A vehicle detection method, apparatus, vehicle, and storage medium

Abstract

This invention provides a vehicle detection method, apparatus, vehicle, and storage medium, relating to the field of vehicle technology. The method includes: when a vehicle meets preset detection conditions, controlling the vehicle's steering wheel to rotate to its limit position to obtain the current steering wheel limit angle; determining whether the vehicle's current wheel limit angle meets preset requirements based on the current steering wheel limit angle and a preset conversion relationship; if not, generating a wheel limit angle adjustment strategy based on the current steering wheel limit angle; and when the vehicle meets the conditions for repeated detection, returning to the step of controlling the vehicle's steering wheel to rotate to its limit position to obtain the current steering wheel limit angle. This invention can quickly and accurately determine whether the current wheel limit angle meets preset requirements without relying on specialized wheel limit angle detection equipment. When the current wheel limit angle does not meet the preset requirements, generating a wheel limit angle adjustment strategy helps increase the probability of the vehicle passing repeated detection, thus comprehensively improving vehicle detection efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle detection method and device, a vehicle and a storage medium. BACKGROUND

[0002] With the vigorous development of the automobile industry, the diversification and intelligentization of vehicle functions have become the focus of consumers and the direction of continuous exploration and optimization for automobile manufacturers and related industries. Under this background, vehicles often need to go through a series of rigorous tests before leaving the factory or after maintenance to ensure the safety and reliability of their various complex functions.

[0003] Among them, the limit angle of the wheel as one of the key indicators to measure the performance of the steering system is of great significance to ensure driving stability and safety. However, the current detection method for the limit angle of the wheel is usually complex, resulting in low detection efficiency of the vehicle. SUMMARY

[0004] The problem solved by the present application is how to effectively improve the detection efficiency of the vehicle.

[0005] To solve the above problems, the present application provides a vehicle detection method, comprising:

[0006] When the vehicle meets the preset detection condition, the steering wheel of the vehicle is rotated to the limit position to obtain the current limit angle of the steering wheel;

[0007] According to the current limit angle of the steering wheel and the preset conversion relationship, it is judged whether the current limit angle of the wheel of the vehicle meets the preset requirement;

[0008] If yes, the vehicle is indicated to pass the detection;

[0009] If not, a wheel limit angle adjustment strategy is generated based on the current limit angle of the steering wheel;

[0010] When the vehicle meets the repeated detection condition, the step of rotating the steering wheel of the vehicle to the limit position to obtain the current limit angle of the steering wheel is returned until the vehicle passes the detection; wherein the repeated detection condition includes receiving an adjustment completion signal corresponding to the wheel limit angle adjustment strategy.

[0011] Optionally, the wheel limit angle adjustment strategy is generated based on the current limit angle of the steering wheel, comprising:

[0012] determining the angle deviation between the current limit angle of the steering wheel and the limit angle of the steering wheel permitted; wherein the limit angle of the steering wheel permitted is determined based on the preset conversion relationship and a preset wheel limit angle;

[0013] determining the wheel limit corner adjustment strategy based on the corner deviation; wherein the wheel limit corner adjustment strategy comprises a target effective length of a steering drag link of the vehicle.

[0014] Optionally, the determining the wheel limit corner adjustment strategy based on the corner deviation comprises:

[0015] determining an adjustment variable corresponding to the steering drag link according to the corner deviation;

[0016] when the current steering wheel limit corner is greater than the steering wheel allowable limit corner, obtaining the target effective length according to a sum of a current effective length of the steering drag link and the adjustment variable;

[0017] when the current steering wheel limit corner is less than the steering wheel allowable limit corner, obtaining the target effective length according to a difference between the current effective length and the adjustment variable.

[0018] Optionally, after the determining the wheel limit corner adjustment strategy based on the corner deviation, the vehicle detection method further comprises:

[0019] when the target effective length exceeds a preset allowable range, indicating that the vehicle fails the detection.

[0020] Optionally, before the generating the wheel limit corner adjustment strategy based on the current steering wheel limit corner, the vehicle detection method further comprises:

[0021] when the current wheel limit corner does not meet the preset requirement, generating a fault prompt information;

[0022] when a cumulative number of times of generating the fault prompt information is greater than a preset fault number of times, indicating that the vehicle fails the detection.

[0023] Optionally,

[0024] the current steering wheel limit corner comprises a current first corner and a current second corner; the corner deviation comprises a first corner deviation between the current first corner and the steering wheel allowable limit corner, and a second corner deviation between the current second corner and the steering wheel allowable limit corner; the determining whether the current wheel limit corner of the vehicle meets a preset requirement according to the current steering wheel limit corner and a preset conversion relationship comprises:

[0025] when the first corner deviation and the second corner deviation are both less than or equal to a preset deviation threshold, indicating that the current wheel limit corner meets the preset requirement;

[0026] When the first corner deviation and / or the second corner deviation is greater than the preset deviation threshold, it is indicated that the current wheel limit corner does not meet the preset requirement.

[0027] Optionally, before the step of returning the rotation of the steering wheel of the vehicle to a limit position to obtain a current limit corner of the steering wheel, the vehicle detection method further comprises:

[0028] In response to the received adjustment completion signal, it is judged whether the vehicle meets the preset detection condition; wherein the preset detection condition comprises that the steering wheel is in a preset return state and that a steering angle detection device of the vehicle completes zero position calibration;

[0029] If yes, it is indicated that the vehicle meets the repeated detection condition;

[0030] If no, a detection condition not met prompt information is generated, and the step of judging whether the vehicle meets the preset detection condition is returned to.

[0031] In the application, the vehicle is detected when the vehicle meets the preset detection condition, which is helpful to ensure the safety of the detection process and the reliability of the detection result. On this basis, the steering wheel of the vehicle is controlled to rotate to the limit position to obtain the current steering wheel limit angle, which is helpful to provide reliable reference for determining whether the current wheel limit angle of the vehicle meets the preset requirement, and further ensure the accuracy of the detection result. In the application, the steering wheel of the vehicle is controlled to rotate to the limit position, and then the wheel can also reach the limit position. Therefore, in the application, without the help of professional wheel limit angle detection equipment, whether the current wheel limit angle of the vehicle meets the preset requirement can be quickly and accurately determined based on the preset conversion relationship between the current steering wheel limit angle and the steering wheel angle and the wheel angle. If the current wheel limit angle meets the preset requirement, the vehicle can pass the detection. If the current wheel limit angle does not meet the preset requirement, it means that the vehicle may have potential safety risks and cannot pass the detection. At this time, the wheel limit angle adjustment strategy is generated based on the current steering wheel limit angle, which can provide accurate and reliable reference for subsequent adjustment of the wheel limit angle, and further improve the probability of passing the detection of the vehicle. On this basis, whether the vehicle meets the repeated detection condition can be determined by judging whether the vehicle receives information such as an adjustment completion signal corresponding to the wheel limit angle adjustment strategy, which is helpful to accurately grasp the opportunity of repeated detection of the vehicle and ensure the reliability of the detection result. When the vehicle meets the repeated detection condition, it means that the adjustment of the wheel limit angle has been completed according to the wheel limit angle adjustment strategy. At this time, the step of controlling the steering wheel of the vehicle to rotate to the limit position to obtain the current steering wheel limit angle is returned, and the vehicle is repeatedly detected based on the current steering wheel limit angle obtained again. This is helpful to avoid the situation that after blind adjustment, the wheel limit angle still cannot meet the preset requirement when the vehicle is re-detected. In this way, the application can avoid wasting a lot of time to repeatedly adjust and detect the same vehicle, and further improve the overall detection efficiency.

