Method and device for correcting deflection angle of steering wheel

Abstract

The invention discloses a steering wheel deflection angle correction method and device, and relates to the technical field of steering wheel adjustment. According to the method, the structural member included angle set and the plane included angle set related to the steering wheel deflection angle are determined according to the hard point coordinate set of the steering wheel, then the deflection angle is determined, the steering wheel steering model is constructed, and the steering wheel steering model only keeps data related to steering wheel angle deflection; the complexity of the steering wheel steering model is reduced, the construction efficiency of the steering wheel steering model is improved, redundant calculation in the simulation process of the steering wheel steering model is avoided, the simulation demand time is shortened, the steering wheel steering model is simulated through the phase angle regulation value and the steering gear yoke angle regulation value, and the simulation accuracy is improved. According to the method, factors influencing steering wheel deflection can be flexibly adjusted, so that the long optimization process caused by frequent change of a steering wheel model is avoided, the simulation efficiency is improved, and the correction efficiency of the steering wheel deflection angle is further improved.

Description

Technical Field

[0001] The invention belongs to the technical field of steering wheel adjustment, and in particular relates to a method and a device for correcting a steering wheel deflection angle. Background Art

[0002] The steering wheel of a car has the function of adjusting up and down to accommodate drivers of different heights. The steering gear, intermediate shaft and column connected in sequence by a yoke are adjusted to achieve the up and down adjustment of the steering wheel. However, since the steering gear, intermediate shaft and column and other components are all connected to the universal joint, when the steering wheel is adjusted up and down, it usually causes the steering wheel angle to deflect, which brings safety hazards. For example, if the steering wheel deflection angle is too large, the mechanical zero position of the column and the calibrated zero position of the car's electronic power steering will be misaligned, and the vehicle will deviate or the steering wheel will be misaligned when the vehicle is driving straight, which brings hidden dangers to the driver's driving. Therefore, solving the problem of steering wheel angle deflection caused by up and down adjustment of the steering wheel is of great significance for safe vehicle driving.

[0003] The current steering wheel deflection angle correction method usually relies on dynamic simulation software, and analyzes and improves the steering wheel angle deflection problem caused by the up and down adjustment of the steering wheel by establishing a real steering system model. However, in order to establish a real steering system model, it is necessary to collect various parameters of the components involved in the up and down adjustment process of the steering wheel, and then build a steering system model based on this. This causes the steering system model to contain too much data that is not related to the steering wheel angle deflection, thereby increasing the complexity of the steering system model. This not only increases development time and cost, but also complicates the adjustment process of the steering model, ultimately leading to low efficiency, high cost and long development cycle of steering wheel deflection angle correction. Therefore, there is an urgent need for a steering wheel deflection angle correction method and device to solve the problems of the prior art. Summary of the invention

[0004] The present invention aims to provide a method and device for correcting the steering wheel deflection angle to solve the above-mentioned technical problems, construct a steering wheel steering model with a set of angles related to steering wheel steering and the deflection angle, simulate the steering wheel steering model to realize the correction of the steering wheel deflection angle, and improve the correction efficiency of the steering wheel deflection angle.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a method for correcting a steering wheel deflection angle, comprising:

[0006] Acquire initial device coordinate point information and an adjustment angle of the steering wheel, and determine a hard point coordinate set of the steering wheel according to the initial device coordinate point information and the adjustment angle;

[0007] Calculating a set of structural component angles and a set of plane angles of the steering wheel according to the hard point coordinate set, and determining a deflection angle of the steering wheel based on the set of structural component angles and the set of plane angles;

[0008] Performing parameterized modeling on the steering wheel according to the set of structural member angles, the set of plane angles and the deflection angle of the steering wheel to determine a steering wheel steering model;

[0009] A phase angle control value and a steering gear yoke angle control value are obtained, and the steering wheel steering model is iteratively simulated according to the phase angle control value and the steering gear yoke angle control value to obtain an optimal steering wheel layout position, and the steering wheel deflection angle is corrected according to the optimal steering wheel layout position.

[0010] It can be understood that, compared with the prior art, the present invention constructs a hard point coordinate set of the steering wheel with the initial device coordinate point information of the steering wheel and the adjustment angle of the steering wheel up and down, and determines the structural component angle set and plane angle set related to the steering wheel deflection angle based on the hard point coordinate set, and then determines the deflection angle, thereby constructing a steering wheel steering model, so that the steering wheel steering model only retains the data related to the steering wheel angle deflection, reduces the complexity of the steering wheel steering model, and thus improves the construction efficiency of the steering wheel steering model, and also avoids redundant calculations in the simulation process of the steering wheel steering model, shortens the simulation time required, and simulates the steering wheel steering model through the phase angle control value and the steering gear yoke angle control value, which can flexibly adjust the factors affecting the steering wheel deflection, thereby avoiding the long optimization process caused by frequent changes in the steering wheel model, improving the efficiency of the simulation, and thus improving the correction efficiency of the steering wheel deflection angle.

[0011] As a preferred solution, the step of acquiring the initial device coordinate point information and the adjustment angle of the steering wheel, and determining the hard point coordinate set of the steering wheel according to the initial device coordinate point information and the adjustment angle, specifically includes:

[0012] Obtaining initial device coordinate point information and adjustment angle of the steering wheel, wherein the initial device coordinate point information includes: initial steering gear connection point coordinates, initial intermediate shaft lower point coordinates, initial intermediate shaft upper point coordinates, initial steering wheel center point coordinates and column rotation center point coordinates;

[0013] Calculate the coordinates of the first point on the middle shaft and the first steering wheel center point after the steering wheel is adjusted according to the adjustment angle, the coordinates of the initial point on the middle shaft, the coordinates of the initial steering wheel center point and the coordinates of the column rotation center point;

[0014] The hard point coordinate set of the steering wheel is determined according to the initial steering gear connection point coordinates, the initial intermediate shaft lower point coordinates, the first intermediate shaft upper point coordinates, the initial intermediate shaft upper point coordinates, the initial steering wheel center point coordinates, the first steering wheel center point coordinates and the column rotation center point coordinates.

[0015] This preferred solution accurately calculates the coordinates of the first intermediate axis point and the first steering wheel center point after the steering wheel is adjusted up and down through the initial device coordinate point information and the adjustment angle of the steering wheel, thereby being able to construct a set of hard point coordinates before and after the steering wheel is adjusted up and down, providing an accurate data basis for the subsequent calculation of the steering wheel deflection angle and the construction of the steering wheel steering model, thereby improving the accuracy and efficiency of the construction of the steering wheel steering model.

[0016] As a preferred solution, the step of calculating a set of structural component angles and a set of plane angles of the steering wheel according to the set of hard point coordinates, and determining a deflection angle of the steering wheel based on the set of structural component angles and the set of plane angles, specifically includes:

[0017] Determine a set of structural component vectors according to the hard point coordinate set, and determine a set of structural component angles of the steering wheel according to the set of structural component vectors;

[0018] Determine a plane angle set of the steering wheel according to the structural component angle set and the structural component vector set; wherein the plane angle set includes: a fourth angle;

[0019] The fourth angle is subjected to coordinate transformation according to the structural member angle set and the plane angle set to determine a steering wheel deflection angle.

[0020] This preferred solution determines the structural component angle set and plane angle set of the steering wheel through a hard point coordinate set, and then determines the deflection angle of the steering wheel through the structural component angle set and the plane angle set. The deflection angle is determined by combining hard point coordinates and simple coordinate operations, which simplifies the calculation process of the deflection angle, thereby improving the calculation efficiency of the deflection angle and improving the efficiency of subsequent steering wheel deflection angle correction.

