Tire pressure sensor self-positioning method, self-positioning device and vehicle

Abstract

The invention discloses a tire pressure sensor self-positioning method, a tire pressure sensor self-positioning device and a vehicle. The tire pressure sensor self-positioning method comprises the steps that acceleration data of m periods and wheel tooth information of the m periods of a tire are obtained, and m is larger than or equal to 2; a first phase difference is calculated according to the acceleration data, the first phase difference is the phase difference between the phase corresponding to the acceleration data of the kth period and the phase corresponding to the acceleration data of the hth period, k is larger than 0 and smaller than or equal to m, h is larger than 0 and smaller than or equal to m, and h is not equal to k; calculating a gear tooth phase difference according to the gear tooth information, wherein the gear tooth phase difference is the phase difference between the gear tooth phase of the kth period and the gear tooth phase of the hth period; and determining the corresponding relationship between the tire pressure sensor and the tire according to the first phase difference and the gear tooth phase difference. According to the invention, errors existing in the self-positioning process of the tire pressure sensor can be effectively reduced, so that the accuracy of the self-positioning process of the tire pressure sensor is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a tire pressure sensor self-positioning method, a self-positioning device and a vehicle. Background Art

[0002] Tire pressure sensors are randomly installed in vehicle tires. There is no hardware connection between the tire pressure sensor and the vehicle, so the vehicle's control system can directly identify which tire the tire pressure sensor is installed on.

[0003] There are two existing methods for tire pressure sensor self-positioning: extrapolation and time phase. However, both methods are limited by the CAN message cycle and have certain errors, which reduces the accuracy of tire pressure sensor self-positioning. Summary of the Invention

[0004] The present invention provides a tire pressure sensor self-positioning method, a self-positioning device and a vehicle, so as to solve the problem of low accuracy in the self-positioning process of the tire pressure sensor.

[0005] According to one aspect of the present invention, a tire pressure sensor self-positioning method is provided. A tire is provided with a tire pressure monitoring module, the tire pressure monitoring module including an acceleration sensor and a tire pressure sensor, and a gear position sensor is provided on the gear teeth of the tire. The tire pressure sensor self-positioning method includes:

[0006] Acquire acceleration data of the tire for m periods and gear tooth information for m periods, where m≥2;

[0007] Calculating a first phase difference based on the acceleration data, where the first phase difference is a phase difference between a phase corresponding to the acceleration data of the kth cycle and a phase corresponding to the acceleration data of the hth cycle, wherein 0<k≤m, 0<h≤m, and h≠k;

[0008] Calculating a gear tooth phase difference according to the gear tooth information, wherein the gear tooth phase difference is a phase difference between a gear tooth phase in the kth period and a gear tooth phase in the hth period;

[0009] A corresponding relationship between the tire pressure sensor and the tire is determined according to the first phase difference and the gear tooth phase difference.

[0010] According to another aspect of the present invention, a tire pressure sensor self-positioning device is provided, the tire pressure sensor self-positioning device comprising:

[0011] A measurement module, configured to obtain acceleration data of the tire for m cycles and gear tooth information for m cycles;

[0012] a first phase difference acquisition module, configured to calculate a first phase difference according to the acceleration data;

[0013] A gear tooth phase difference acquisition module, configured to calculate the gear tooth phase difference based on the gear tooth information;

[0014] The self-positioning module is configured to determine a corresponding relationship between the tire pressure sensor and the tire according to the first phase difference and the gear tooth phase difference.

[0015] According to another aspect of the present invention, a vehicle is provided. The vehicle includes the tire pressure sensor self-positioning device described in any one of the above embodiments, and the vehicle is capable of executing the tire pressure sensor self-positioning method described in any one of the above embodiments.

[0016] The technical solution provided by the embodiment of the present invention realizes the self-positioning of the tire pressure sensor based on the first phase difference and the gear tooth phase difference corresponding to the acceleration data. Among them, the first phase difference is obtained by taking the difference between the phases corresponding to the acceleration data of two cycles, and the gear tooth phase difference is obtained by taking the difference between the gear tooth phases of two cycles. The difference between the phases of the two cycles can effectively offset the static error existing in the data transmission process. In particular, for gear tooth information, since the CAN bus records and stores the gear tooth information once every 20ms, the backtracking of the gear tooth information can only be an integer multiple of 20, resulting in an error of 0-20ms in the gear tooth information. The embodiment of the present invention effectively offsets this error by taking the difference between the gear tooth phases corresponding to the two cycles, so the gear tooth sensor does not need to send the backtracking time to the receiving end. That is, the present invention can effectively reduce the error existing in the self-positioning process of the tire pressure sensor, thereby improving the accuracy of the self-positioning process of the tire pressure sensor.