[0032] The application also provides a vehicle detection device, which comprises:

[0033] a rotating module, configured to control the steering wheel of the vehicle to rotate to the limit position to obtain the current steering wheel limit angle when the vehicle meets the preset detection condition;

[0034] a judging module, configured to determine whether the current wheel limit angle of the vehicle meets the preset requirement according to the current steering wheel limit angle and the preset conversion relationship;

[0035] if yes, the vehicle is indicated to pass the detection;

[0036] if no, a wheel limit angle adjustment strategy is generated based on the current steering wheel limit angle;

[0037] a cycle module, configured to return the control of the steering wheel rotation of the vehicle to a limit position to obtain a current steering wheel limit rotation angle until the vehicle passes the detection, when the vehicle meets a repeated detection condition; wherein the repeated detection condition comprises receiving an adjustment completion signal corresponding to the wheel limit rotation angle adjustment strategy.

[0038] The vehicle detection device provided by the present application has basically the same advantages as the vehicle detection method compared with the prior art, which will not be repeated here.

[0039] The present application also provides a vehicle comprising a memory and a processor;

[0040] The memory is configured to store a computer program;

[0041] The processor is configured to implement the vehicle detection method as described above when executing the computer program.

[0042] The vehicle provided by the present application has basically the same advantages as the vehicle detection method compared with the prior art, which will not be repeated here.

[0043] The present application also provides a computer readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle detection method as described above is implemented.

[0044] The computer readable storage medium provided by the present application has basically the same advantages as the vehicle detection method compared with the prior art, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 The flowchart of the vehicle detection method of the embodiment of the present application is shown;

[0046] Figure 2 The structure diagram of the steering system of the vehicle of the embodiment of the present application is shown;

[0047] Figure 3 The flowchart of the vehicle detection method of another embodiment of the present application is shown;

[0048] Figure 4 The structure diagram of the vehicle detection device of the embodiment of the present application is shown;

[0049] Figure 5 The structure diagram of the vehicle of the embodiment of the present application is shown. DETAILED DESCRIPTION

[0050] In order to make the above objectives, characteristics and advantages of the present application more apparent, concrete embodiments of the present application will now be described in detail below with reference to the drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms, and should not be interpreted as being limited to the embodiments set forth herein, but rather, these embodiments are provided so as to more thoroughly and completely understand the present application. It should be understood that the drawings and embodiments of the present application are merely for exemplary purposes, and are not intended to limit the scope of protection of the present application.

[0051] It should be understood that each of the steps recited in the method embodiments of the present application can be performed in different orders, and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.

[0052] The term "comprising" and variations thereof as used herein are open-ended, that is "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optional" means "optional in at least some embodiments". Related definitions are given throughout the description. It should be noted that the concepts "first", "second" and the like as mentioned in the present application only serve to distinguish different devices, modules or units from each other, and do not imply a sequence or order of execution of the functions thereof.

[0053] It should be noted that the modification of "one", "multiple" mentioned in the present application is illustrative and not restrictive, and those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more".

[0054] It can be understood that any part related to data acquisition or collection in the present application has obtained the authorization of the user.

[0055] At present, the detection method for the wheel limit corner is generally complex before the vehicle is shipped or after the vehicle is overhauled, for example, professional detection equipment is used to directly measure and adjust the wheel limit corner. However, such professional detection equipment is generally large in size, complex in structure, and cumbersome in operation and adjustment. Ordinary repair institutions usually do not have corresponding professional detection equipment, and it is difficult to quickly detect the wheel limit corner. Even if the professional detection equipment is provided on site, the detection personnel need to spend a lot of time to debug and install the equipment, which seriously reduces the overall detection efficiency.

[0056] To solve the above technical problems, the present application provides a vehicle detection method and device, a vehicle and a storage medium.

[0057] As Figure 1 shown, the vehicle detection method provided by the embodiment of the present application comprises the following steps:

[0058] S10: when the vehicle meets the preset detection condition, rotating the steering wheel of the vehicle to the limit position to obtain a current steering wheel limit angle.

[0059] Specifically, the preset detection condition in the embodiment can be set in advance. For example, to ensure the safety of the vehicle detection process, the preset detection condition can include detecting that the current speed of the vehicle is zero. Then, when actually detecting the vehicle, the current running information such as the current speed of the vehicle can be obtained, and it is determined whether the current speed is zero, and then it is determined whether the current running information meets the preset detection condition.

[0060] In an embodiment, the limit position corresponding to the steering wheel in the embodiment can include a right limit position corresponding to continuously rotating the steering wheel in the clockwise direction until the angle cannot continue to increase, and a left limit position corresponding to continuously rotating the steering wheel in the counterclockwise direction until the angle cannot continue to increase. Correspondingly, the current steering wheel limit angle can also include a current first angle corresponding to the right limit position, and a current second angle corresponding to the left limit position. For example, assuming that the steering wheel is in the neutral position, the angle corresponding thereto is 0°, then the steering wheel is rotated in the clockwise direction until the angle cannot continue to increase (i.e., the right limit position is reached), and the angle of the current steering wheel is 720°. Then, 720° can be taken as the current second angle.

[0061] In the embodiment, the vehicle is detected when the vehicle meets the preset detection condition, which is beneficial to ensure the safety of the detection process and the reliability of the detection result. On this basis, the steering wheel of the vehicle is rotated to the limit position to obtain the current steering wheel limit angle, which is beneficial to provide a reliable reference basis for subsequently determining whether the current wheel limit angle of the vehicle meets the preset requirement, and further ensure the accuracy of the detection result.