[0021] As a preferred solution, determining a set of structural component vectors according to the set of hard point coordinates, and determining a set of structural component angles of the steering wheel according to the set of structural component vectors, specifically includes:

[0022] The steering wheel comprises: a steering gear, an intermediate shaft and a column;

[0023] Determine a set of structural component vectors of the steering wheel according to the set of hard point coordinates;

[0024] Determine a first plane according to the coordinates of the initial steering gear connection point, the coordinates of the initial intermediate shaft lower point, the coordinates of the initial intermediate shaft upper point and the coordinates of the first intermediate shaft upper point;

[0025] Determine a second plane according to the coordinates of the initial lower point of the intermediate shaft, the coordinates of the point on the first intermediate shaft, the coordinates of the initial first steering wheel center point and the coordinates of the first steering wheel center point;

[0026] Calculating a first structural component angle between the steering gear and the intermediate shaft, and a second structural component angle between the intermediate shaft and the column according to the structural component vector set;

[0027] Calculating a first plane angle between the first plane and the second plane according to the structural component vector set;

[0028] A set of structural component angles of the steering wheel is determined according to the first structural component angle, the second structural component angle and the first plane angle.

[0029] This preferred solution constructs a structural component vector set through a hardware coordinate set, and quickly determines the structural component angle set before and after the steering wheel is adjusted up and down by coordinate point calculation, thereby improving the calculation efficiency of subsequent steering wheel deflection angles, and thereby improving the efficiency of steering wheel deflection angle correction.

[0030] As a preferred solution, determining the plane angle set of the steering wheel according to the structural component angle set and the structural component vector set specifically includes:

[0031] Obtaining a steering gear yoke angle between a connection point end yoke of the steering gear and the first plane according to the hard point coordinate set;

[0032] Calculating the steering gear yoke angle and the first structural member included angle according to a preset trigonometric function to obtain a second included angle between the lower end yoke of the intermediate shaft and the first plane;

[0033] Acquire a phase angle between an upper end yoke and a lower end yoke of the intermediate shaft, and determine a third angle between the upper end yoke of the intermediate shaft and the second plane according to the second structural member angle, the first plane angle and the phase angle;

[0034] Calculating the third angle and the second structural member angle according to a preset trigonometric function to determine a fourth angle between the end yoke of the pipe string and the second plane;

[0035] A set of plane angles of the steering wheel is determined according to the fourth angle, the steering gear knuckle angle, the third angle and the second angle.

[0036] This preferred solution calculates the plane angle set in the form of trigonometric functions through the structural component angle and the structural component vector set, which simplifies the calculation process of the plane angle set of the steering wheel, improves its calculation efficiency, and further improves the efficiency of subsequent steering wheel deflection angle correction.

[0037] As a preferred solution, the coordinate transformation of the fourth angle according to the structural member angle set and the plane angle set to determine the steering wheel deflection angle specifically includes:

[0038] Constructing a vehicle coordinate system according to a preset coordinate system method, and converting the fourth angle into a rotation angle in the vehicle coordinate system;

[0039] A deflection angle of the steering wheel is determined based on the rotation angle.

[0040] This preferred solution constructs a whole vehicle coordinate system and determines the steering wheel deflection angle based on the whole vehicle coordinate system, so that the steering wheel deflection angle is more consistent with the actual driving conditions of the vehicle, thereby improving the accuracy of subsequent steering wheel deflection angle correction.

[0041] As a preferred solution, parameterizing the steering wheel according to the set of structural member angles, the set of plane angles and the deflection angle of the steering wheel to determine the steering wheel steering model specifically includes:

[0042] Determine a design state layer according to the set of structural member angles, determine a parameterized calculation layer according to the set of plane angles, and determine a coordinate system conversion layer according to the deflection angle of the steering wheel;

[0043] A steering wheel steering model is determined according to the design state layer, the parameterized calculation layer and the coordinate system conversion layer.

[0044] This preferred scheme parameterizes the steering wheel modeling through a set of structural member angles, a set of plane angles and a deflection angle of the steering wheel to determine a steering wheel steering model, so that the steering wheel steering model only retains data related to the steering wheel angle deflection, thereby reducing the complexity of the steering wheel steering model, thereby improving the construction efficiency of the steering wheel steering model, avoiding redundant calculations during the simulation process of the steering wheel steering model, shortening the simulation time required, and improving the efficiency of steering wheel deflection angle correction.

[0045] As a preferred solution, the iterative simulation of the steering wheel steering model to obtain an optimal steering wheel layout position, and the steering wheel deflection angle is corrected according to the optimal steering wheel layout position, specifically including:

[0046] Obtain the phase angle control value and the steering gear yoke angle control value input by the user;

[0047] Determine a simulation fixed value and a simulation variable value according to the phase angle control value and the steering gear yoke angle control value; iteratively simulate the steering wheel steering model based on the simulation fixed value and the simulation variable value to obtain a steering wheel deflection angle change curve;

[0048] An optimal steering wheel arrangement position is obtained based on the steering wheel deflection angle variation curve, and the arrangement position of the steering wheel is adjusted according to the optimal steering wheel arrangement position to complete the correction of the steering wheel deflection angle.

[0049] This preferred solution simulates the steering wheel steering model through the phase angle control value and the steering gear yoke angle control value, and can flexibly adjust the factors affecting the steering wheel deflection, thereby avoiding the long optimization process caused by frequent changes in the steering wheel model, improving the efficiency of the simulation, and further improving the correction efficiency of the steering wheel deflection angle.

[0050] Accordingly, an embodiment of the present invention provides a steering wheel deflection angle correction device, comprising: a hard point coordinate acquisition module, a deflection angle acquisition module, a steering wheel steering model construction module and a deflection angle correction module;

[0051] The hard point coordinate acquisition module is used to acquire the initial device coordinate point information and the adjustment angle of the steering wheel, and determine the hard point coordinate set of the steering wheel according to the initial device coordinate point information and the adjustment angle;

[0052] The deflection angle acquisition module is used to calculate the structural component angle set and the plane angle set of the steering wheel according to the hard point coordinate set, and determine the deflection angle of the steering wheel based on the structural component angle set and the plane angle set;

[0053] The steering wheel steering model building module is used to perform parameterized modeling on the steering wheel according to the structural component angle set, the plane angle set and the steering wheel deflection angle, and determine the steering wheel steering model;

[0054] The deflection angle correction module is used to iteratively simulate the steering wheel steering model to obtain an optimal steering wheel layout position, and correct the steering wheel deflection angle according to the optimal steering wheel layout position.

[0055] As a preferred solution, the hard point coordinate acquisition module includes: a hard point coordinate acquisition unit;

[0056] The hard point coordinate acquisition unit is used to acquire the initial device coordinate point information and adjustment angle of the steering wheel, wherein the initial device coordinate point information includes: initial steering gear connection point coordinates, initial intermediate shaft lower point coordinates, initial intermediate shaft upper point coordinates, initial steering wheel center point coordinates and column rotation center point coordinates;

[0057] Calculate the coordinates of the first point on the middle shaft and the first steering wheel center point after the steering wheel is adjusted according to the adjustment angle, the coordinates of the initial point on the middle shaft, the coordinates of the initial steering wheel center point and the coordinates of the column rotation center point;

[0058] The hard point coordinate set of the steering wheel is determined according to the initial steering gear connection point coordinates, the initial intermediate shaft lower point coordinates, the first intermediate shaft upper point coordinates, the initial intermediate shaft upper point coordinates, the initial steering wheel center point coordinates, the first steering wheel center point coordinates and the column rotation center point coordinates.

