Vehicle tire automatic positioning method, automatic positioning device, automatic positioning equipment and computer readable storage medium

Abstract

The invention relates to a vehicle tire automatic positioning method, an automatic positioning device, automatic positioning equipment and a computer readable storage medium. The vehicle tire automatic positioning method comprises the steps that S1, wireless signal data transmitted by a tire condition monitoring device are periodically received, the wireless signal data comprise an identification number and a random number of the tire condition monitoring device, and the random number is used for representing the phase of the tire condition monitoring device during data collection; periodically receiving the ABS value of the tire, and generating an actual ABS array; s2, extracting a random number of the wireless signal data, and calculating a phase of the tire condition monitoring device during data acquisition; s3, calculating a theoretical ABS value, and generating a theoretical ABS array; s4, the deviation degree of the difference value between the theoretical ABS array and the actual ABS array is counted; and S5, determining the specific position of the tire corresponding to the identification number of the tire condition monitoring device based on the statistical result. Automatic positioning of the vehicle tire can be effectively achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle automatic driving, and in particular to a vehicle tire automatic positioning method, an automatic positioning device, an automatic positioning equipment and a computer-readable storage medium. Background Art

[0002] The tire condition monitoring system is a safety system that ensures the smooth operation of the vehicle. As a regulatory requirement, the tire condition monitoring system has developed rapidly in the automotive market in recent years. Since it can monitor the operating condition of the car tire in real time, it can issue a warning to the driver in time when the tire is leaking or overheating, thus avoiding damage to the tire to the greatest extent and providing a good guarantee for the safe operation of the vehicle. The automatic positioning function of the tire pressure sensor is crucial to the tire condition monitoring system.

[0003] There are two common automatic positioning functions of tire pressure sensors on the market:

[0004] Send RF data at a fixed point: This method is that the tire pressure sensor waits for a fixed angle after executing the angle cycle algorithm before sending data. However, this method has some problems. If the vehicle speed changes suddenly during the delay period, the automatic positioning function will fail. In addition, if the reception rate at a fixed angle is poor, it is also easy to cause the automatic positioning function to fail.

[0005] Pass the fixed-angle pushback time information to the receiver: This method is to pass a fixed-angle pushback time information to the receiver, and the receiver will count the ABS data based on this time. However, this method also has disadvantages. In order to synchronize the pushback time information with the receiver, the tire pressure sensor needs to delay for a period of time. Due to the differences in the performance of each chip, if the delay accuracy cannot be guaranteed, it may cause the automatic positioning performance to deteriorate or the function to fail. Summary of the invention

[0006] In view of the above problems in the prior art, the present invention proposes a vehicle tire automatic positioning method, an automatic positioning device, an automatic positioning equipment and a computer-readable storage medium, which can effectively realize the vehicle tire automatic positioning.

[0007] Specifically, the present invention proposes a vehicle tire automatic positioning method, wherein each tire of the vehicle is equipped with a tire condition monitoring device, and the automatic positioning method comprises the following steps:

[0008] S1, periodically receiving wireless signal data transmitted by the tire condition monitoring device, wherein the wireless signal data includes an identification number of the tire condition monitoring device and a random number, wherein the random number is used to characterize a phase of the tire condition monitoring device when collecting data;

[0009] Periodically receiving the ABS value of the tire and generating an actual ABS array;

[0010] S2, extracting a random number from the wireless signal data and calculating the phase of the tire condition monitoring device when collecting data;

[0011] S3, calculating the corresponding theoretical ABS value based on the phase of the tire condition monitoring device when collecting data, and generating a theoretical ABS array;

[0012] S4, counting the deviation degree of the difference between the theoretical ABS array and the actual ABS array;

[0013] S5, determining the specific position of the tire corresponding to the identification number of the tire condition monitoring device based on the statistical results.

[0014] According to an embodiment of the present invention, in the step S1, the tire condition monitoring device obtains the phase of the tire condition monitoring device through acceleration sampling, and calculates the random number based on the phase of the tire condition monitoring device.

[0015] According to an embodiment of the present invention, the tire condition monitoring device further obtains the tire pressure and temperature of the tire, and calculates the random number based on the phase of the tire condition monitoring device, and the tire pressure and / or temperature.

[0016] According to an embodiment of the present invention, in step S1, the ABS value of each tire of the vehicle is obtained through the CAN bus of the vehicle to generate an actual ABS array.

[0017] According to an embodiment of the present invention, in step S2, a random number of the wireless signal data is extracted, and an inverse calculation is used to obtain a phase value x of the tire condition monitoring device when collecting data.