[0062] S20: determining whether the current wheel limit angle of the vehicle meets the preset requirement according to the current steering wheel limit angle and a preset conversion relationship;

[0063] S21: if yes, instructing the vehicle to pass the detection;

[0064] S22: if no, generating a wheel limit angle adjustment strategy based on the current steering wheel limit angle.

[0065] Specifically, the structure diagram of the steering system of the vehicle in the embodiment is as shown in Figure 2 Figure 2 ​A represents a steering wheel, B represents a steering mechanism, C represents a steering angle sensor for obtaining a steering angle of the steering wheel, and D represents a wheel. When the steering wheel A rotates to drive the steering mechanism B to rotate, the steering mechanism B will drive the wheel D to rotate. In the embodiment, when the steering wheel rotates to the limit position, the wheel of the vehicle also reaches the limit position accordingly, and the current wheel limit angle in the embodiment can include a first wheel limit angle corresponding to the wheel when the steering wheel reaches the right limit position, and a second wheel limit angle corresponding to the wheel when the steering wheel reaches the left limit position. In the embodiment, after obtaining the current steering wheel limit angle, the current wheel limit angle can be determined based on the current steering wheel limit angle obtained by the steering angle sensor C and a preset conversion relationship. The preset conversion relationship in the embodiment can represent the conversion relationship between the steering angle and the wheel angle, and the steering angle and the wheel angle can be simulated in advance, and the conversion relationship between the two (such as determining the conversion coefficient or constructing the conversion relationship model based on the simulation result) can be determined according to the simulation result. For example, the preset conversion relationship can include a conversion coefficient K1, and the wheel limit angle can be determined according to the conversion coefficient K1 and the current steering wheel limit angle.

[0066] In an embodiment, the preset requirement for the wheel limit angle can be set in advance according to the performance and safety requirements of the vehicle. For example, the preset requirement can include that the current wheel limit angle is within a preset angle range, and / or the difference between the first wheel limit angle and the second wheel limit angle is less than a preset value (such as 5°). After determining the current wheel limit angle based on the current steering wheel limit angle, it can be judged whether the current wheel limit angle meets the preset requirement. For example, assuming that the first wheel limit angle in the current wheel limit angle is 720° in the clockwise direction, and the second wheel limit angle is 726° in the counterclockwise direction, it can be judged whether the absolute value of the difference between the first wheel limit angle and the second wheel limit angle is less than a preset value (such as 5°). If yes, the current wheel limit angle meets the preset requirement, that is, the vehicle is indicated to pass the detection; if not, it is indicated that the current wheel limit angle does not meet the preset requirement, and a wheel limit angle adjustment strategy needs to be generated based on the current steering wheel limit angle to adjust the wheel limit angle.

[0067] In an embodiment, when the current wheel limit angle of the vehicle does not meet the preset requirement, it indicates that the current vehicle cannot pass the detection, and at this time, the wheel limit angle adjustment strategy can be generated based on the current steering wheel limit angle, thereby providing a reliable reference for subsequent adjustment of the wheel limit angle. For example, in the embodiment, the wheel limit angle adjustment strategy can be set for the steering knuckle arm connected to the steering drag link and the wheel. Assuming that the preset requirement includes that the current wheel limit angle is within a preset limit angle range, when the current wheel limit angle is less than the minimum value corresponding to the preset limit angle range, it indicates that the current wheel limit angle is too small, and at this time, the wheel limit angle adjustment strategy can include increasing the installation angle of the steering knuckle arm. When the current wheel limit angle is greater than the maximum value corresponding to the preset limit angle range, it indicates that the current wheel limit angle is too large, and at this time, the wheel limit angle adjustment strategy can include reducing the installation angle of the steering knuckle arm.

[0068] In the embodiment, when the steering wheel of the vehicle is rotated to the limit position, the wheel can also correspondingly reach the limit position. Thus, in the embodiment, based on the current steering wheel limit angle and the preset conversion relationship between the steering wheel angle and the wheel angle, it can be accurately judged whether the current wheel limit angle of the vehicle meets the preset requirement. If yes, that is, the current wheel limit angle meets the preset requirement, the vehicle can be indicated to pass the detection. If no, that is, the current wheel limit angle does not meet the preset requirement, it indicates that the vehicle has a potential safety risk and cannot pass the detection this time, and at this time, the wheel limit angle adjustment strategy is generated based on the current steering wheel limit angle, which can provide an accurate and reliable reference basis for subsequent adjustment of the wheel limit angle, is conducive to avoiding that the wheel limit angle still cannot meet the preset requirement after multiple blind adjustments, and thereby improves the detection efficiency of the vehicle as a whole.

[0069] S30: When the vehicle meets the repeated detection condition, return to the step of rotating the steering wheel of the vehicle to the limit position to obtain the current steering wheel limit angle, until the vehicle passes the detection; wherein the repeated detection condition includes receiving an adjustment completion signal corresponding to the wheel limit angle adjustment strategy.

[0070] Specifically, after the wheel limit angle adjustment strategy is generated in the embodiment, it can be sent to an execution device (such as a motor) and controlled to adjust the wheel limit angle, or it can be displayed to the detection personnel to guide the detection personnel to manually adjust (such as manually adjusting the installation angle of the steering arm). The adjustment completion signal referred to in the embodiment can include an adjustment completion signal sent by the execution device after completing the adjustment according to the wheel limit angle adjustment strategy, or can include an adjustment completion signal sent by the detection personnel through an interactive device after adjusting according to the wheel limit angle adjustment strategy.

[0071] In an embodiment, when the vehicle meets a repeated detection condition such as receiving an adjustment completion signal corresponding to the wheel limit angle adjustment strategy, it is indicated that the adjusted vehicle can be subjected to repeated detection at this time, and the step of returning the steering wheel rotation of the vehicle to the limit position to obtain the current steering wheel limit angle. Further, according to the re-acquired current steering wheel limit angle, it is judged whether the current wheel limit angle meets the preset requirement. If yes, the vehicle is indicated to pass the detection. If no, the wheel limit angle adjustment strategy can be generated again according to the current steering wheel limit angle, and further the repeated adjustment and repeated judgment of the wheel limit angle are guided until the vehicle passes the detection.