[0059] It can be understood that, compared with the prior art, the device uses the initial device coordinate point information of the steering wheel and the adjustment angle of the steering wheel up and down to construct a hard point coordinate set of the steering wheel, and determines the structural angle set and plane angle set related to the steering wheel deflection angle based on the hard point coordinate set, and then determines the deflection angle, thereby constructing a steering wheel steering model, so that the steering wheel steering model only retains the data related to the steering wheel angle deflection, reduces the complexity of the steering wheel steering model, and thus improves the construction efficiency of the steering wheel steering model, avoids unnecessary calculations in the simulation process of the steering wheel steering model, shortens the simulation time required, and simulates the steering wheel steering model through the phase angle control value and the steering gear yoke angle control value, which can flexibly adjust the factors affecting the steering wheel deflection, thereby avoiding the long optimization process caused by frequent changes in the steering wheel model, improving the efficiency of the simulation, and thus improving the correction efficiency of the steering wheel deflection angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 : A schematic diagram of conventional node connections for steering wheel adjustment provided by an embodiment of the present invention;

[0061] Figure 2 : A flow chart of steps of a method for correcting a steering wheel deflection angle provided by an embodiment of the present invention;

[0062] Figure 3 : A schematic structural diagram of a steering wheel deflection angle correction device provided by an embodiment of the present invention;

[0063] Among them, 201: hard point coordinate acquisition module; 202: deflection angle acquisition module; 203: steering wheel steering model construction module; 204: deflection angle correction module; A: initial steering gear point; B: initial intermediate shaft lower point; C: initial intermediate shaft upper point; D: initial steering wheel center point; E: initial column rotation center point. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] Please refer to Figure 1 , is a conventional node connection diagram for steering wheel adjustment provided by an embodiment of the present invention; Figure 1 As shown in the figure, point A represents the initial steering gear point, point B represents the initial lower point of the intermediate shaft, point C represents the initial upper point of the intermediate shaft, point D represents the initial steering wheel center point, and point E represents the initial column rotation center point; the line segment between point A and point B represents the steering gear, the line segment between point B and point C represents the intermediate shaft, and the line segment between point C and point D represents the column. In the existing steering wheels, the steering gear, the intermediate shaft, and the column connected in sequence by the yoke are used to adjust the up and down position of the steering wheel. Figure 1 As shown, when the driver adjusts the steering wheel up and down, by adjusting the up and down position of the steering wheel, point D (i.e., the initial steering wheel center point) is moved up and down accordingly, and point C (i.e., the initial intermediate shaft upper point) is driven to move up and down accordingly, while point B (i.e., the initial intermediate shaft lower point) and point A (i.e., the initial steering gear point) remain stationary, thereby driving the column to rotate around point E (i.e., the initial column rotation center point) and the intermediate shaft to move up and down at the same time, thereby achieving the up and down adjustment of the steering wheel.

[0066] However, since all the components required for steering wheel adjustment are connected by universal joints, when the steering wheel is adjusted up or down, the steering wheel angle usually deflects, which can lead to a series of safety hazards. For example, if the deflection angle is too large, the mechanical zero position of the column and the calibrated zero position of the electronic power steering (EPS) will be misaligned, causing the vehicle to deviate or the steering wheel to be misaligned when driving straight, increasing driving safety hazards.

[0067] In order to solve the defect of angle deflection caused by the up and down adjustment of the steering wheel, the existing optimization scheme usually relies on dynamic simulation software such as UG and ADAMS to establish a real steering system model of the steering wheel, and analyze and improve the angle deflection problem caused by the up and down adjustment of the steering wheel through the steering system model. However, these traditional simulation software have limitations in optimization. First, in order to establish a real steering system model, it is necessary to collect various parameters of the components involved in the up and down adjustment of the steering wheel, and then build a steering system model based on this. This makes the steering system model contain too much data that is not related to the steering wheel angle deflection, which increases the complexity of the steering system model. This not only increases the development time and cost, but also complicates the adjustment process of the steering model, and ultimately leads to low efficiency in steering wheel deflection angle correction.

[0068] Embodiment 1

[0069] Please refer to Figure 2, is a step flow chart of a method for correcting a steering wheel deflection angle provided in an embodiment of the present invention, comprising steps S101 to S104.

[0070] Step S101: acquiring initial device coordinate point information and an adjustment angle of a steering wheel, and determining a hard point coordinate set of the steering wheel according to the initial device coordinate point information and the adjustment angle.

[0071] In this embodiment, the step of acquiring the initial device coordinate point information and the adjustment angle of the steering wheel, and determining the hard point coordinate set of the steering wheel according to the initial device coordinate point information and the adjustment angle, specifically includes:

[0072] Obtaining initial device coordinate point information and adjustment angle of the steering wheel, wherein the initial device coordinate point information includes: initial steering gear connection point coordinates, initial intermediate shaft lower point coordinates, initial intermediate shaft upper point coordinates, initial steering wheel center point coordinates and column rotation center point coordinates;

[0073] Calculate the coordinates of the first point on the middle shaft and the first steering wheel center point after the steering wheel is adjusted according to the adjustment angle, the coordinates of the initial point on the middle shaft, the coordinates of the initial steering wheel center point and the coordinates of the column rotation center point;

[0074] The hard point coordinate set of the steering wheel is determined according to the initial steering gear connection point coordinates, the initial intermediate shaft lower point coordinates, the first intermediate shaft upper point coordinates, the initial intermediate shaft upper point coordinates, the initial steering wheel center point coordinates, the first steering wheel center point coordinates and the column rotation center point coordinates.

[0075] In an optional embodiment, the embodiment of the present invention sets the up and down adjustment angles of the steering wheel to 2° upward and 2° downward. Therefore, based on the implementation process of the up and down adjustment of the steering wheel described above, point C and point D will also move accordingly. Specifically, when the steering wheel is adjusted upward, point C will move downward to form point C′, and point D will move upward to form point D′; when the steering wheel is adjusted downward, point C will move downward to form point C″, and point D will move upward to form point D″.

[0076] Among them, the initial device coordinate point information of the steering wheel includes the coordinates of points A, B, C, D, and E, and the adjustment angle of the steering wheel is defined as β, and the value range of β is ±2°; then through the formula Calculate the coordinates of point C and point D after the steering wheel is adjusted. When the steering wheel is adjusted upward, calculate the coordinates of point C′ and point D′. When the steering wheel is adjusted downward, calculate the coordinates of point C″ and point D″.

[0077] In this formula, β is the adjustment angle of the steering wheel, x is the X coordinate of vectors CE and DE, z is the Z coordinate of vectors CE and DE, x′ is the X coordinate of vectors C′E, C″E, D″E, D′E, and z′ is the Z coordinate of vectors C′E, C″E, D″E, D′E;

[0078] Based on the coordinates of the initial point on the intermediate shaft, the coordinates of the initial steering wheel center point and the coordinates of the column rotation center point, the X coordinates of the vectors CE and DE, as well as the Z coordinates of the vectors CE and DE are obtained. Then, according to the above formulas, the coordinates of the vectors C′E, C″E, D″E, and D′E are obtained respectively. Then, according to C′(x,y,z)=E(x,y,z)+C′E, the coordinates of the point C′ are obtained, and according to D′(x,y,z)=E(x,y,z)+D′E, the coordinates of the point D′ are obtained. Similarly, according to C″(x,y,z)=E(x,y,z)+C″E, the coordinates of the point C″ are obtained, and according to D″(x,y,z)=E(x,y,z)+D′E, the coordinates of the point C″ are obtained. z)+D″E to obtain the coordinates of point D″; the coordinates of the points on the first intermediate shaft in this embodiment include the coordinates of point C″ and point C′, and the coordinates of the center point of the first steering wheel include the coordinates of point D′ and point D″; then the coordinates of point A (i.e. the coordinates of the initial steering gear connection point), point B (the coordinates of the lower point of the initial intermediate shaft), point C (the coordinates of the point on the initial intermediate shaft), point D (the coordinates of the initial steering wheel center point), point E (the coordinates of the column rotation center point), point C″ and point C′ (i.e. the coordinates of the points on the first intermediate shaft), point D′ and point D″ (i.e. the coordinates of the first steering wheel center point) are used as the hard point coordinate set of the steering wheel.

