A method and device for correcting a steering wheel deflection angle

Abstract

The application discloses a kind of steering wheel deflection angle correction method and device, it is related to steering wheel adjustment technical field.The application determines the structural member angle set and plane angle set related to steering wheel deflection angle with the hard point coordinate set of steering wheel, and then determines the deflection angle, to this constructs steering wheel steering model, so that steering wheel steering model only retains the data related to steering wheel angle deflection, reduces the complexity of steering wheel steering model, and then improves the construction efficiency of steering wheel steering model, also avoids the redundant calculation in steering wheel steering model simulation process, shortens the demand time of simulation, by phase angle control value and steering gear yoke angle control value to steering wheel steering model simulation, can flexibly adjust the factor that influences steering wheel deflection, to avoid the optimization process long caused by frequently changing steering wheel model, improve the efficiency of simulation, and then improve the correction efficiency of steering wheel deflection angle.

Description

Technical Field

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

[0002] A car's steering wheel can be adjusted up and down to accommodate drivers of different heights. This adjustment is achieved by adjusting the steering gear, intermediate shaft, and column, which are connected in sequence via a yoke. However, since the steering gear, intermediate shaft, and column are all connected to universal joints, adjusting the steering wheel up and down typically causes the steering wheel angle to deflect, posing a safety hazard. For example, excessive steering wheel deflection can cause the column's mechanical zero position to misalign with the car's electronic power steering's calibrated zero position, leading to the vehicle swerving or the steering wheel being misaligned when driving straight ahead, posing a hazard to the driver. Therefore, resolving the issue of steering wheel angle deflection caused by up and down steering wheel adjustment is of great significance to 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 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 existing technology. 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. A steering wheel steering model is constructed using a set of angles related to steering wheel steering and the deflection angle. The steering wheel steering model is simulated to achieve correction of the steering wheel deflection angle, thereby improving 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] Acquiring initial device coordinate point information and an adjustment angle of the steering wheel, and determining a hard point coordinate set of the steering wheel based on 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 structural component angle set, the plane angle set, and the steering wheel deflection angle 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 based on 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 to 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 obtaining of initial device coordinate point information and an adjustment angle of the steering wheel, and determining a hard point coordinate set of the steering wheel based on the initial device coordinate point information and the adjustment angle, specifically includes:

[0012] Obtaining initial component coordinate point information and adjustment angle of the steering wheel, wherein the initial component 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 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] 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;

[0018] Determining 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 component 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 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:

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

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

[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 thus 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 angle between the first structural member according to a preset trigonometric function to obtain a second angle between the lower end yoke of the intermediate shaft and the first plane;

[0033] Obtaining a phase angle between an upper end yoke and a lower end yoke of the intermediate shaft, and determining a third angle between the upper end yoke of the intermediate shaft and the second plane based on 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 yoke 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 structural component vector set, which simplifies the calculation process of the steering wheel plane angle set, improves its calculation efficiency, and thus improves the efficiency of subsequent steering wheel deflection angle correction.

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

[0042] Determining a design state layer according to the set of structural member angles, determining a parameterized calculation layer according to the set of plane angles, and determining 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 solution parameterizes the steering wheel modeling through a set of structural member angles, a set of plane angles and a steering wheel deflection angle 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 in the simulation process of the steering wheel steering model, shortening the required simulation time, and improving the efficiency of steering wheel deflection angle correction.

[0045] As a preferred solution, iteratively simulating the steering wheel model to obtain an optimal steering wheel layout position, and correcting the steering wheel deflection angle according to the optimal steering wheel layout position specifically includes:

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

[0047] Determining 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 simulating 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 change 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, which can flexibly adjust the factors affecting the steering wheel deflection, thereby avoiding the long optimization process caused by frequent changes to the steering wheel model, improving the efficiency of the simulation, and thus 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 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;

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

[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 to determine the steering wheel steering model;