[0072] In the embodiment, the vehicle is detected when the vehicle meets the preset detection condition, which is beneficial to ensure the safety of the detection process and the reliability of the detection result. On this basis, the steering wheel of the vehicle is controlled to rotate to the limit position to obtain the current limit steering angle, which is beneficial to provide a reliable reference for determining whether the current wheel limit angle of the vehicle meets the preset requirement, and further ensure the accuracy of the detection result. In the embodiment, the steering wheel of the vehicle is controlled to rotate to the limit position, and then the wheel can also reach the limit position. Therefore, in the embodiment, without the aid of professional wheel limit angle detection equipment, whether the current wheel limit angle of the vehicle meets the preset requirement can be quickly and accurately determined based on the current limit steering angle and the preset conversion relationship between the steering angle and the wheel angle. This is beneficial to avoid the vehicle with a wheel limit angle that does not meet the preset requirement from being directly put into operation due to the lack of professional detection equipment, thereby avoiding safety problems such as wheel and swing arm interference, abnormal tire wear, and minimum turning diameter not meeting the design requirement. If the current wheel limit angle meets the preset requirement, the vehicle can be indicated to pass the detection. If the current wheel limit angle does not meet the preset requirement, it means that the vehicle may have potential safety risks and cannot pass the detection. At this time, the wheel limit angle adjustment strategy is generated based on the current limit steering angle, which can provide an accurate and reliable reference for subsequent adjustment of the wheel limit angle, and thus effectively improve the probability of the vehicle passing the detection. On this basis, the embodiment can determine whether the vehicle meets the repeated detection condition by judging whether the vehicle receives information such as an adjustment completion signal corresponding to the wheel limit angle adjustment strategy, which is beneficial to accurately grasp the timing of repeated detection of the vehicle and ensure the reliability of the detection result. When the vehicle meets the repeated detection condition, it means that the adjustment of the wheel limit angle has been completed according to the wheel limit angle adjustment strategy. At this time, the step of returning the steering wheel of the vehicle to rotate to the limit position to obtain the current limit steering angle is performed, and then the vehicle is repeatedly detected based on the current limit steering angle obtained again. This is beneficial to avoid the wheel limit angle still failing to meet the preset requirement when the vehicle is re-detected after blind adjustment. In this way, the embodiment can avoid repeatedly adjusting and detecting the same vehicle for a large amount of time, and further improve the overall detection efficiency.

[0073] Optionally, the wheel limit angle adjustment strategy is generated based on the current limit steering angle, including:

[0074] determining an angle deviation between the current limit steering angle and a limit steering angle permitted by the steering wheel, wherein the limit steering angle permitted by the steering wheel is determined based on the preset conversion relationship and a preset wheel limit angle;

[0075] determining the wheel limit angle adjustment strategy based on the angle deviation, wherein the wheel limit angle adjustment strategy includes a target effective length of a steering tie rod of the vehicle.

[0076] Specifically, the preset conversion relationship in the embodiment represents a conversion relationship (such as a conversion coefficient K1) between the steering wheel rotation angle and the wheel rotation angle, and the steering wheel allowable limit rotation angle can be determined according to the preset wheel limit rotation angle and the preset conversion relationship. For example, assuming that the conversion coefficient K1 is 20 (that is, the wheel rotates 1° for each 20° rotation of the steering wheel), if the preset wheel limit rotation angle is 35° (that is, after the wheel rotates 35° from the neutral position in the clockwise direction or in the counterclockwise direction, the wheel rotation angle should not continue to increase), then the steering wheel allowable limit rotation angle is 700°, that is, after the steering wheel rotates 700° from the neutral position in the clockwise direction or in the counterclockwise direction, the steering wheel rotation angle should not continue to increase. On this basis, the rotation angle deviation between the current steering wheel limit rotation angle and the steering wheel allowable limit rotation angle can be determined. For example, if the current first rotation angle and the current second rotation angle in the current steering wheel limit rotation angle are both 710°, then the rotation angle deviation is 10°.

[0077] In an embodiment, the size of the wheel limit rotation angle is related to the effective length of the steering tie rod, and adjusting the effective length corresponding to the steering tie rod of the vehicle can correspondingly change the wheel limit rotation angle. For example, the exposed amount of the adjusting screw can be changed by rotating the steering tie rod, and then the effective length corresponding to the steering tie rod is changed to reach the target effective length. The target effective length can be determined based on the rotation angle deviation. For example, the effective length of the steering tie rod can be adjusted in advance at different historical rotation angle deviations to obtain historical effective lengths. After adjustment, the steering wheel of the vehicle is controlled to rotate to the limit position to obtain historical steering wheel limit rotation angles. When the historical wheel limit rotation angles of the vehicle determined based on the historical steering wheel limit rotation angles and the preset conversion relationship meet the preset requirements, a reference effective length (such as an average value of a plurality of historical effective lengths) can be obtained according to the historical effective lengths, and a mapping relationship between the historical rotation angle deviation and the reference effective length is constructed. When the vehicle is actually detected, a historical rotation angle deviation matching the rotation angle deviation can be obtained, and the target effective length can be obtained according to the reference effective length corresponding to the historical rotation angle deviation.

[0078] In the embodiment, the steering wheel allowable limit rotation angle can be determined based on the preset conversion relationship and the preset wheel limit rotation angle, and therefore the deviation between the current wheel limit rotation angle and the preset wheel limit rotation angle can be quickly grasped based on the rotation angle deviation between the current steering wheel limit rotation angle and the steering wheel allowable limit rotation angle. The adjustment strategy such as the target effective length of the steering tie rod of the vehicle determined based on the rotation angle deviation can provide an accurate and reliable reference for the adjustment of the wheel limit rotation angle, which is conducive to narrowing the gap between the current wheel limit rotation angle and the preset wheel limit rotation angle, improving the probability that the adjusted vehicle can pass the repeated detection, and further improving the overall detection efficiency of the vehicle.

[0079] Optionally, a wheel limit steering angle adjustment strategy is determined based on the steering angle deviation, comprising:

[0080] An adjustment variable corresponding to the steering pull rod is determined according to the steering angle deviation;

[0081] When the current steering wheel limit steering angle is greater than the steering wheel permissible limit steering angle, a target effective length is obtained according to a sum of the current effective length of the steering pull rod and the adjustment variable;

[0082] When the current steering wheel limit steering angle is less than the steering wheel permissible limit steering angle, a target effective length is obtained according to a difference between the current effective length and the adjustment variable.

[0083] Specifically, in the embodiment, an adjustment variable corresponding to the steering pull rod can be determined according to the steering angle deviation. For example, a line-angle transmission ratio corresponding to a steering gear of the vehicle can be obtained, and a conversion coefficient K2 between the effective length of the steering pull rod and the wheel steering angle can be determined based on the line-angle transmission ratio. On this basis, a conversion coefficient K3 between the steering wheel steering angle and the effective length can be obtained based on the conversion coefficient K2 between the effective length of the steering pull rod and the wheel steering angle and the conversion coefficient K1 between the steering wheel steering angle and the wheel steering angle, and then the adjustment variable required by the steering pull rod can be determined based on the steering angle deviation and the conversion coefficient K3.