[0079] Based on the above embodiment, the hard point coordinate set includes the device coordinate information of the steering wheel adjusted upward, adjusted downward, and not adjusted (i.e., the initial state of the steering wheel), thereby constructing a hard point coordinate set before and after the steering wheel is adjusted up and down, providing an accurate data basis for the subsequent calculation of the steering wheel deflection angle and the construction of the steering wheel steering model, without the need to collect a large amount of device data of the steering wheel, thereby improving the accuracy and efficiency of constructing the steering wheel steering model.

[0080] Step S102: calculating a set of structural component angles and a set of plane angles of the steering wheel according to the hard point coordinate set, and determining a deflection angle of the steering wheel based on the set of structural component angles and the set of plane angles.

[0081] In this embodiment, calculating the structural component angle set and the plane angle set of the steering wheel according to the hard point coordinate set, and determining the steering wheel deflection angle based on the structural component angle set and the plane angle set specifically includes:

[0082] Determine a set of structural component vectors according to the hard point coordinate set, and determine a set of structural component angles of the steering wheel according to the set of structural component vectors;

[0083] Determine a plane angle set of the steering wheel according to the structural component angle set and the structural component vector set; wherein the plane angle set includes: a fourth angle;

[0084] The fourth angle is subjected to coordinate transformation according to the structural member angle set and the plane angle set to determine a steering wheel deflection angle.

[0085] This embodiment determines the structural component angle set and plane angle set of the steering wheel through a hard point coordinate set, and then determines the deflection angle of the steering wheel through the structural component angle set and the plane angle set. The deflection angle is determined by combining hard point coordinates and simple coordinate operations, which simplifies the calculation process of the deflection angle, thereby improving the calculation efficiency of the deflection angle and the efficiency of subsequent steering wheel deflection angle correction.

[0086] In an optional embodiment, a structural component vector set is calculated based on the coordinates of each point in the hard point coordinate set, wherein the structural component vector set includes: vectors AB, BC′, C′D′, BC, CD, C″D″, BC″. Since obtaining the vector formed by two points based on the coordinates of the two points is a conventional mathematical operation, the calculation process will not be described here.

[0087] As a preferred solution, determining a set of structural component vectors according to the set of hard point coordinates, and determining a set of structural component angles of the steering wheel according to the set of structural component vectors, specifically includes:

[0088] The steering wheel comprises: a steering gear, an intermediate shaft and a column;

[0089] Determine a set of structural component vectors of the steering wheel according to the set of hard point coordinates;

[0090] Determine a first plane according to the coordinates of the initial steering gear connection point, the coordinates of the initial intermediate shaft lower point, the coordinates of the initial intermediate shaft upper point and the coordinates of the first intermediate shaft upper point;

[0091] Determine a second plane according to the coordinates of the initial lower point of the intermediate shaft, the coordinates of the point on the first intermediate shaft, the coordinates of the initial first steering wheel center point and the coordinates of the first steering wheel center point;

[0092] Calculating a first structural component angle between the steering gear and the intermediate shaft, and a second structural component angle between the intermediate shaft and the column according to the structural component vector set;

[0093] Calculating a first plane angle between the first plane and the second plane according to the structural component vector set;

[0094] A set of structural component angles of the steering wheel is determined according to the first structural component angle, the second structural component angle and the first plane angle.

[0095] In an optional embodiment, the first plane is defined as a plane formed by the steering gear and the intermediate shaft. When the steering wheel is adjusted upward, plane ABC′ is determined by the coordinates of the initial steering gear connection point, the coordinates of the initial intermediate shaft lower point and the coordinates of the first intermediate shaft upper point. When the steering wheel is adjusted downward, plane ABC″ is determined by the coordinates of the initial steering gear connection point, the coordinates of the initial intermediate shaft lower point and the coordinates of the first intermediate shaft upper point. When the steering wheel is not adjusted, plane ABC is determined by the coordinates of the initial steering gear connection point, the coordinates of the initial intermediate shaft lower point and the coordinates of the initial intermediate shaft upper point. Therefore, the first plane includes plane ABC′, plane ABC″ and plane ABC.

[0096] In an optional embodiment, the second plane is defined as the plane formed by the intermediate shaft and the column. When the steering wheel is adjusted upward, the plane BC′D′ is determined by the coordinates of the initial lower point of the intermediate shaft, the coordinates of the upper point of the first intermediate shaft, and the coordinates of the center point of the first steering wheel. When the steering wheel is adjusted downward, the plane BC″D″ is determined by the coordinates of the initial lower point of the intermediate shaft, the coordinates of the upper point of the first intermediate shaft, and the coordinates of the center point of the first steering wheel. When the steering wheel is not adjusted, the plane BCD is determined by the coordinates of the initial lower point of the intermediate shaft, the coordinates of the upper point of the first intermediate shaft, and the coordinates of the initial first steering wheel center point. Therefore, the second plane includes plane BC′D′, plane BC″D″, and plane BCD.

[0097] In an optional embodiment, the first structural member angle is defined as the angle between the steering gear and the intermediate shaft. When the steering wheel is adjusted upward, the calculation process of the first structural member angle α′1 is: When the steering wheel is adjusted downward, the calculation process of the first structural member angle α″1 is as follows: When the steering wheel is not adjusted, the calculation process of the first structural member angle α1 is: Therefore, the first structural member included angles include: α′1, α″1 and α1.

[0098] In an optional embodiment, the second structural member angle is defined as the angle between the intermediate shaft and the column. When the steering wheel is adjusted upward, the calculation process of the first structural member angle α′2 is: When the steering wheel is adjusted downward, the calculation process of the first structural member angle α″2 is as follows: When the steering wheel is not adjusted, the calculation process of the angle α2 of the first structural member is: Therefore, the second structural member angles include: α′2, α″2 and α2.

[0099] In an optional embodiment, the first plane angle is defined as the angle between the first plane and the second plane; when the steering wheel is adjusted upward, the calculation process of the first plane angle θ′ is: N′1=AB×BC′, N′2=BC′×C′D′, N′1 and N′2 are the normal vectors of planes ABC′ and BC′D′ respectively; when the steering wheel is adjusted downward, the calculation process of the first plane angle θ″ is as follows: N″1=AB×BC″, N″2=BC″×C″D″, N″1 and N″2 are the normal vectors of planes ABC″ and BC″D″ respectively; when the steering wheel is not adjusted, the calculation process of the first plane angle θ is: N1=AB×BC, N2=BC×CD, N1 and N2 are normal vectors of planes ABC and BCD respectively; therefore, the first plane angles include: θ′, θ″ and θ.

[0100] This embodiment constructs a structural component vector set through a hardware coordinate set, and quickly determines the structural component angle set before and after the steering wheel is adjusted up and down by coordinate point calculation, thereby improving the calculation efficiency of subsequent steering wheel deflection angles, and further improving the efficiency of steering wheel deflection angle correction.

[0101] In this embodiment, determining the plane angle set of the steering wheel according to the structural component angle set and the structural component vector set specifically includes:

[0102] Obtaining a steering gear yoke angle between a connection point end yoke of the steering gear and the first plane according to the hard point coordinate set;

[0103] Calculating the steering gear yoke angle and the first structural member included angle according to a preset trigonometric function to obtain a second included angle between the lower end yoke of the intermediate shaft and the first plane;

[0104] Acquire a phase angle between an upper end yoke and a lower end yoke of the intermediate shaft, and determine a third angle between the upper end yoke of the intermediate shaft and the second plane according to the second structural member angle, the first plane angle and the phase angle;

[0105] Calculating the third angle and the second structural member angle according to a preset trigonometric function to determine a fourth angle between the end yoke of the pipe string and the second plane;

[0106] A set of plane angles of the steering wheel is determined according to the fourth angle, the steering gear knuckle angle, the third angle and the second angle.