[0018] According to an embodiment of the present invention, in step S3, the phase corresponding theoretical ABS value n is calculated. 理 The calculation formula is:

[0019] n 理 =x / 360*N;

[0020] Wherein, N is the total number of ABS teeth of the tires of the vehicle.

[0021] According to an embodiment of the present invention, in step S4, the sampling moment when the tire condition monitoring device acquires the phase is traced back, and the corresponding ABS value in the actual ABS array is found based on the sampling moment.

[0022] The present invention also provides a vehicle tire automatic positioning device, which is used to implement the above-mentioned vehicle tire automatic positioning method, comprising:

[0023] A receiving unit, used to periodically receive the wireless signal data transmitted by the tire condition monitoring device, wherein the wireless signal data includes the identification number of the tire condition monitoring device and a random number, wherein the random number is used to characterize the phase of the tire condition monitoring device when collecting data; periodically receive the ABS value of the tire to generate an actual ABS array;

[0024] An extraction unit, used to extract a random number from the wireless signal data and calculate the phase of the tire condition monitoring device when collecting data;

[0025] A calculation unit, which calculates a corresponding theoretical ABS value based on the phase of the tire condition monitoring device when collecting data, and generates a theoretical ABS array;

[0026] A statistical unit, used for counting the deviation degree of the difference between the theoretical ABS array and the actual ABS array;

[0027] A judgment unit is used to judge the specific position of the tire corresponding to the identification number of the tire condition monitoring device based on the statistical result of the statistical unit.

[0028] The present invention also provides a vehicle tire automatic positioning device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the aforementioned automatic positioning methods when executing the computer program.

[0029] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the automatic positioning methods described above.

[0030] The present invention provides a vehicle tire automatic positioning method, an automatic positioning device, an automatic positioning equipment and a computer-readable storage medium. By obtaining the phase of a tire condition monitoring device when collecting data and calculating the corresponding theoretical ABS value, the deviation degree of the difference between the theoretical ABS value and the actual ABS value is statistically calculated, and the vehicle tire automatic positioning can be effectively realized.

[0031] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are included to provide further explanation of the present invention, and are incorporated into and constitute a part of this application. The accompanying drawings illustrate embodiments of the present invention and together with the description serve to explain the principle of the present invention.

[0033] In the attached figure:

[0034] Figure 1 A flowchart of a method for automatic positioning of vehicle tires according to an embodiment of the present invention is shown.

[0035] Figure 2 A schematic structural diagram of a vehicle tire automatic positioning system according to an embodiment of the present invention is shown.

[0036] Figure 3 A state change diagram of a tire condition monitoring device according to an embodiment of the present invention is shown.

[0037] Figure 4 A line diagram corresponding to ABS difference statistics according to an embodiment of the present invention is shown.

[0038] Figure 5 yes Figure 2 A schematic diagram of the structure of the automatic tire positioning device for a vehicle. DETAILED DESCRIPTION

[0039] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0040] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0041] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0042] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0043] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0044] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

[0045] First, the design idea of ​​a tire self-positioning method provided by the present invention is briefly described. Conventionally, taking a small car as an example, it includes four tires, namely the front left (FL), the front right (FR), the rear right (RR), and the rear left (RL). After the tire condition monitoring system is installed on each tire, it is necessary to determine the installation position of the tire pressure detection device on the vehicle. During the tire driving process, a wireless signal and a wired signal of the reference point are obtained at a rotation angle of any rotation cycle. The wireless signal is associated with the acceleration signal, and the wired signal includes the ABS signal of the gear pulse sensor of the tire and the tire position (for example, FL) where the known gear pulse sensor is located. According to the wired signal and the wireless signal, the actual number of teeth information and the theoretical number of teeth information corresponding to the reference point are obtained, and each generates an array of the number of teeth information. For example, the wireless signal of a tire generates a set of theoretical number of teeth arrays, and the wired signal of the front left tire (FL), the wired signal of the front right tire (FR), the wired signal of the rear right tire (RR), and the wired signal of the rear left tire (RL) can form four sets of actual number of teeth arrays. According to the data deviation statistics of one set of theoretical tooth number arrays and four sets of actual tooth number arrays, the set of tooth number information with the smallest deviation, assuming that the wired signal corresponding to the left front tire (FL) has the smallest deviation, the corresponding tire condition monitoring system is determined to be installed on the left front tire (FL). By analogy, the actual position of each tire condition monitoring system can be confirmed, thereby realizing the autonomous learning of the tire position of the tire condition monitoring system.