[0084] In an embodiment, for a vehicle before leaving the factory, the effective lengths of the two steering pull rods connected to the left and right sides of the steering gear are generally substantially the same. Correspondingly, a first wheel limit steering angle corresponding to the wheels when the steering wheel reaches the right limit position and a second wheel limit steering angle corresponding to the wheels when the steering wheel reaches the left limit position are also substantially the same. In this scenario, the target effective lengths required by the steering pull rods on the left and right sides of the steering gear are usually also the same. After the adjustment variable corresponding to the steering pull rod is determined according to the steering angle deviation, it can be determined whether the effective length of the steering pull rod should be increased or decreased according to the size relationship between the current steering wheel limit steering angle and the steering wheel permissible limit steering angle, and then the target effective length is obtained to guide the adjustment of the steering pull rods on the left and right sides of the steering gear. For example, assuming that the current effective lengths of the steering pull rods on the left and right sides of the steering gear are both D0, and the adjustment variable corresponding to the steering pull rod is ΔD, which is determined based on the steering angle deviation and the conversion coefficient K3, when the current steering wheel limit steering angle is greater than the steering wheel permissible limit steering angle, the target effective length can be equal to the sum of D0 and ΔD (i.e. D0+ΔD). When the current steering wheel limit steering angle is less than the steering wheel permissible limit steering angle, the target effective length can be equal to the difference between D0 and ΔD (i.e. D0-ΔD).

[0085] In the embodiment, the adjustment variable corresponding to the steering pull rod is determined according to the steering angle deviation, which is beneficial to providing a precise reference for the adjustment of the effective length of the subsequent steering pull rod. On this basis, when the current steering wheel limit angle is greater than the steering wheel permissible limit angle, it indicates that the current wheel limit angle is too large, and the target effective length is obtained according to the sum of the current effective length and the adjustment variable, which is beneficial to accurately reducing the wheel limit angle by increasing the effective length of the steering pull rod. When the current steering wheel limit angle is less than the steering wheel permissible limit angle, it indicates that the current wheel limit angle is too small, and the target effective length is obtained according to the difference between the current effective length and the adjustment variable, which is beneficial to accurately increasing the wheel limit angle by reducing the effective length of the steering pull rod.

[0086] Optionally, after the wheel limit angle adjustment strategy is determined based on the steering angle deviation, the vehicle detection method further comprises the following steps:

[0087] When the target effective length exceeds the preset permissible range, it indicates that the vehicle fails the detection.

[0088] Specifically, the preset permissible range can be set in advance in the embodiment. For example, for a vehicle, the length of the steering pull rod usually affects the toe angle of the vehicle, and therefore the permissible range of the effective length of the steering pull rod can be determined according to the permissible range of the toe angle of the vehicle. After the target effective length is determined, it can be judged whether the target effective length is within the preset permissible range. If yes, it can be judged whether a completion signal corresponding to the wheel limit angle adjustment strategy is received. If no, it indicates that the vehicle fails the detection. For example, assuming that the preset permissible range is 0.3 to 0.4 m, and the target effective length is 0.42 m. Then the target effective length exceeds the preset permissible range, indicating that the vehicle fails the detection (such as generating a failed detection prompt information).

[0089] In the embodiment, judging whether the target effective length exceeds the preset permissible range is beneficial to predicting the rationality of the target effective length in advance. When the target effective length exceeds the preset permissible range, it indicates that the vehicle fails the detection, which is beneficial to avoiding affecting the safety and stability of the vehicle when the vehicle is adjusted according to the unreasonable target effective length, and thus improving the reliability of the wheel limit angle detection.

[0090] Optionally, before the wheel limit angle adjustment strategy is generated based on the current steering wheel limit angle, the vehicle detection method further comprises the following steps:

[0091] When the current wheel limit angle does not meet the preset requirement, a fault prompt information is generated;

[0092] When the cumulative number of times of generating the fault prompt information is greater than a preset fault number of times, it indicates that the vehicle fails the detection.

[0093] Specifically, the preset failure number in the embodiment can be set in advance (for example, 3 times), and when the current wheel limit corner does not meet the preset requirement, a failure prompt information (for example, the control failure light is turned on and / or the failure code is generated) can be generated, and the number of times corresponding to the generated failure prompt information is added by one. Then, when the current wheel limit corner does not meet the preset requirement, the failure prompt information can be generated, and the number of times of generating the failure prompt information is accumulated to obtain an accumulated number. On this basis, it can be judged whether the accumulated number is greater than the preset failure number. If yes, it is indicated that the vehicle fails to pass the detection. If not, the wheel limit corner adjustment strategy is generated based on the current steering wheel limit corner.

[0094] In the embodiment, when the current wheel limit corner does not meet the preset requirement, the failure prompt information is generated, which is beneficial to remind the detection personnel to pay attention to the vehicle situation (such as responding to the generated wheel limit corner adjustment strategy to adjust the vehicle in time). Before the wheel limit corner adjustment strategy is generated based on the current steering wheel limit corner, it is judged whether the accumulated number of times corresponding to the generated failure prompt information is greater than the preset failure number, which is beneficial to master the vehicle failure situation. When the accumulated number is greater than the preset failure number, it means that after the vehicle is adjusted for many times, the wheel limit corner still cannot meet the preset requirement, which means that there may be hidden troubles such as assembly precision not meeting the requirement or unqualified parts quality, and such problems are generally difficult to be solved by the wheel limit corner adjustment strategy. At this time, it is indicated that the vehicle fails to pass the detection, which not only avoids the waste of computing power, but also is beneficial to improve the subsequent vehicle operation safety.

[0095] Optionally, the current steering wheel limit corner includes a current first corner and a current second corner; the corner deviation includes a first corner deviation between the current first corner and the steering wheel permissible limit corner, and a second corner deviation between the current second corner and the steering wheel permissible limit corner; and the current wheel limit corner of the vehicle is judged to meet the preset requirement according to the current steering wheel limit corner and the preset conversion relationship, including:

[0096] When the first corner deviation and the second corner deviation are both less than or equal to the preset deviation threshold, it is indicated that the current wheel limit corner meets the preset requirement;

[0097] When the first corner deviation and / or the second corner deviation is greater than the preset deviation threshold, it is indicated that the current wheel limit corner does not meet the preset requirement.

[0098] Specifically, assuming that the direction in which the steering wheel rotates from the neutral position in the clockwise direction is right, and the direction in which the steering wheel rotates from the neutral position in the clockwise direction is left. Then the current steering wheel limit angle in this embodiment can include the current first angle corresponding to the right side and the current second angle corresponding to the left side. Then correspondingly, the angle deviation can also include the first angle deviation between the current first angle and the steering wheel allowable limit angle, and the second angle deviation between the current second angle and the steering wheel allowable limit angle. The preset deviation threshold in this embodiment can be set in advance, for example, assuming that the allowable deviation of the wheel limit angle is ±1°, and the conversion coefficient K1 of the steering wheel angle and the wheel angle is 20, then the preset deviation threshold can be ±20°.