[0107] In an optional embodiment, the steering gear yoke angle is defined as the angle between the steering gear end yoke (i.e., the steering gear connection point end yoke) and the first plane. When the steering wheel is adjusted upward, the steering gear yoke angle is The calculation process is N′1 is the normal vector of plane ABC′; N′ Tis the plane normal vector of the plane ABC′ after the steering gear yoke angle adjustment value is rotated along the vector AB; when the steering wheel is adjusted downward, the steering gear yoke angle is The calculation process is N″1 is the normal vector of plane ABC″; N″ T is the plane normal vector of the plane ABC″ after the steering gear yoke angle adjustment value is rotated along the vector AB; when the steering wheel is not adjusted, the steering gear yoke angle is The calculation process is N1 is the normal vector of plane ABC; N T is the plane normal vector of plane ABC after the steering gear yoke angle adjustment value is rotated along vector AB; therefore, the steering gear yoke angle includes: and

[0108] It should be noted that N″ T 、N T and N′ T It can be calculated according to the Rodrigues rotation formula. The Rodrigues rotation formula is a calculation formula for calculating a new vector obtained by rotating a vector around a rotation axis at a given angle in three-dimensional space. In this embodiment, when the steering wheel is adjusted upward, N′ T =N′1cos(m)+(AB×N′1)sin(m)+AB(AB×N′1)(1-cos(m)), when the steering wheel is adjusted downward, N″ T =N″1cos(m)+(AB×N″1)sin(m)+AB(AB×N″1)(1-cos(m)), when the steering wheel is not adjusted, N T =N1cos(m)+(AB×N1)sin(m)+AB(AB×N1)(1-cos(m)), wherein m is the steering gear yoke angle control value, the unit is degree (i.e. °).

[0109] In an optional embodiment, the second angle is defined as the angle between the lower end yoke of the intermediate shaft (i.e., the lower end yoke of the intermediate shaft) and the first plane, and the preset trigonometric function is arccos; based on the mechanical principle, tan (steering gear yoke angle) = tan (second angle) × cos (first structural member angle), when the steering wheel is adjusted upward, the second angle When the steering wheel is adjusted downward, the second angle When the steering wheel is not adjusted, the second angle Therefore, the second angle includes: and

[0110] In an optional embodiment, the third angle is defined as the angle between the upper point end yoke of the intermediate shaft (i.e., the upper point end yoke of the intermediate shaft) and the second plane, and the phase angle ψ between the upper point end yoke and the lower point end yoke of the intermediate shaft is obtained. When the steering wheel is adjusted upward, the third angle When the steering wheel is adjusted downward, the third angle When the steering wheel is not adjusted, the third angle Therefore, the third angle includes: and

[0111] In an optional embodiment, the fourth angle is defined as the angle between the column end yoke (i.e., the column end yoke) and the second plane. According to mechanical principles, tan (third angle) = tan (fourth angle) × cos (second structural member angle). When the steering wheel is adjusted upward, the fourth angle When the steering wheel is adjusted downward, the fourth angle When the steering wheel is not adjusted, the fourth angle Therefore, the fourth angle includes: and

[0112] This embodiment calculates a plane angle set in the form of trigonometric functions through a set of structural component angles and a set of structural component vectors, thereby simplifying the calculation process of the plane angle set of the steering wheel, improving its calculation efficiency, and further improving the efficiency of subsequent steering wheel deflection angle correction.

[0113] It should be noted that the first structural member angle, the second structural member angle, the first plane angle, the steering gear yoke angle, the second angle, the third angle and the fourth angle of the above-mentioned embodiment can simply, quickly and accurately reflect the movement changes of various components during the up and down adjustment of the steering wheel, thereby improving the efficiency of subsequent calculation of the steering wheel deflection angle and correction of the steering wheel deflection angle.

[0114] However, since the various angles in the above embodiments are based on a relative coordinate system constructed based on the internal components of the car, in order to ensure that the steering wheel deflection angle can be accurately corrected and accurately reflected in the normal driving environment of the car, a coordinate system conversion is required, which will be described in detail below.

[0115] In this embodiment, the coordinate transformation of the fourth angle according to the structural member angle set and the plane angle set to determine the steering wheel deflection angle specifically includes:

[0116] Constructing a vehicle coordinate system according to a preset coordinate system method, and converting the fourth angle into a rotation angle in the vehicle coordinate system;

[0117] A deflection angle of the steering wheel is determined based on the rotation angle.

[0118] In an optional embodiment, the vehicle coordinate system is constructed with the geometric center of the vehicle as the origin and the vehicle head direction as the Y axis. The rotation angle of this embodiment is defined as the angle between the column yoke end and the Y axis in the vehicle coordinate system. By performing coordinate conversion on the fourth angle, the rotation angle can be obtained quickly and directly.

[0119] When the steering wheel is adjusted upward, the rotation angle The calculation process is

[0120] N′ T2 The plane BC′D′ rotates along the vector C′D′ The plane normal vector after degrees; when the steering wheel is adjusted downward, the rotation angle The calculation process is N″ T2 The plane BC″D″ rotates along the vector C″D″ The plane normal vector after degrees; when the steering wheel is not adjusted, the rotation angle The calculation process is N T2 The plane BCD rotates along the vector CD The plane normal vector after degrees; where N Y is the plane formed by the X-axis and Z-axis in the vehicle coordinate system, N Y =(0,1,0). Therefore, the rotation angle includes: and

[0121] In an optional embodiment, when the steering wheel is adjusted upward, the deflection angle of the steering wheel is When the steering wheel is adjusted downward, the deflection angle of the steering wheel is Therefore, the steering wheel deflection angle is based on the steering wheel adjustment direction, including and

[0122] This embodiment constructs a whole vehicle coordinate system and determines the steering wheel deflection angle based on the whole vehicle coordinate system, so that the steering wheel deflection angle is more consistent with the actual driving conditions of the vehicle, thereby improving the accuracy of subsequent steering wheel deflection angle correction.

[0123] Step S103: parameterizing the steering wheel according to the set of structural member angles, the set of plane angles and the steering wheel deflection angle to determine a steering wheel steering model.

[0124] In this embodiment, parameterizing the steering wheel according to the set of structural member angles, the set of plane angles and the deflection angle of the steering wheel to determine the steering wheel steering model specifically includes:

[0125] Determine a design state layer according to the set of structural member angles, determine a parameterized calculation layer according to the set of plane angles, and determine a coordinate system conversion layer according to the deflection angle of the steering wheel;

[0126] A steering wheel steering model is determined according to the design state layer, the parameterized calculation layer and the coordinate system conversion layer.

[0127] In an optional embodiment, the steering wheel steering model can be a Matlab model, wherein the calculation formula for obtaining the set of structural parts is converted into the corresponding design state layer Matlab command characters, and the design state layer is determined based on the design state layer Matlab command characters; the calculation formula in the process of obtaining the plane angle set is converted into the corresponding parameterized calculation layer Matlab command characters, and the parameterized calculation layer is determined based on the parameterized calculation layer Matlab command characters; the calculation formula for obtaining the deflection angle of the steering wheel is converted into the corresponding coordinate system conversion layer Matlab command characters, and the coordinate system conversion layer is determined based on the coordinate system conversion layer Matlab command characters; the Matlab model is determined based on the design state layer, the parameterized calculation layer and the coordinate system conversion layer to obtain the steering wheel steering model.