[0046] Figure 1 A flowchart of a vehicle tire automatic positioning method according to an embodiment of the present invention is shown. As shown in the figure, a vehicle tire automatic positioning method, each tire of the vehicle is equipped with a tire condition monitoring device, and the automatic positioning method includes the following steps:

[0047] S1, periodically receiving the wireless signal data transmitted by the tire condition monitoring device, the wireless signal data includes the identification number of the tire condition monitoring device and a random number, the random number is used to characterize the phase of the tire condition monitoring device when collecting data. The identification number is the ID of the tire condition monitoring device, which can clearly identify which device sent the data, and the subsequent identification processing is to associate and locate the identification number.

[0048] The ABS value of the tire is received periodically to generate the actual ABS array. The ABS sensor data set on each tire can be received through the bus. The ABS sensor data contains the ABS value of the tire, reflects the phase and speed of each tire, and provides a basis for subsequent data analysis and processing.

[0049] S2, extracting random numbers from the wireless signal data, and calculating the phase of the tire condition monitoring device when collecting data. The phase corresponds to the relative rotation angle of the tire condition monitoring device.

[0050] S3, calculating the corresponding theoretical ABS value based on the phase of the tire condition monitoring device when collecting data, and generating a theoretical ABS array;

[0051] S4, the deviation degree of the difference between the statistical theoretical ABS array and the actual ABS array;

[0052] S5, determining the specific position of the tire corresponding to the identification number of the tire condition monitoring device based on the statistical results.

[0053] Figure 2 The structural schematic diagram of a tire self-positioning system of an embodiment of the present invention is shown. As shown in the figure, the tire self-positioning system 200 mainly includes a tire 201, a tire condition detection device 202, an ABS sensor 203, an ABS controller 204, a communication bus 205 and a vehicle tire automatic positioning device 206.

[0054] The tire condition detection device 202 and the ABS sensor 203 are arranged on the tire 201. The tire condition detection device 202 is used to collect the pressure, temperature and phase of the tire 201 and generate wireless signal data.

[0055] The ABS sensor 203 is used to collect the number of ABS teeth of the tire 201 rotating.

[0056] The ABS controller 204 is electrically connected to the ABS sensor 203. The ABS controller 204 receives the ABS gear number collected by the ABS sensor 203 and generates a wired signal.

[0057] The vehicle tire automatic positioning device 206 is used to execute the aforementioned vehicle tire automatic positioning method, and finally determine the specific position of the tire 201. In one embodiment, the communication bus 205 can be a CAN communication bus.

[0058] In some examples, in step S1, the tire condition monitoring device obtains its own phase after acceleration sampling, and calculates a random number based on the phase. The random number can be used to establish an intrinsic association for the tire condition data, so as to trace the condition changes of the tire at different rotation stages in the subsequent data analysis. Figure 3The state change diagram of the tire condition monitoring device of one embodiment of the present invention is shown. As shown in the figure, the horizontal axis unit is time, and the vertical axis unit is phase. The START point is the point where the tire condition monitoring device starts to periodically execute the automatic positioning algorithm. The current wheel rotation period and the current phase φ of the tire condition monitoring device are acquired through acceleration sampling. The wireless signal data is sent immediately after the algorithm ends, that is, the data is sent at the RF_TX point. It should be noted that the tire condition monitoring device can send wireless signal data instantly without sending at a specific angle. Such a design can reduce the probability of wheel reception blind spots and improve the reception rate. At the same time, the accuracy error of the tire condition monitoring device caused by delay accuracy can be reduced. The wireless signal data can be sent through the RF433MHz common frequency band, and can also be suitable for Bluetooth 2.4G frequency band transmission.

[0059] In some examples, the wireless signal data sent by the tire condition monitoring device includes 12 bytes. Please refer to Table 1 for the specific frame structure.

[0060] Table 1 Wireless signal data frame structure

[0061] byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8 byte9 byte10 byte11 byte12 0x00 0x01 0xAB ID3 ID2 ID1 ID0 P T FC1 Random CRC8

[0062] Among them, byte4 to byte7 store the IDs of the four tire condition monitoring devices of the vehicle. Byte8 and byte9 are the collected tire pressure and temperature. Byte10 is frame control. Byte11 in the above frame structure is the random number calculated by the tire condition monitoring device. Byte12 is used for cyclic redundancy check.

[0063] In some examples, the random number can be obtained by calculating the function f(x), where x is the current phase φ of the tire condition monitoring device. As an example but not a limitation, the function f(x)=3*φ+6 can be set.