[0017] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A flowchart of a tire pressure sensor self-positioning method provided by an embodiment of the present invention;

[0020] Figure 2 A flowchart of another tire pressure sensor self-positioning method provided by an embodiment of the present invention;

[0021] Figure 3A schematic diagram of a first phase obtained through Fourier analysis provided in an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of a second phase obtained through Fourier analysis provided by an embodiment of the present invention;

[0023] Figure 5 A flowchart of another tire pressure sensor self-positioning method provided by an embodiment of the present invention;

[0024] Figure 6 A schematic structural diagram of a tire pressure sensor self-positioning device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Figure 1 This is a flow chart of a tire pressure sensor self-positioning method provided by an embodiment of the present invention. This embodiment can be applied to determine in which tire the tire pressure sensor is located. This method can be performed by a tire pressure sensor self-positioning device, which can be configured in a vehicle. Figure 1 As shown, the method includes:

[0028] S110 : Obtaining acceleration data of the tire for m periods and gear tooth information for m periods, where m≥2.

[0029] Specifically, acceleration data refers to the change in acceleration of the tire or vehicle within a certain period of time. Acceleration data is measured by the acceleration sensor in the tire pressure monitoring module. The tire pressure monitoring module refers to a system used to monitor the tire pressure of the vehicle tire in real time. Each tire has a separate tire pressure monitoring module. The information detected by the tire pressure monitoring module is sent to the receiving end of the vehicle control system via a radio frequency signal. Gear tooth information refers to data related to the rotation of the vehicle tire, which usually includes information such as the number of gear teeth on the tire, the speed of tire rotation, and the position angle of the gear teeth during tire rotation. The gear tooth information is measured by the gear tooth position sensor and transmitted to the receiving end of the vehicle control system via the CAN bus.

[0030] In this embodiment of the present invention, since both the acceleration sensor and tire pressure sensor are integrated into the tire pressure monitoring module, the acceleration data can reflect some of the dynamic characteristics of the tire pressure sensor, while the gear tooth information can reveal the rotation of the tire teeth. By acquiring multiple cycles of acceleration and gear tooth information, the dynamic behavior of the tire under different conditions and the rotation state of the gear teeth can be captured, providing a data foundation for subsequent steps.

[0031] S120. Calculate a first phase difference based on the acceleration data, where the first phase difference is the phase difference between the phase corresponding to the acceleration data of the kth period and the phase corresponding to the acceleration data of the hth period, where 0<k≤m, 0<h≤m, h≠k.

[0032] Specifically, the first phase difference refers to the difference between the phases of the acceleration data within two cycles. By calculating this first phase difference, the tire's motion state can be dynamically monitored, providing information for the positioning of the tire pressure sensor.

[0033] In an embodiment of the present invention, the first phase difference reflects the phase change of the acceleration sensor in different cycles. Since the acceleration sensor and the tire pressure sensor are installed in the same tire pressure monitoring module, the phase difference of the acceleration data can indirectly reflect the corresponding phase change of the tire pressure sensor in the two cycles.

[0034] S130 , calculating a gear tooth phase difference according to the gear tooth information, where the gear tooth phase difference is a phase difference between a gear tooth phase in the kth period and a gear tooth phase in the hth period.

[0035] Specifically, the tooth phase difference refers to the angular difference between the tire tooth position and a reference point in different cycles. The tooth phase difference can be calculated using the following formula:

[0036] Tooth phase = current number of teeth / total number of teeth × 360°

[0037] Tooth phase difference = tooth phase k - Tooth phaseh

[0038] Among them, the gear tooth phase k is the gear tooth phase of the kth cycle; h is the gear tooth phase in the hth cycle.

[0039] In the embodiment of the present invention, the gear tooth phase difference can reflect the phase change of the corresponding tire teeth within two cycles.

[0040] S140: Determine a correspondence between the tire pressure sensor and the tire according to the first phase difference and the gear tooth phase difference.

[0041] Specifically, since each tire has a tire pressure detection module and a gear tooth sensor is also installed on the gear teeth of the tire, by comparing the relationship between the first phase difference corresponding to the acceleration data measured by the tire pressure detection module and the gear tooth phase difference, it is possible to determine in which tire the tire pressure sensor is specifically installed, thereby realizing self-positioning of the tire pressure sensor.