[0128] In an optional embodiment, since the arccos and arctan functions are used above, the theoretical output value interval of the arccos function is [0,180], and the theoretical output value interval of the arctan function is [-90,90]. The two intervals are different, and the steering wheel deflection angle will be discontinuous during the up and down adjustment of the steering wheel. Therefore, this embodiment further corrects the output values ​​of the arccos and arctan functions; specifically, during the up and down adjustment of the steering wheel, it is determined whether the output value of the arccos function is continuous. If it is not continuous, the discontinuous output value is subtracted by 360°; it is determined whether the output value of the arctan function remains monotonically increasing. If it is not monotonically increasing, starting from the non-monotonically increasing output value, all subsequent output values ​​are added by 180°.

[0129] The above embodiment further corrects the output values ​​of the arccos and arctan functions so that they can both output monotonically increasing and continuous values, thereby ensuring the continuity of the steering wheel deflection angle during the up and down adjustment of the steering wheel, thereby ensuring the accuracy of the steering wheel deflection angle, providing an accurate data basis for the subsequent correction of the steering wheel deflection angle, avoiding repeated solutions due to data errors, and improving the efficiency of steering wheel deflection angle correction.

[0130] This embodiment performs parameterized modeling of the steering wheel through a set of structural member angles, a set of plane angles and a deflection angle of the steering wheel to determine a steering wheel steering model, so that the steering wheel steering model only retains data related to the steering wheel angle deflection, thereby reducing the complexity of the steering wheel steering model, thereby improving the construction efficiency of the steering wheel steering model, avoiding redundant calculations during the simulation process of the steering wheel steering model, shortening the simulation time required, and improving the efficiency of steering wheel deflection angle correction.

[0131] Based on the above steps S101 to S103, this embodiment only needs to obtain the coordinate transformation of each point of the components related to the up and down adjustment of the steering wheel (i.e., the column, the steering gear, and the intermediate shaft) during the up and down adjustment of the steering wheel, and then obtain the angle of the steering wheel upward or downward adjustment, and then calculate the angle change of the related components during the up and down adjustment of the steering wheel through basic trigonometric functions and mechanical principles, so as to determine the steering wheel deflection angle, and convert these calculation processes into Matlab models to determine the steering wheel steering model, so that only the content related to the steering wheel angle transformation is retained in the steering wheel steering model, reducing the complexity of the steering wheel steering model, thereby improving the iterative solution rate of the steering wheel steering model, and then being able to quickly obtain the solution result of the steering wheel deflection angle correction, thereby improving the efficiency of the steering wheel deflection angle correction. As for the acquisition of coordinate transformation and adjustment angle, there are relatively mature and convenient acquisition technologies at present, which will not be elaborated here. Since the coordinates can be obtained and the angle can be adjusted quickly and conveniently, the efficiency of calculating the steering wheel deflection angle can be further improved. Compared with the prior art solution that requires collecting and remodeling the data of various components of the steering wheel, the data acquisition time can be significantly reduced, thereby improving the correction efficiency of the steering wheel deflection angle.

[0132] Step S104: Obtain a phase angle control value and a steering gear yoke angle control value, and iteratively simulate the steering wheel steering model according to the phase angle control value and the steering gear yoke angle control value to obtain an optimal steering wheel layout position, and correct the steering wheel deflection angle according to the optimal steering wheel layout position.

[0133] In this embodiment, the iterative simulation of the steering wheel steering model to obtain an optimal steering wheel arrangement position, and the steering wheel deflection angle is corrected according to the optimal steering wheel arrangement position, specifically including:

[0134] Obtain the phase angle control value and the steering gear yoke angle control value input by the user;

[0135] Determine a simulation fixed value and a simulation variable value according to the phase angle control value and the steering gear yoke angle control value; iteratively simulate the steering wheel steering model based on the simulation fixed value and the simulation variable value to obtain a steering wheel deflection angle change curve;

[0136] An optimal steering wheel arrangement position is obtained based on the steering wheel deflection angle variation curve, and the arrangement position of the steering wheel is adjusted according to the optimal steering wheel arrangement position to complete the correction of the steering wheel deflection angle.

[0137] In an optional embodiment, obtaining a phase angle control value and a steering gear yoke angle control value input by a user;

[0138] When the phase angle control value is used as a simulation fixed value and the steering gear yoke angle control value is used as a simulation variable, the steering wheel steering model is simulated by continuously modifying the steering gear yoke angle control value (i.e., parameter m, ranging from 1° to 180°), and the value of the steering gear yoke angle in the steering wheel steering model and the corresponding steering wheel deflection angle value are updated. Then, a mapping curve of the steering gear yoke angle control value and the steering wheel deflection angle value is constructed, and the optimal steering gear yoke angle control value corresponding to the steering wheel deflection angle value of 0 in the mapping curve is found. The optimal steering wheel layout position is determined by the optimal steering gear yoke angle control value and the phase angle control value, thereby adjusting the layout position of the steering wheel to complete the correction of the steering wheel deflection angle.

[0139] When the steering gear yoke angle control value is used as a simulation fixed value and the phase angle control value is used as a simulation variable, the steering wheel steering model is simulated by continuously modifying the phase angle control value (i.e., parameter ψ, ranging from 1° to 180°), and the value of the third angle in the steering wheel steering model and the corresponding steering wheel deflection angle value are updated. Then, a mapping curve of the phase angle control value and the steering wheel deflection angle value is constructed, and the optimal phase angle control value corresponding to the steering wheel deflection angle value of 0 in the mapping curve is found. The optimal steering wheel layout position is determined by the optimal phase angle control value and the steering gear yoke angle control value, thereby adjusting the layout position of the steering wheel and completing the correction of the steering wheel deflection angle.

[0140] The above embodiment conforms to the current mainstream iterative optimization ideas by using one of the phase angle control value and the steering gear yoke angle control value as a parameterized input (i.e., a simulation variable) and one value as a constant input (i.e., a simulation fixed value), thereby saving R&D costs and time, improving simulation efficiency, and further improving the steering wheel deflection angle correction efficiency.

[0141] In an optional embodiment, a GUI interface can be constructed based on the currently more commonly used GUI (graphical user interface) callback function, and the steering wheel steering model can be written into the GUI callback function. The GUI interface can be used to provide users with a visual operation interface and visualize the mapping curve, so that users can adjust parameters and visualize results based on the GUI interface, thereby improving operational convenience.

[0142] This embodiment simulates the steering wheel steering model through the phase angle control value and the steering gear yoke angle control value, and can flexibly adjust the factors affecting the steering wheel deflection, thereby avoiding the long optimization process caused by frequent changes in the steering wheel model, improving the efficiency of the simulation, and further improving the correction efficiency of the steering wheel deflection angle.

[0143] This embodiment constructs a hard point coordinate set of the steering wheel through the initial device coordinate point information of the steering wheel and the adjustment angle of the steering wheel up and down, and determines the structural component angle set and plane angle set related to the steering wheel deflection angle based on the hard point coordinate set, and then determines the deflection angle, thereby constructing a steering wheel steering model, so that the steering wheel steering model only retains data related to the steering wheel angle deflection, reduces the complexity of the steering wheel steering model, and thus improves the construction efficiency of the steering wheel steering model, and also avoids redundant calculations in the simulation process of the steering wheel steering model, shortens the simulation time required, and simulates the steering wheel steering model through the phase angle control value and the steering gear yoke angle control value, which can flexibly adjust the factors affecting the steering wheel deflection, thereby avoiding the long optimization process caused by frequent changes in the steering wheel model, improving the efficiency of the simulation, and thus improving the correction efficiency of the steering wheel deflection angle.

[0144] Embodiment 2

[0145] Please refer to Figure 3 , which is a structural schematic diagram of a steering wheel deflection angle correction device provided by an embodiment of the present invention, comprising: a hard point coordinate acquisition module 201, a deflection angle acquisition module 202, a steering wheel steering model construction module 203 and a deflection angle correction module 204.