[0064] In some examples, the tire condition monitoring device also obtains the tire pressure and temperature of the tire. The tire condition monitoring device calculates a random number based on the phase of the tire condition monitoring device, as well as the tire pressure and / or temperature. Considering that if the form of the function f(x) is too simple, it may cause surrounding vehicles with the same function to be misencrypted, resulting in failure to perform automatic positioning. In order to increase the difficulty of decryption, the function f(x) may introduce other values ​​in byte4 to byte9 in the frame data, such as variables such as temperature T and pressure P. Set the function f(x) = 3*φ+5*T+7 to avoid receiving wireless signal data sent by other surrounding vehicles while the vehicle is driving, resulting in incorrect positioning.

[0065] In some examples, in step S1, the ABS value of each tire of the vehicle is obtained through the CAN bus of the vehicle to generate an actual ABS array. It should be noted that the ABS value within 50ms can generally be cached. In this 50ms time period, the state change of the ABS value can be captured and processed in a timely manner. If the cache time is too long, it will result in excessive data storage and increase the burden on the system.

[0066] In some examples, in step S2, a random number of the wireless signal data is extracted, and an inverse calculation is used to obtain a phase value x of the tire condition monitoring device when collecting data.

[0067] In some examples, in step S3, the phase corresponding theoretical ABS value n is calculated. 理 The calculation formula is:

[0068] n 理 =x / 360*N;

[0069] Wherein, N is the total number of ABS teeth of the vehicle's tires. The total number of ABS teeth of different vehicles may be different. In this example, the total number of ABS teeth is set to 96.

[0070] In some examples, in step S4, the tire condition monitoring device is traced back to the sampling time of the acquisition phase, and the corresponding ABS value in the actual ABS array is found based on the sampling time. Specifically, the time when the wireless signal data is received is set to t1, taking into account the transmission time t0 of the wireless signal data sent by the tire condition monitoring device. The transmission time t0 is the length of the frame data, which is a fixed value. In this example, t0 = 5ms. The tire condition monitoring device is traced back to the sampling time of the acquisition phase as t1-t0, and the ABS value at the corresponding time is found from the actual ABS array as n 实 . Then the statistical ABS difference Δn=|n 理 -n 实 |, refer to Table 2, the ABS difference Δn corresponding to n packets of wireless signal data.

[0071] Table 2 Statistics of ABS difference Δn

[0072] FL FR RR RL Pack 1 Δn 2 12 44 52 Pack 2 Δn 3 23 10 30 Pack 3 Δn 4 4 25 9 … … … … … The nth package Δn 2 82 8 36

[0073] Figure 4 The line diagram corresponding to the ABS difference statistics of an embodiment of the present invention is shown. The line diagram corresponds to Table 2. As shown in the figure, the horizontal axis is the specific number of packages, and the vertical axis is the ABS difference Δn. Obviously, the ABS difference Δn of the front left tire (FL) is distributed in a straight line, while the ABS difference Δn of the other three wheels is distributed in a disordered manner. Therefore, it is judged that this tire condition monitoring device is located at the left front wheel position.

[0074] Figure 5 yes Figure 2 Schematic diagram of the structure of the vehicle tire automatic positioning device. As shown in the figure, the vehicle tire automatic positioning device 206 includes:

[0075] The receiving unit 2061 is used to periodically receive the wireless signal data transmitted by the tire condition monitoring device, the wireless signal data includes the identification number of the tire condition monitoring device and a random number, the random number is used to characterize the phase of the tire condition monitoring device when collecting data; periodically receive the ABS value of the tire, and generate an actual ABS array;

[0076] An extraction unit 2062 is used to extract a random number from the wireless signal data and calculate the phase of the tire condition monitoring device when collecting data;

[0077] The calculation unit 2063 calculates the corresponding theoretical ABS value based on the phase of the tire condition monitoring device when collecting data, and generates a theoretical ABS array;

[0078] A statistical unit 2064 is used to calculate the deviation degree of the difference between the theoretical ABS array and the actual ABS array;

[0079] The judgment unit 2065 is used to judge the specific position of the tire corresponding to the identification number of the tire condition monitoring device based on the statistical result of the statistical unit 2064.

[0080] The present invention also provides a vehicle tire automatic positioning device, including a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of any of the above-mentioned vehicle tire automatic positioning methods are implemented.

[0081] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned vehicle tire automatic positioning methods are implemented.

[0082] Among them, the specific implementation methods and technical effects of the vehicle tire automatic positioning device, vehicle tire automatic positioning equipment, and computer-readable storage medium can all be referred to the embodiments of the detection method provided by the above-mentioned present invention, and will not be repeated here.