[0054] The deflection angle correction module is used to perform iterative simulation on 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 initial device coordinate point information of the steering wheel of this device and the adjustment angle of the steering wheel up and down are used to construct a hard point coordinate set of the steering wheel, and based on the hard point coordinate set, the structural component angle set and the plane angle set related to the steering wheel deflection angle are determined, and then the deflection angle is determined, thereby constructing a steering wheel steering model, so that the steering wheel steering model only retains data related to the steering wheel angle deflection, reducing the complexity of the steering wheel steering model, thereby improving the construction efficiency of the steering wheel steering model, and avoiding redundant calculations in the simulation process of the steering wheel steering model, shortening the simulation time required, and simulating 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 to the steering wheel model, improving the efficiency of the simulation, and thereby 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 flowchart 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 device for correcting a steering wheel deflection angle 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall 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 wheel, the steering gear, intermediate shaft, and column are connected in sequence by a yoke to complete the up and down position adjustment 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) moves up and down accordingly, and point C (i.e., the initial intermediate shaft upper point) moves 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, because all components required for steering wheel adjustment are connected via universal joints, adjusting the steering wheel up or down often causes the steering wheel to deflect, leading to a series of safety hazards. For example, excessive deflection can cause the column's mechanical zero position to misalign with the Electronic Power Steering (EPS)'s calibrated zero position, causing the vehicle to veer off course or the steering wheel to become misaligned when driving straight ahead, increasing driving safety risks.

[0067] To address the angular deflection caused by steering wheel adjustment, existing optimization solutions typically rely on dynamic simulation software such as UG and ADAMS to establish a realistic steering system model of the steering wheel. This model is then used to analyze and improve the angular deflection caused by steering wheel adjustment. However, these traditional simulation software programs have limitations in optimization. First, to establish a realistic steering system model, it is necessary to collect various parameters of the components involved in the steering wheel adjustment process, and then construct the steering system model based on this. This results in the steering system model containing too much data unrelated to the steering wheel angle deflection, 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 inefficient steering wheel deflection angle correction.

[0068] Example 1

[0069] Please refer to Figure 2, which is a flowchart of a method for correcting a steering wheel deflection angle provided by an embodiment of the present invention, including steps S101 to S104.

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

[0071] In this embodiment, 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:

[0072] Obtaining initial component coordinate point information and adjustment angle of the steering wheel, wherein the initial component 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 points C and D after the steering wheel is adjusted. When the steering wheel is adjusted upward, calculate the coordinates of points C′ and D′; when the steering wheel is adjusted downward, calculate the coordinates of points C″ and 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, and D′E, and z′ is the Z coordinate of vectors C′E, C″E, D″E, and 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. 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. According to D″(x,y,z)=E(x,y,z)+D′E, the coordinates of the point C″ are obtained. z)+D″E obtains 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), the coordinates of point B (the coordinates of the lower point of the initial intermediate shaft), the coordinates of point C (the coordinates of the point on the initial intermediate shaft), the coordinates of point D (the coordinates of the initial steering wheel center point), the coordinates of point E (the coordinates of the center point of column rotation), the coordinates of point C″ and point C′ (i.e. the coordinates of the points on the first intermediate shaft), the coordinates of point D′ and point D″ (i.e. the coordinates of the center point of the first steering wheel) 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 when it is adjusted upward, downward, and not adjusted (i.e., the initial state of the steering wheel), so that the hard point coordinate set before and after the steering wheel is adjusted up and down can be constructed, 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 the construction of 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] 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;

[0083] Determining 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 component 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 improving 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 two points is a conventional mathematical operation, its calculation process is not described here.

[0087] As a preferred solution, 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:

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

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

[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 initial steering gear connection point coordinates, the initial intermediate shaft lower point coordinates and the first intermediate shaft upper point coordinates. When the steering wheel is adjusted downward, plane ABC″ is determined by the initial steering gear connection point coordinates, the initial intermediate shaft lower point coordinates and the first intermediate shaft upper point coordinates. When the steering wheel is not adjusted, plane ABC is determined by the initial steering gear connection point coordinates, the initial intermediate shaft lower point coordinates and the initial intermediate shaft upper point coordinates. 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, plane BC′D′ is determined by the coordinates of the initial intermediate shaft lower point, the coordinates of the first intermediate shaft upper point, and the coordinates of the first steering wheel center point. When the steering wheel is adjusted downward, plane BC″D″ is determined by the coordinates of the initial intermediate shaft lower point, the coordinates of the first intermediate shaft upper point, and the coordinates of the first steering wheel center point. When the steering wheel is not adjusted, plane BCD is determined by the coordinates of the initial intermediate shaft lower point, the coordinates of the first intermediate shaft upper point, 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 as follows: 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 as follows: 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 as follows: 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 first structural member angle α2 is as follows: Therefore, the second structural member included 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 the 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 thereby 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 angle between the first structural member according to a preset trigonometric function to obtain a second angle between the lower end yoke of the intermediate shaft and the first plane;