[0099] In an embodiment, as the actual running time of the vehicle increases, the wear and aging of the parts of the vehicle are different, or due to assembly errors before leaving the factory and other factors, the current first angle and the current second angle obtained during the detection of the vehicle may have a large difference. This embodiment can determine whether the first angle deviation and the second angle deviation are both greater than the preset deviation threshold (such as by comparing the absolute values of the first angle deviation and the preset deviation threshold to determine the size relationship between the two). If so, it indicates that the current wheel limit angle meets the preset requirements, that is, the vehicle passes the detection. If not, it indicates that the current wheel limit angle does not meet the preset requirements.

[0100] Optionally, the target effective length of the steering pull rod in this embodiment can include the first target effective length corresponding to the right side steering pull rod and the second target effective length corresponding to the left side steering pull rod. Correspondingly, the current effective length of the steering pull rod can include the current first effective length corresponding to the right side steering pull rod and the current second effective length corresponding to the left side steering pull rod. When the current first angle and the current second angle have a difference, the first wheel limit angle and the second wheel limit angle corresponding to the wheel also have a difference. Therefore, after determining that the current wheel limit angle does not meet the preset requirements, this embodiment can determine the first target effective length and the second target effective length corresponding to the steering pull rod, respectively, and adjust the right side steering pull rod and the left side steering pull rod, respectively.

[0101] Then the current steering wheel limit angle in this embodiment can include the current first angle corresponding to the right side and the current second angle corresponding to the left side. Then correspondingly, the angle deviation can also include the first angle deviation between the current first angle and the steering wheel allowable limit angle, and the second angle deviation between the current second angle and the steering wheel allowable limit angle. The preset deviation threshold in this embodiment can be set in advance, for example, assuming that the allowable deviation of the wheel limit angle is ±1°, and the conversion coefficient K1 of the steering wheel angle and the wheel angle is 20, then the preset deviation threshold can be ±20°.

[0102] When the current first angle is greater than the allowable limit angle, the first adjustment variable corresponding to the right side steering pull rod is determined according to the first angle deviation, and the first target effective length is obtained according to the sum of the first adjustment variable and the current first effective length;

[0103] The first adjusting variable satisfies:

[0104] N1=K3·(θ1-β);

[0105] Wherein, N1 represents the first adjusting variable; K3 represents a conversion coefficient between the effective length and the steering wheel turning angle, K3=i / 360°, i represents a preset steering gear angle transmission ratio of the vehicle; θ1 represents an absolute value of the current first turning angle; and β represents a steering wheel allowable limit turning angle.

[0106] When the current second turning angle is greater than the allowable limit turning angle, a second adjusting variable corresponding to the left side steering pull rod is determined according to a second turning angle deviation, and a second target effective length is obtained according to a sum of the second adjusting variable and the current second effective length;

[0107] The second adjusting variable satisfies:

[0108] N2=K3·(θ2-β);

[0109] Wherein, N2 represents the second adjusting variable; and θ2 represents an absolute value of the current second turning angle.

[0110] Optionally, when the current steering wheel limit turning angle is less than the steering wheel allowable limit turning angle, a target effective length can be obtained according to a difference between the current effective length and the adjusting variable.

[0111] When the current first turning angle is less than the allowable limit turning angle, a third adjusting variable corresponding to the right side steering pull rod is determined according to a first turning angle deviation, and a first target effective length is obtained according to a difference between the third adjusting variable and the current first effective length;

[0112] The third adjusting variable satisfies:

[0113] N3=K3·(β-θ1);

[0114] Wherein, N3 represents the third adjusting variable.

[0115] When the current second turning angle is less than the allowable limit turning angle, a fourth adjusting variable corresponding to the left side steering pull rod is determined according to a second turning angle deviation, and a second target effective length is obtained according to a difference between the fourth adjusting variable and the current second effective length;

[0116] The fourth adjusting variable satisfies:

[0117] N4=K3·(β-θ2);

[0118] Wherein, N4 represents the fourth adjusting variable.

[0119] In the embodiment, due to factors such as assembly errors before leaving factory, or as the actual running time of the vehicle increases, the wear and aging of parts of the vehicle are different, which may cause the difference between the current first angle and the current second angle corresponding to the current steering wheel limit angle during the detection before leaving factory or the detection after maintenance, and thus the difference between the first angle deviation and the second angle deviation. On this basis, whether the first angle deviation and the second angle deviation are less than or equal to the preset deviation threshold is judged, which is beneficial to accurately grasp the actual situation of the wheel limit angle. When the first angle deviation and the second angle deviation are less than or equal to the preset deviation threshold, it can be indirectly indicated that the first wheel limit angle and the second wheel limit angle corresponding to the current wheel limit angle both meet the preset requirements (i.e. the deviation between the limit angles corresponding to the wheels on the left and right sides of the vehicle and the preset wheel limit angle is within the permissible range), and the vehicle can be indicated to pass the detection. When the first angle deviation and / or the second angle deviation is greater than the preset deviation threshold, it indicates that the current wheel limit angle does not meet the preset requirements (i.e. the deviation between the limit angle corresponding to at least one side of the vehicle and the preset wheel limit angle exceeds the permissible range), and a wheel limit angle adjustment strategy needs to be generated based on the current steering wheel limit angle to guide the execution device or the maintenance personnel to adjust the related parts of the vehicle, thereby improving the probability that the vehicle can pass the detection in the subsequent repeated detection of the vehicle.

[0120] Optionally, before the step of returning the steering wheel of the vehicle to the limit position to obtain the current steering wheel limit angle, the vehicle detection method further comprises the following steps:

[0121] In response to the received adjustment completion signal, it is judged whether the vehicle meets the preset detection condition; wherein the preset detection condition includes that the steering wheel is in the preset return state and that the steering angle detection device of the vehicle completes zero calibration;

[0122] If yes, it indicates that the vehicle meets the repeated detection condition;

[0123] If no, generate a detection condition not met prompt information, and return to the step of judging whether the vehicle meets the preset detection condition.