[0083] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. The technician may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0084] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or executed with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in cooperation with a DSP core, or any other such configuration.

[0085] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software module may reside in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read and write information from / to the storage medium. In an alternative, a storage medium may be integrated into a processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and the storage medium may reside in a user terminal as discrete components.

[0086] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented as a computer program product in software, each function may be stored on or transmitted by a computer-readable medium as one or more instructions or codes. Computer-readable media include both computer storage media and communication media, including any medium that facilitates the transfer of a computer program from one place to another. Storage media may be any available medium that can be accessed by a computer. As an example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, a server, or other remote source using a coaxial cable, a fiber optic cable, a twisted pair, a digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. Disk and disc as used herein include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, wherein disk often reproduces data magnetically, while disc reproduces data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0087] It will be apparent to those skilled in the art that various modifications and variations may be made to the above exemplary embodiments of the present invention without departing from the spirit and scope of the present invention. Therefore, it is intended that the present invention covers modifications and variations of the present invention that fall within the scope of the appended claims and their equivalent technical solutions.

Claims

1. A method for automatically locating vehicle tires, wherein each tire of the vehicle is equipped with a tire condition monitoring device, and the automatic positioning method comprises the following steps: S1, periodically receiving wireless signal data transmitted by the tire condition monitoring device, wherein the wireless signal data includes an identification number of the tire condition monitoring device and a random number, wherein the random number is used to characterize a phase of the tire condition monitoring device when collecting data; Periodically receiving the ABS value of the tire and generating an actual ABS array; S2, extracting a random number from the wireless signal data and calculating the phase of the tire condition monitoring device when collecting data; S3, calculating the corresponding theoretical ABS value based on the phase of the tire condition monitoring device when collecting data, and generating a theoretical ABS array; S4, counting the deviation degree of the difference between the theoretical ABS array and the actual ABS array; S5, determining the specific position of the tire corresponding to the identification number of the tire condition monitoring device based on the statistical results.

2. The vehicle tire automatic positioning method according to claim 1, characterized in that: In the step S1 , the tire condition monitoring device obtains the phase of the tire condition monitoring device through acceleration sampling, and calculates the random number based on the phase of the tire condition monitoring device.

3. The vehicle tire automatic positioning method according to claim 2, characterized in that: The tire condition monitoring device further obtains the tire pressure and temperature of the tire, and calculates the random number based on the phase of the tire condition monitoring device and the tire pressure and / or temperature.

4. The vehicle tire automatic positioning method according to claim 1, characterized in that: In the step S1, the ABS value of each tire of the vehicle is obtained through the CAN bus of the vehicle to generate an actual ABS array.

5. The vehicle tire automatic positioning method according to claim 1, characterized in that: In step S2, a random number of the wireless signal data is extracted, and an inverse calculation is used to obtain a phase value x of the tire condition monitoring device when collecting data.

6. The vehicle tire automatic positioning method according to claim 5, characterized in that: In step S3, the phase corresponding theoretical ABS value n is calculated. 理 The calculation formula is: n 理 =x / 360*N; Wherein, N is the total number of ABS teeth of the tires of the vehicle.

7. The vehicle tire automatic positioning method according to claim 1, characterized in that: In step S4, the sampling time when the tire condition monitoring device acquires the phase is traced back, and the corresponding ABS value in the actual ABS array is found based on the sampling time.

8. A vehicle tire automatic positioning device, used to implement the vehicle tire automatic positioning method according to claim 1, characterized in that: include: A receiving unit, used to periodically receive the wireless signal data transmitted by the tire condition monitoring device, wherein the wireless signal data includes the identification number of the tire condition monitoring device and a random number, wherein the random number is used to characterize the phase of the tire condition monitoring device when collecting data; periodically receive the ABS value of the tire to generate an actual ABS array; An extraction unit, used to extract a random number from the wireless signal data and calculate the phase of the tire condition monitoring device when collecting data; A calculation unit, which calculates a corresponding theoretical ABS value based on the phase of the tire condition monitoring device when collecting data, and generates a theoretical ABS array; A statistical unit, used for counting the deviation degree of the difference between the theoretical ABS array and the actual ABS array; A judgment unit is used to judge the specific position of the tire corresponding to the identification number of the tire condition monitoring device based on the statistical result of the statistical unit.

9. A vehicle tire automatic positioning device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the automatic positioning method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the automatic positioning method according to any one of claims 1 to 7 are implemented.

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