[0146] The hard point coordinate acquisition module 201 is used to acquire the initial device coordinate point information and the adjustment angle of the steering wheel, and determine the hard point coordinate set of the steering wheel according to the initial device coordinate point information and the adjustment angle.

[0147] In this embodiment, the hard point coordinate acquisition module 201 includes: a hard point coordinate acquisition unit;

[0148] The hard point coordinate acquisition unit is used to acquire the initial device coordinate point information and adjustment angle of the steering wheel, wherein the initial device coordinate point information includes: initial steering gear connection point coordinates, initial intermediate shaft lower point coordinates, initial intermediate shaft upper point coordinates, initial steering wheel center point coordinates and column rotation center point coordinates;

[0149] Calculate the coordinates of the first point on the middle shaft and the first steering wheel center point after the steering wheel is adjusted according to the adjustment angle, the coordinates of the initial point on the middle shaft, the coordinates of the initial steering wheel center point and the coordinates of the column rotation center point;

[0150] The hard point coordinate set of the steering wheel is determined according to the initial steering gear connection point coordinates, the initial intermediate shaft lower point coordinates, the first intermediate shaft upper point coordinates, the initial intermediate shaft upper point coordinates, the initial steering wheel center point coordinates, the first steering wheel center point coordinates and the column rotation center point coordinates.

[0151] The deflection angle acquisition module 202 is used to calculate a set of structural component angles and a set of plane angles of the steering wheel according to the set of hard point coordinates, and determine the deflection angle of the steering wheel based on the set of structural component angles and the set of plane angles.

[0152] In this embodiment, the deflection angle acquisition module 202 includes: a deflection angle acquisition unit;

[0153] The deflection angle acquisition unit is used to determine a set of structural component vectors according to the hard point coordinate set, and determine a set of structural component angles of the steering wheel according to the set of structural component vectors;

[0154] Determine a plane angle set of the steering wheel according to the structural component angle set and the structural component vector set; wherein the plane angle set includes: a fourth angle;

[0155] The fourth angle is subjected to coordinate transformation according to the structural member angle set and the plane angle set to determine a steering wheel deflection angle.

[0156] In this embodiment, the deflection angle acquisition unit includes: a structural member angle calculation subunit;

[0157] In the structural member angle calculation subunit, the steering wheel includes: a steering gear, an intermediate shaft and a column;

[0158] The structural component angle calculation subunit is used to determine a set of structural component vectors of the steering wheel according to the set of hard point coordinates;

[0159] Determine a first plane according to the coordinates of the initial steering gear connection point, the coordinates of the initial intermediate shaft lower point and the coordinates of the first intermediate shaft upper point;

[0160] Determine a second plane according to the coordinates of the lower point of the initial intermediate shaft, the coordinates of the upper point of the first intermediate shaft and the coordinates of the center point of the first steering wheel;

[0161] Calculating a first structural component angle between the steering gear and the intermediate shaft, and a second structural component angle between the intermediate shaft and the column according to the structural component vector set;

[0162] Calculating a first plane angle between the first plane and the second plane according to the structural component vector set;

[0163] A set of structural component angles of the steering wheel is determined according to the first structural component angle, the second structural component angle and the first plane angle.

[0164] In this embodiment, the deflection angle acquisition unit includes: a plane angle calculation subunit;

[0165] The plane angle calculation subunit is used to obtain the steering gear yoke angle between the connection point end yoke of the steering gear and the first plane according to the hard point coordinate set;

[0166] Calculating the steering gear yoke angle and the first structural member included angle according to a preset trigonometric function to obtain a second included angle between the lower end yoke of the intermediate shaft and the first plane;

[0167] Acquire a phase angle between an upper end yoke and a lower end yoke of the intermediate shaft, and determine a third angle between the upper end yoke of the intermediate shaft and the second plane according to the second structural member angle, the first plane angle and the phase angle;

[0168] Calculating the third angle and the second structural member angle according to a preset trigonometric function to determine a fourth angle between the end yoke of the pipe string and the second plane;

[0169] A set of plane angles of the steering wheel is determined according to the fourth angle, the steering gear knuckle angle, the third angle and the second angle.

[0170] In this embodiment, the deflection angle acquisition unit includes: a deflection angle acquisition subunit;

[0171] The deflection angle acquisition subunit is used to construct a vehicle coordinate system according to a preset coordinate system method, and convert the fourth angle into a rotation angle in the vehicle coordinate system;

[0172] A deflection angle of the steering wheel is determined based on the rotation angle.

[0173] The steering wheel steering model building module 203 is used to perform parameterized modeling on the steering wheel according to the structural component angle set, the plane angle set and the steering wheel deflection angle, and determine the steering wheel steering model.

[0174] In this embodiment, the steering wheel steering model building module 203 includes: a steering wheel steering model building unit;

[0175] The steering wheel steering model building unit is used to determine a design state layer according to the structural member angle set, determine a parameterized calculation layer according to the plane angle set, and determine a coordinate system conversion layer according to the steering wheel deflection angle;

[0176] A steering wheel steering model is determined according to the design state layer, the parameterized calculation layer and the coordinate system conversion layer.

[0177] The deflection angle correction module 204 is used to perform iterative simulation on the steering wheel steering model to obtain an optimal steering wheel arrangement position, and correct the steering wheel deflection angle according to the optimal steering wheel arrangement position.

[0178] In this embodiment, the deflection angle correction module 204 includes: a deflection angle correction unit;

[0179] The deflection angle correction unit is used to obtain a phase angle control value and a steering gear yoke angle control value;

[0180] Determine a simulation fixed value and a simulation variable value according to the phase angle control value and the steering gear yoke angle control value; iteratively simulate the steering wheel steering model based on the simulation fixed value and the simulation variable value to obtain a steering wheel deflection angle change curve;

[0181] An optimal steering wheel arrangement position is obtained based on the steering wheel deflection angle variation curve, and the arrangement position of the steering wheel is adjusted according to the optimal steering wheel arrangement position to complete the correction of the steering wheel deflection angle.

[0182] This embodiment constructs a hard point coordinate set of the steering wheel through the initial device coordinate point information of the steering wheel and the adjustment angle of the steering wheel up and down, and determines the structural component angle set and plane angle set related to the steering wheel deflection angle based on the hard point coordinate set, and then determines the deflection angle, thereby constructing a steering wheel steering model, so that the steering wheel steering model only retains data related to the steering wheel angle deflection, reduces the complexity of the steering wheel steering model, and thus improves the construction efficiency of the steering wheel steering model, and also avoids redundant calculations in the simulation process of the steering wheel steering model, shortens the simulation time required, and simulates the steering wheel steering model through the phase angle control value and the steering gear yoke angle control value, which can flexibly adjust the factors affecting the steering wheel deflection, thereby avoiding the long optimization process caused by frequent changes in the steering wheel model, improving the efficiency of the simulation, and thus improving the correction efficiency of the steering wheel deflection angle.

[0183] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for correcting a steering wheel deflection angle, characterized in that: include: Acquire initial device coordinate point information and an adjustment angle of the steering wheel, and determine a hard point coordinate set of the steering wheel according to the initial device coordinate point information and the adjustment angle; Calculating a set of structural component angles and a set of plane angles of the steering wheel according to the hard point coordinate set, and determining a deflection angle of the steering wheel based on the set of structural component angles and the set of plane angles; Performing parameterized modeling on the steering wheel according to the set of structural member angles, the set of plane angles and the deflection angle of the steering wheel to determine a steering wheel steering model; A phase angle control value and a steering gear yoke angle control value are obtained, and the steering wheel steering model is iteratively simulated according to the phase angle control value and the steering gear yoke angle control value to obtain an optimal steering wheel layout position, and the steering wheel deflection angle is corrected according to the optimal steering wheel layout position.