[0124] Specifically, the preset detection condition in this embodiment can be set in advance, and can include that the steering wheel is in a preset return state (such as receiving a four-wheel positioning completion prompt or receiving a preset return signal) and that the steering angle detection device of the vehicle completes zero position calibration (such as detecting that the flag bit corresponding to the steering angle detection device is a preset value). Optionally, to further improve the accuracy of the measurement of the limit steering angle of the steering wheel, the preset detection condition in this embodiment further includes detecting that the steering angle detection device completes initialization (such as detecting initialization records). After receiving the adjustment completion signal, it can be judged whether the vehicle meets the preset detection condition. If yes, it indicates that the vehicle meets the repeated detection condition, and the repeated detection can be performed. If no, it indicates that the vehicle currently does not meet the preset detection condition, and a detection condition not met prompt information can be generated, and the step of judging whether the vehicle meets the preset detection condition is returned. For example, assuming that the four-wheel positioning completion prompt is not detected, the four-wheel positioning prompt information can be generated correspondingly, and after the four-wheel positioning prompt information is generated, a preset time period is waited, and then the step of judging whether the vehicle meets the preset detection condition is returned.

[0125] Optionally, before the step of returning the steering wheel of the vehicle to the limit position to obtain the current limit steering angle of the steering wheel, the vehicle detection method can further include the following steps:

[0126] In response to the received adjustment completion signal, it is judged whether a four-wheel positioning completion prompt is received;

[0127] If yes, the steering angle detection device of the vehicle is zero-position calibrated, and then the steering angle detection device is initialized;

[0128] If no, a four-wheel positioning prompt information is generated, and the step of judging whether the vehicle meets the preset detection condition is returned.

[0129] Optionally, when the vehicle meets the preset detection condition in this embodiment, the assembly zero corresponding to the steering wheel can also be obtained, and the current limit steering angle of the steering wheel can be determined based on the assembly zero. For the vehicle, the assembly zero corresponding to the steering wheel usually corresponds to a steering wheel angle of 0°. However, due to assembly errors and wear and tear, the assembly zero corresponding to the steering wheel may be offset (such as from 0° to 3° in the counterclockwise direction), and determining the current limit steering angle of the steering wheel based on the assembly zero is beneficial to improve the accuracy of the current limit steering angle of the steering wheel. For example, assuming that when the steering wheel is rotated to the limit position in the counterclockwise direction, the steering wheel angle obtained based on the steering angle detection device is 723°. Based on the assembly zero, the current second steering wheel angle corresponding to the current limit steering angle of the steering wheel can be determined as 720°.

[0130] In the embodiment, after receiving the adjustment completion signal, it is judged whether the vehicle meets the preset detection condition, which is beneficial to accurately identifying whether the current operation condition can ensure the accuracy of the detection result. The preset detection condition in the embodiment includes that the steering wheel is in the preset return state and the steering angle detection device of the vehicle completes zero calibration. The steering wheel in the preset return state is beneficial to avoiding the deviation of the position of the steering wheel and the wheel relative to the return position, thereby affecting the accuracy of the detection result. The zero calibration of the steering angle detection device of the vehicle can improve the accuracy of the current steering wheel limit angle measurement while eliminating the cumulative error, thereby further improving the accuracy and reliability of the detection.

[0131] As shown in the examples, Figure 3 The vehicle detection method of the present application is further introduced in a specific embodiment, which includes the following steps:

[0132] When the vehicle meets the preset detection condition, the steering wheel of the vehicle is rotated to the limit position to obtain the current steering wheel limit angle;

[0133] The angle deviation between the current steering wheel limit angle and the steering wheel allowable limit angle is determined, wherein the steering wheel allowable limit angle is determined based on the preset conversion relationship and the preset wheel limit angle; and the angle deviation includes a first allowable deviation and a second allowable deviation;

[0134] It is judged whether the first allowable deviation and the second allowable deviation are both less than or equal to the preset deviation threshold;

[0135] If yes, the vehicle is indicated to pass the detection;

[0136] If no, a fault prompt information is generated;

[0137] It is judged whether the cumulative number corresponding to the generated fault prompt information is greater than the preset fault number;

[0138] If yes, the vehicle is indicated to fail the detection;

[0139] If no, a wheel limit angle adjustment strategy is generated based on the current steering wheel limit angle;

[0140] In response to the received adjustment completion signal, it is judged whether a four-wheel positioning completion prompt is received;

[0141] If yes, after the zero calibration and initialization of the steering angle detection device of the vehicle are performed, the step of rotating the steering wheel of the vehicle to the limit position to obtain the current steering wheel limit angle is returned to;

[0142] If no, a four-wheel positioning prompt information is generated, and the step of judging whether the vehicle meets the preset detection condition is returned to.

[0143] AsFigure 4 As shown in the figure, the vehicle detection device 400 provided by the embodiment of the present application comprises:

[0144] a rotating module 410, configured to control a steering wheel of the vehicle to rotate to a limit position to obtain a current steering wheel limit angle when the vehicle meets a preset detection condition;

[0145] a judging module 420, configured to judge whether a current wheel limit angle of the vehicle meets a preset requirement according to the current steering wheel limit angle and a preset conversion relationship;

[0146] if yes, indicating that the vehicle passes the detection;

[0147] if no, generating a wheel limit angle adjustment strategy based on the current steering wheel limit angle;

[0148] a circulating module 430, configured to return to the step of controlling the steering wheel of the vehicle to rotate to the limit position to obtain the current steering wheel limit angle until the vehicle passes the detection when the vehicle meets a repeated detection condition, wherein the repeated detection condition comprises receiving an adjustment completion signal corresponding to the wheel limit angle adjustment strategy.

[0149] The vehicle detection device and the vehicle detection method provided by the embodiment can produce basically the same technical effects, and thus will not be described here.

[0150] As shown in the figure, the vehicle 500 provided by the embodiment of the present application comprises a memory 510 and a processor 520; the memory 510 is configured to store a computer program; the processor 520 is configured to realize the vehicle detection method as described above when executing the computer program. Figure 5 As shown in the figure, the vehicle 500 provided by the embodiment of the present application comprises a memory 510 and a processor 520; the memory 510 is configured to store a computer program; the processor 520 is configured to realize the vehicle detection method as described above when executing the computer program.

[0151] Or, a vehicle 500 comprises a memory 510 and a processor 520 coupled to the memory 510; the memory 510 is configured to store a computer program; the processor 520 is configured to execute the following operations when executing the computer program:

[0152] controlling a steering wheel of the vehicle to rotate to a limit position to obtain a current steering wheel limit angle when the vehicle meets a preset detection condition;

[0153] judging whether a current wheel limit angle of the vehicle meets a preset requirement according to the current steering wheel limit angle and a preset conversion relationship;

[0154] if yes, indicating that the vehicle passes the detection;

[0155] if no, generating a wheel limit angle adjustment strategy based on the current steering wheel limit angle;

[0156] When the vehicle meets a repeated detection condition, return to the step of controlling the steering wheel of the vehicle to rotate to a limit position to obtain a current steering wheel limit angle until the vehicle passes the detection, wherein the repeated detection condition comprises receiving an adjustment completion signal corresponding to the wheel limit angle adjustment strategy.

