 403 is used to control the linear motor to drive the motor shaft to move based on the adjustment instruction, adjust the relative position of the steering inner tie rod and the steering outer tie rod, so as to adjust the length of the steering tie rod.

[0075] In one embodiment, the adjustment instruction includes a target adjustment position;

[0076] The control module 403 is used to control the linear motor to lock if the relative position of the steering inner tie rod and the steering outer tie rod reaches the target adjustment position.

[0077] In one embodiment, the processing module 402 is used to query the correspondence relationship based on the target vehicle identification of the vehicle, and obtain the target reference structure parameters corresponding to the target vehicle identification, wherein the correspondence relationship includes at least one vehicle identification and the reference structure parameters corresponding to each vehicle identification; based on the target reference structure parameters, an adjustment instruction for adjusting the vehicle steering rod is generated.

[0078] The steering rod adjustment device provided in this embodiment belongs to the same application concept as the steering rod adjustment method provided in the above embodiments of this application, and can execute the steering rod adjustment method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the steering rod adjustment method provided in the above embodiments of this application, and will not be repeated here.

[0079] Exemplary Electronic Devices

[0080] The present application also provides an electronic device, such as Figure 5 As shown, the electronic device includes: a memory 500 and a processor 501.

[0081] The memory 500 is connected to the processor 501 and is used to store programs.

[0082] The processor 501 is used to implement the steering rod adjustment method in the above embodiment by running the program stored in the memory 500.

[0083] Specifically, the electronic device may further include: a communication interface 502 , an input device 503 , an output device 504 and a bus 505 .

[0084] The processor 501, the memory 500, the communication interface 502, the input device 503 and the output device 504 are connected to each other via a bus.

[0085] Bus 505 may include a pathway for transferring information between the various components of the computer system.

[0086] The processor 501 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0087] The processor 501 may include a main processor, and may also include a baseband chip, a modem, etc.

[0088] The memory 500 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 500 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0089] The input device 503 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0090] Output device 504 may include a device that allows information to be output to a user, such as a display screen, printer, speaker, etc.

[0091] The communication interface 502 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0092] The processor 501 executes the program stored in the memory 500 and calls other devices, which can be used to implement the various steps of the steering rod adjustment method provided in the above embodiment of the present application.

[0093] Exemplary computer program products and storage media

[0094] In addition to the above-mentioned methods and devices, the embodiments of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the steering rod adjustment method described in the embodiments of the present application.

[0095] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0096] In addition, the embodiments of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the steering rod adjustment method described in the embodiments of the present application.

[0097] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0098] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0099] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0100] The modules and sub-modules in the devices and terminals provided in the embodiments of the present application can be merged, divided and deleted according to actual needs.

[0101] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0102] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0103] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0104] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0105] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0106] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0107] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A steering rod adjustment method, characterized in that: Applied to a controller included in a steering tie rod adjustment system, the method comprises: Acquiring an actual driving trajectory of a vehicle, and acquiring driving behavior data corresponding to the actual driving trajectory, wherein the vehicle is equipped with the steering rod adjustment system; If the actual driving trajectory does not match the driving behavior data, generating an adjustment instruction for adjusting the vehicle steering rod based on the reference structural parameters of the vehicle; Based on the adjustment instruction, the steering rod adjustment system is controlled to adjust the length of the steering rod.

2. The steering rod adjustment method according to claim 1, characterized in that: The obtaining of the actual driving trajectory of the vehicle comprises: During the driving of the vehicle, detecting relative position information between a reference object and the vehicle, wherein the reference object is an object with known position information; Based on the relative position information, the actual driving trajectory is obtained.

3. The steering rod adjustment method according to claim 2, characterized in that: The vehicle includes a visual detection device; The detecting of relative position information between the reference object and the vehicle during the driving of the vehicle includes: During the driving of the vehicle, obtaining visual detection data of the reference object by the visual detection device; The visual detection data is analyzed to obtain the relative position information between the reference object and the vehicle.

4. The steering rod adjustment method according to claim 1, characterized in that: The steering rod adjustment system further comprises an inner steering rod, an outer steering rod, a motor shaft and a linear motor; at least a portion of the inner steering rod is sleeved in a cavity of the outer steering rod; the motor shaft is connected to the inner steering rod or the outer steering rod; the inner steering rod, the outer steering rod, the motor shaft and the linear motor are coaxially arranged; The step of controlling the steering rod adjustment system to adjust the length of the steering rod based on the adjustment instruction includes: Based on the adjustment instruction, the linear motor is controlled to drive the motor shaft to move, and the relative positions of the inner steering tie rod and the outer steering tie rod are adjusted to adjust the length of the steering tie rod.

5. The steering rod adjustment method according to claim 4, characterized in that: The adjustment instruction includes a target adjustment position; The adjusting the relative positions of the inner steering rod and the outer steering rod comprises: If the relative position of the inner steering tie rod and the outer steering tie rod reaches the target adjustment position, the linear motor is controlled to be locked.

6. The steering rod adjustment method according to claim 1, characterized in that: The step of generating an adjustment instruction for adjusting the vehicle steering rod based on the reference structural parameters of the vehicle comprises: Based on the target vehicle identification of the vehicle, query the corresponding relationship to obtain the target reference structure parameters corresponding to the target vehicle identification, wherein the corresponding relationship includes at least one vehicle identification and the reference structure parameters corresponding to each of the vehicle identifications; Based on the target reference structural parameters, an adjustment instruction for adjusting the vehicle steering tie rod is generated.

7. A steering rod adjustment system, characterized in that: The steering rod adjustment system comprises a controller; the steering rod adjustment system is mounted on a vehicle; The controller is used to obtain the actual driving trajectory of the vehicle and the driving behavior data corresponding to the actual driving trajectory. If the actual driving trajectory does not match the driving behavior data, an adjustment instruction for adjusting the vehicle steering rod is generated based on the baseline structural parameters of the vehicle. Based on the adjustment instruction, the steering rod adjustment system is controlled to adjust the length of the steering rod.

8. The steering rod adjustment system according to claim 7, characterized in that: The steering rod adjustment system further comprises an inner steering rod, an outer steering rod, a motor shaft and a linear motor; at least a portion of the inner steering rod is sleeved in a cavity of the outer steering rod; the motor shaft is connected to the inner steering rod or the outer steering rod; the inner steering rod, the outer steering rod, the motor shaft and the linear motor are coaxially arranged; The controller is used to control the linear motor to drive the motor shaft to move based on the adjustment instruction, adjust the relative position of the steering inner tie rod and the steering outer tie rod, so as to adjust the length of the steering tie rod.

9. A vehicle, characterized in that: The vehicle is equipped with the steering rod adjustment system according to any one of claims 7 to 8, wherein the steering rod adjustment system comprises a controller; The controller adjusts the length of the vehicle steering rod by the steering rod adjustment method according to any one of claims 1 to 6.

10. An electronic device, characterized in that: include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the steering rod adjustment method as described in any one of claims 1-6 by running the program in the memory.

11. A computer program product, characterized in that includes computer program instructions; When the computer program instructions are executed by a processor, the processor is enabled to execute the steering rod adjustment method according to any one of claims 1 to 6.

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