2. A method for correcting a steering wheel deflection angle as claimed in claim 1, characterized in that: The obtaining of the initial device coordinate point information and the adjustment angle of the steering wheel, and determining the hard point coordinate set of the steering wheel according to the initial device coordinate point information and the adjustment angle, specifically includes: Obtaining initial device coordinate point information and adjustment angle of the steering wheel, wherein the initial device coordinate point information includes: initial steering gear connection point coordinates, initial intermediate shaft lower point coordinates, initial intermediate shaft upper point coordinates, initial steering wheel center point coordinates and column rotation center point coordinates; Calculate the coordinates of the first point on the middle shaft and the first steering wheel center point after the steering wheel is adjusted according to the adjustment angle, the coordinates of the initial point on the middle shaft, the coordinates of the initial steering wheel center point and the coordinates of the column rotation center point; The hard point coordinate set of the steering wheel is determined according to the initial steering gear connection point coordinates, the initial intermediate shaft lower point coordinates, the first intermediate shaft upper point coordinates, the initial intermediate shaft upper point coordinates, the initial steering wheel center point coordinates, the first steering wheel center point coordinates and the column rotation center point coordinates.

3. A method for correcting a steering wheel deflection angle as claimed in claim 2, characterized in that: The calculating the set of structural component angles and the set of plane angles of the steering wheel according to the set of hard point coordinates, and determining the deflection angle of the steering wheel based on the set of structural component angles and the set of plane angles, specifically includes: Determine a set of structural component vectors according to the hard point coordinate set, and determine a set of structural component angles of the steering wheel according to the set of structural component vectors; Determine a plane angle set of the steering wheel according to the structural component angle set and the structural component vector set; wherein the plane angle set includes: a fourth angle; The fourth angle is subjected to coordinate transformation according to the structural member angle set and the plane angle set to determine a steering wheel deflection angle.

4. A method for correcting a steering wheel deflection angle as claimed in claim 3, characterized in that: Determining a set of structural component vectors according to the hard point coordinate set, and determining a set of structural component angles of the steering wheel according to the set of structural component vectors, specifically includes: The steering wheel comprises: a steering gear, an intermediate shaft and a column; Determine a set of structural component vectors of the steering wheel according to the set of hard point coordinates; Determine a first plane according to the coordinates of the initial steering gear connection point, the coordinates of the initial intermediate shaft lower point, the coordinates of the initial intermediate shaft upper point and the coordinates of the first intermediate shaft upper point; Determine a second plane according to the coordinates of the initial lower point of the intermediate shaft, the coordinates of the point on the first intermediate shaft, the coordinates of the initial first steering wheel center point and the coordinates of the first steering wheel center point; Calculating a first structural component angle between the steering gear and the intermediate shaft, and a second structural component angle between the intermediate shaft and the column according to the structural component vector set; Calculating a first plane angle between the first plane and the second plane according to the structural component vector set; A set of structural component angles of the steering wheel is determined according to the first structural component angle, the second structural component angle and the first plane angle.

5. A method for correcting a steering wheel deflection angle as claimed in claim 4, characterized in that: Determining the plane angle set of the steering wheel according to the structural component angle set and the structural component vector set specifically includes: Obtaining a steering gear yoke angle between a connection point end yoke of the steering gear and the first plane according to the hard point coordinate set; Calculating the steering gear yoke angle and the first structural member included angle according to a preset trigonometric function to obtain a second included angle between the lower end yoke of the intermediate shaft and the first plane; Acquire a phase angle between an upper end yoke and a lower end yoke of the intermediate shaft, and determine a third angle between the upper end yoke of the intermediate shaft and the second plane according to the second structural member angle, the first plane angle and the phase angle; Calculating the third angle and the second structural member angle according to a preset trigonometric function to determine a fourth angle between the end yoke of the pipe string and the second plane; A set of plane angles of the steering wheel is determined according to the fourth angle, the steering gear knuckle angle, the third angle and the second angle.

6. A method for correcting a steering wheel deflection angle as claimed in claim 3, characterized in that: The coordinate transformation of the fourth angle according to the structural member angle set and the plane angle set to determine the steering wheel deflection angle specifically includes: Constructing a vehicle coordinate system according to a preset coordinate system method, and converting the fourth angle into a rotation angle in the vehicle coordinate system; A deflection angle of the steering wheel is determined based on the rotation angle.

7. A method for correcting a steering wheel deflection angle as claimed in claim 3, characterized in that: The parameterized modeling of the steering wheel according to the set of structural member angles, the set of plane angles and the deflection angle of the steering wheel to determine the steering wheel steering model specifically includes: Determine a design state layer according to the set of structural member angles, determine a parameterized calculation layer according to the set of plane angles, and determine a coordinate system conversion layer according to the deflection angle of the steering wheel; A steering wheel steering model is determined according to the design state layer, the parameterized calculation layer and the coordinate system conversion layer.

8. The method for correcting the steering wheel deflection angle according to claim 1, characterized in that: The obtaining of the phase angle control value and the steering gear yoke angle control value, iteratively simulating the steering wheel steering model according to the phase angle control value and the steering gear yoke angle control value to obtain an optimal steering wheel arrangement position, and correcting the steering wheel deflection angle according to the optimal steering wheel arrangement position specifically includes: Obtaining a phase angle control value and a steering gear yoke angle control value; Determine a simulation fixed value and a simulation variable value according to the phase angle control value and the steering gear yoke angle control value; iteratively simulate the steering wheel steering model based on the simulation fixed value and the simulation variable value to obtain a steering wheel deflection angle change curve; An optimal steering wheel arrangement position is obtained based on the steering wheel deflection angle variation curve, and the arrangement position of the steering wheel is adjusted according to the optimal steering wheel arrangement position to complete the correction of the steering wheel deflection angle.

9. A device for correcting steering wheel deflection angle, characterized in that: include: Hard point coordinate acquisition module, deflection angle acquisition module, steering wheel steering model construction module and deflection angle correction module; The hard point coordinate acquisition module is used to acquire the initial device coordinate point information and the adjustment angle of the steering wheel, and determine the hard point coordinate set of the steering wheel according to the initial device coordinate point information and the adjustment angle; The deflection angle acquisition module is used to calculate the structural component angle set and the plane angle set of the steering wheel according to the hard point coordinate set, and determine the deflection angle of the steering wheel based on the structural component angle set and the plane angle set; The steering wheel steering model building module is used to perform parameterized modeling on the steering wheel according to the structural component angle set, the plane angle set and the steering wheel deflection angle, and determine the steering wheel steering model; The deflection angle correction module is used to iteratively simulate the steering wheel steering model to obtain an optimal steering wheel layout position, and correct the steering wheel deflection angle according to the optimal steering wheel layout position.

10. A steering wheel deflection angle correction device as claimed in claim 9, characterized in that: The hard point coordinate acquisition module comprises: a hard point coordinate acquisition unit; The hard point coordinate acquisition unit is used to acquire the initial device coordinate point information and adjustment angle of the steering wheel, wherein the initial device coordinate point information includes: initial steering gear connection point coordinates, initial intermediate shaft lower point coordinates, initial intermediate shaft upper point coordinates, initial steering wheel center point coordinates and column rotation center point coordinates; Calculate the coordinates of the first point on the middle shaft and the first steering wheel center point after the steering wheel is adjusted according to the adjustment angle, the coordinates of the initial point on the middle shaft, the coordinates of the initial steering wheel center point and the coordinates of the column rotation center point; The hard point coordinate set of the steering wheel is determined according to the initial steering gear connection point coordinates, the initial intermediate shaft lower point coordinates, the first intermediate shaft upper point coordinates, the initial intermediate shaft upper point coordinates, the initial steering wheel center point coordinates, the first steering wheel center point coordinates and the column rotation center point coordinates.

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