[0157] The vehicle and vehicle detection method provided by the embodiment have basically the same technical effects, which will not be repeated here.

[0158] The computer readable storage medium provided by the embodiment stores a computer program, and when the computer program is executed by a processor, the vehicle detection method is realized.

[0159] Alternatively, a non-volatile computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the following operations:

[0160] When the vehicle meets a preset detection condition, control the steering wheel of the vehicle to rotate to a limit position to obtain a current steering wheel limit angle;

[0161] According to the current steering wheel limit angle and a preset conversion relationship, determine whether the current wheel limit angle of the vehicle meets a preset requirement;

[0162] If yes, instruct the vehicle to pass the detection;

[0163] If no, generate a wheel limit angle adjustment strategy based on the current steering wheel limit angle;

[0164] When the vehicle meets a repeated detection condition, return to the step of controlling the steering wheel of the vehicle to rotate to a limit position to obtain a current steering wheel limit angle until the vehicle passes the detection, wherein the repeated detection condition comprises receiving an adjustment completion signal corresponding to the wheel limit angle adjustment strategy.

[0165] The computer readable storage medium provided by the embodiment has basically the same technical effects as the vehicle detection method, which will not be repeated here.

[0166] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, the program can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM), a random access memory (RAM), or the like. In this application, the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application. In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically independently, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0167] Although the present application is disclosed as above, the protection scope of the present application is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and these changes and modifications will fall within the protection scope of the present application.

Claims

1. A vehicle detection method characterized by, The method comprises the following steps: When the vehicle meets preset detection conditions, the steering wheel of the vehicle is controlled to rotate to a limit position to obtain a current steering wheel limit angle; It is judged whether a current wheel limit angle of the vehicle meets preset requirements according to the current steering wheel limit angle and a preset conversion relationship; wherein the preset conversion relationship represents a conversion relationship between a steering wheel angle and a wheel angle; If yes, the vehicle is indicated to pass the detection; If no, a wheel limit angle adjustment strategy is generated based on the current steering wheel limit angle; When the vehicle meets repeated detection conditions, the step of controlling the steering wheel of the vehicle to rotate to the limit position to obtain the current steering wheel limit angle is returned until the vehicle passes the detection; wherein the repeated detection conditions comprise receiving an adjustment completion signal corresponding to the wheel limit angle adjustment strategy.

2. The vehicle detection method according to claim 1, characterized by, The step of generating the wheel limit angle adjustment strategy based on the current steering wheel limit angle comprises the following steps: An angle deviation between the current steering wheel limit angle and a steering wheel permitted limit angle is determined; wherein the steering wheel permitted limit angle is determined based on the preset conversion relationship and a preset wheel limit angle; The wheel limit angle adjustment strategy is determined based on the angle deviation; wherein the wheel limit angle adjustment strategy comprises a target effective length of a steering pull rod of the vehicle.

3. The vehicle detection method according to claim 2, characterized by, The step of determining the wheel limit angle adjustment strategy based on the angle deviation comprises the following steps: A corresponding adjustment variable of the steering pull rod is determined according to the angle deviation; When the current steering wheel limit angle is greater than the steering wheel permitted limit angle, the target effective length is obtained according to a sum of a current effective length of the steering pull rod and the adjustment variable; When the current steering wheel limit angle is less than the steering wheel permitted limit angle, the target effective length is obtained according to a difference between the current effective length and the adjustment variable.

4. The vehicle detection method according to claim 2, characterized by, After the step of determining the wheel limit angle adjustment strategy based on the angle deviation, the following step is further included: When the target effective length exceeds a preset permitted range, the vehicle is indicated to fail the detection.

5. The vehicle detection method according to claim 1, characterized by, Before the step of generating the wheel limit angle adjustment strategy based on the current steering wheel limit angle, the following steps are further included: When the current wheel limit angle does not meet the preset requirements, a fault prompt information is generated; When a cumulative number corresponding to the fault prompt information is greater than a preset fault number, the vehicle is indicated to fail the detection.

6. The vehicle detection method according to claim 2, characterized by, The current steering wheel limit angle comprises a current first angle and a current second angle; the angle deviation comprises a first angle deviation between the current first angle and the steering wheel permitted limit angle, and a second angle deviation between the current second angle and the steering wheel permitted limit angle; the step of judging whether the current wheel limit angle of the vehicle meets the preset requirements according to the current steering wheel limit angle and the preset conversion relationship comprises the following steps: When the first angle deviation and the second angle deviation are both less than or equal to a preset deviation threshold, it is indicated that the current wheel limit angle meets the preset requirements; When the first corner deviation and / or the second corner deviation is greater than the preset deviation threshold, it is indicated that the current wheel limit corner does not meet the preset requirement.

7. The vehicle detection method according to claim 1, characterized by, Before the step of returning the rotation of the steering wheel of the vehicle to a limit position to obtain a current steering wheel limit corner, further comprising: In response to the received adjustment completion signal, determining whether the vehicle meets the preset detection condition; wherein the preset detection condition includes that the steering wheel is in a preset return state and that the steering angle detection device of the vehicle completes zero calibration; If yes, it is indicated that the vehicle meets the repeated detection condition; If no, generating a detection condition not met prompt information, and returning to the step of determining whether the vehicle meets the preset detection condition.

8. A vehicle detection apparatus characterized by comprising: Comprising: a rotation module for controlling the rotation of the steering wheel of the vehicle to a limit position to obtain a current steering wheel limit corner when the vehicle meets the preset detection condition; a determination module for determining whether the current wheel limit corner of the vehicle meets a preset requirement according to the current steering wheel limit corner and a preset conversion relationship; wherein the preset conversion relationship represents the conversion relationship between the steering wheel corner and the wheel corner; If yes, it is indicated that the vehicle passes the detection; If no, generating a wheel limit corner adjustment strategy based on the current steering wheel limit corner; a loop module for returning to the step of controlling the rotation of the steering wheel of the vehicle to a limit position to obtain a current steering wheel limit corner when the vehicle meets the repeated detection condition, until the vehicle passes the detection; wherein the repeated detection condition includes receiving an adjustment completion signal corresponding to the wheel limit corner adjustment strategy.

9. A vehicle characterized by comprising: comprising a memory and a processor; the memory is used to store a computer program; the processor is used to implement the vehicle detection method as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the vehicle detection method as claimed in any one of claims 1 to 7 is implemented.

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