[0104] Obtaining a phase angle between an upper end yoke and a lower end yoke of the intermediate shaft, and determining a third angle between the upper end yoke of the intermediate shaft and the second plane based on 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 yoke 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 plane ABC″ after the steering gear yoke angle adjustment value is rotated along 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 control 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 the new vector obtained by rotating a vector around the 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)), where 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 mechanical principles, 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 end yoke of the intermediate shaft (i.e., the upper end yoke of the intermediate shaft) and the second plane, and the phase angle ψ between the upper end yoke and the lower 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 consists of: 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 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.

[0113] It should be noted that, through 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, the movement changes of each component during the up and down adjustment of the steering wheel can be simply, quickly and accurately reflected, 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 so that it is 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, performing coordinate transformation on 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 steering angle of the steering wheel is determined based on the rotation angle.

[0118] In an optional embodiment, a 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 in 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 quickly and directly obtained.

[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 N is the plane formed by the X-axis and Z-axis in the vehicle coordinate system. 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's deflection angle is based on the steering wheel's 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: performing parameterized modeling on the steering wheel according to the structural component angle set, the plane angle set, 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 steering wheel deflection angle to determine the steering wheel steering model specifically includes:

[0125] Determining a design state layer according to the set of structural member angles, determining a parameterized calculation layer according to the set of plane angles, and determining 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 structural component set 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, due to the use of the arccos and arctan functions, the theoretical output value range of the arccos function is [0, 180], and the theoretical output value range of the arctan function is [-90, 90]. These two ranges are different, which may result in discontinuous steering angles during steering wheel adjustment. Therefore, this embodiment further modifies the output values ​​of the arccos and arctan functions. Specifically, during steering wheel adjustment, the arccos function output value is determined to be continuous. If not, the discontinuous output value is subtracted by 360°. The arctan function output value is determined to be monotonically increasing. If not, starting from the non-monotonically increasing output value, all subsequent output values ​​are increased by 180°.

[0129] The above embodiment further modifies the output values ​​of the arccos and arctan functions so that they can both output monotonically increasing and continuous values, thereby ensuring the consistency 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 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 steering wheel deflection angle 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 in the simulation process of the steering wheel steering model, shortening the required simulation time, 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 steering wheel up and down adjustment (i.e., the column, steering gear, and intermediate shaft) during the steering wheel up and down adjustment process, and then obtain the angle of the steering wheel adjustment up or down, and then calculate the angle change of the related components during the steering wheel up and down adjustment process 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 on here. Since coordinates can be obtained and angles can be adjusted quickly and conveniently, the efficiency of calculating the steering wheel deflection angle can be further improved. Compared with the existing solution that requires collecting and remodeling 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, iteratively simulating the steering wheel model 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:

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

[0135] Determining 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 simulating 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 change 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 steering gear yoke angle value and the corresponding steering wheel deflection angle value in the steering wheel steering model 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 steering wheel layout position and completing 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 uses 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), which conforms to the current mainstream iterative optimization ideas, 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 the mapping curve can be visualized, 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 to 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 adjustment, 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, reducing the complexity of the steering wheel steering model, thereby improving the construction efficiency of the steering wheel steering model, avoiding redundant calculations in the steering wheel steering model simulation process, shortening the simulation time required, and simulating 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 to the steering wheel model, improving the simulation efficiency, and thereby improving the correction efficiency of the steering wheel deflection angle.

[0144] Example 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, including: 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 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.

[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 hard point coordinate set, 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] Determining 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 component 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 structural component vector set of the steering wheel according to the hard point coordinate set;

[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 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;

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

[0167] Obtaining a phase angle between an upper end yoke and a lower end yoke of the intermediate shaft, and determining a third angle between the upper end yoke of the intermediate shaft and the second plane based on 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 yoke 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 steering 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 construction unit is used to determine a design state layer according to the structural component angle set, determine a parameterized calculation layer according to the plane angle set, and determine a coordinate system conversion layer according to the deflection angle of the steering wheel;

[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 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] Determining 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 simulating 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 change 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 adjustment, 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, reducing the complexity of the steering wheel steering model, thereby improving the construction efficiency of the steering wheel steering model, avoiding redundant calculations in the steering wheel steering model simulation process, shortening the simulation time required, and simulating 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 to the steering wheel model, improving the simulation efficiency, and thereby improving the correction efficiency of the steering wheel deflection angle.

[0183] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A method for correcting a steering wheel deflection angle, characterized in that: include: Acquiring initial device coordinate point information and an adjustment angle of the steering wheel, and determining a hard point coordinate set of the steering wheel based on the initial device coordinate point information and the adjustment angle; Obtaining initial component coordinate point information and an adjustment angle of the steering wheel, wherein the initial component 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; calculating first intermediate shaft upper point coordinates and first steering wheel center point coordinates after steering wheel adjustment based on the adjustment angle, initial intermediate shaft upper point coordinates, initial steering wheel center point coordinates, and column rotation center point coordinates; determining a hard point coordinate set of the steering wheel based on the initial steering gear connection point coordinates, initial intermediate shaft lower point coordinates, first intermediate shaft upper point coordinates, initial intermediate shaft upper point coordinates, initial steering wheel center point coordinates, first steering wheel center point coordinates, and column rotation center point coordinates; 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 structural component angle set, the plane angle set, and the steering wheel deflection angle 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 according to claim 1, characterized in that: 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, specifically includes: 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; Determining 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 component angle set and the plane angle set to determine a steering wheel deflection angle.

3. A method for correcting a steering wheel deflection angle according to claim 2, 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; Determining a set of structural component vectors of the steering wheel according to the hard point coordinate set; 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 first upper point of the intermediate shaft, the coordinates of the initial 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.

4. A method for correcting a steering wheel deflection angle according to claim 3, 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 angle between the first structural member according to a preset trigonometric function to obtain a second angle between the lower end yoke of the intermediate shaft and the first plane; Obtaining a phase angle between an upper end yoke and a lower end yoke of the intermediate shaft, and determining a third angle between the upper end yoke of the intermediate shaft and the second plane based on 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 yoke angle, the third angle and the second angle.

5. The method for correcting the steering wheel deflection angle according to claim 2, wherein: The performing coordinate transformation on 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 steering angle of the steering wheel is determined based on the rotation angle.

6. The method for correcting the steering wheel deflection angle according to claim 2, wherein: The parameterized modeling of the steering wheel according to the structural component angle set, the plane angle set, and the steering wheel deflection angle to determine the steering wheel steering model specifically includes: Determining a design state layer according to the set of structural member angles, determining a parameterized calculation layer according to the set of plane angles, and determining 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.

7. The method for correcting the steering wheel deflection angle according to claim 1, wherein: 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 phase angle control value and steering gear yoke angle control value; Determining 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 simulating 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 change 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.

8. 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; wherein the hard point coordinate acquisition module is used to 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 based on the initial device coordinate point information and the adjustment angle; the hard point coordinate acquisition module comprises: a hard point coordinate acquisition unit; the hard point coordinate acquisition unit is used to acquire initial device coordinate point information and an adjustment angle of the steering wheel, wherein the initial device coordinate point information comprises: 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 first intermediate shaft upper point coordinates and first steering wheel center point coordinates after steering wheel adjustment based on the adjustment angle, initial intermediate shaft upper point coordinates, initial steering wheel center point coordinates, and column rotation center point coordinates; determine the hard point coordinate set of the steering wheel based on the initial steering gear connection point coordinates, initial intermediate shaft lower point coordinates, first intermediate shaft upper point coordinates, initial intermediate shaft upper point coordinates, initial steering wheel center point coordinates, first steering wheel center point coordinates, and column rotation center point coordinates; The deflection angle acquisition module is used to calculate a set of structural component angles and a set of plane angles of the steering wheel according to the hard point coordinate set, and determine the deflection angle of the steering wheel based on the set of structural component angles and the set of plane angles; 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 to determine the steering wheel steering model; The deflection angle correction module is used to perform iterative simulation on 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.

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