[0042] In an embodiment of the present invention, a vehicle's tire pressure monitoring module can transmit radio frequency signals, and the gear tooth sensor can be connected to the vehicle control system via the CAN bus, enabling the vehicle to accurately locate the tire corresponding to the received gear tooth information. By combining the first phase difference of the acceleration data with the gear tooth phase difference of the gear tooth information, the tire corresponding to the tire pressure sensor can be determined, thus achieving self-positioning of the tire pressure sensor. Furthermore, the vehicle's management system can dynamically monitor the tire pressure status during driving, thereby improving driving safety and efficiency.

[0043] Optionally, if the difference between the first phase difference and the gear tooth phase difference is less than a preset phase difference threshold, the tire pressure sensor is arranged in the tire corresponding to the gear position sensor.

[0044] Specifically, the preset phase difference threshold refers to a predetermined maximum allowable difference between the phase differences between the tire pressure sensor and the gear position sensor. The preset phase difference threshold is used to determine whether the first phase difference and the gear tooth phase difference are sufficiently close to each other, thereby confirming whether the tire pressure sensor is installed in the corresponding tire.

[0045] In the embodiment of the present invention, setting a preset phase difference threshold can reduce misjudgment caused by the phase difference and improve the reliability and stability of the tire pressure sensor self-positioning process.

[0046] The technical solution provided by the embodiment of the present invention realizes the self-positioning of the tire pressure sensor based on the first phase difference and the gear tooth phase difference corresponding to the acceleration data. Among them, the first phase difference is obtained by taking the difference between the phases corresponding to the acceleration data of two cycles, and the gear tooth phase difference is obtained by taking the difference between the gear tooth phases of two cycles. The difference between the phases of the two cycles can effectively offset the static error existing in the data transmission process. In particular, for gear tooth information, since the CAN bus records and stores gear tooth information every 20ms, the backtracking of gear tooth information can only be an integer multiple of 20, resulting in an error of 0-20ms in the gear tooth information. This embodiment can effectively offset this error by taking the difference between the gear tooth phases corresponding to the two cycles, so the gear tooth sensor no longer needs to send the backtracking time to the receiving end. That is, the technical solution provided by this embodiment can effectively reduce the error existing in the self-positioning process of the tire pressure sensor, thereby improving the accuracy of the self-positioning process of the tire pressure sensor.

[0047] Figure 2 This is a flow chart of another tire pressure sensor self-positioning method provided by an embodiment of the present invention. Based on the above embodiments, optionally, Figure 2 As shown, the method may include:

[0048] S210 , acquiring acceleration data corresponding to n acceleration sampling points of m periods and gear tooth information corresponding to n acceleration sampling points of m periods of the tire, where m and n are both positive integers, and n≥2.

[0049] Specifically, an acceleration sampling point refers to a specific time point within a cycle where the acceleration of an object is measured and recorded at regular intervals. For example, m = 2 and n = 21. For example, consider two acceleration cycles of a car, each containing 21 acceleration sampling points. Acceleration data is collected at each acceleration sampling point.

[0050] In an embodiment of the present invention, each acceleration cycle is divided into n acceleration sampling points, and corresponding acceleration data is collected at each acceleration sampling point. This can achieve high-precision monitoring and analysis of acceleration changes, and then obtain a detailed curve of acceleration changes over time, thereby more accurately reflecting the dynamic characteristics of the object during motion.

[0051] S220. Based on the acceleration data corresponding to the n acceleration sampling points of the m cycles, obtain the first phase of the acceleration data corresponding to the ith acceleration sampling point of the kth cycle and the second phase of the acceleration data corresponding to the ith acceleration sampling point of the hth cycle, respectively, where k, h, and i are all positive integers and 0<i≤n.

[0052] Specifically, the first phase refers to the phase information extracted from the frequency domain analysis of the acceleration data corresponding to the i-th acceleration sampling point in the k-th cycle. The second phase refers to the phase information extracted from the frequency domain analysis of the acceleration data corresponding to the i-th acceleration sampling point in the h-th cycle. Although the acceleration data corresponding to the first phase and the second phase have different periods, both correspond to the same acceleration sampling point (the i-th sampling point), that is, the acceleration data collected at the same acceleration sampling point in each period is used to calculate the phase. The first phase and the second phase can be used to analyze the changes in acceleration data between different periods.

[0053] For example, m=2, n=21, i=11, k=1, h=2 can be taken, that is, the phase corresponding to the acceleration data of the 11th acceleration sampling point in the first cycle is taken as the first phase, and the phase corresponding to the acceleration data of the 11th acceleration sampling point in the second cycle is taken as the second phase.

[0054] In an embodiment of the present invention, if the value of n is an odd number, the value of i can be the median of n, that is, i = (n+1) / 2; if the value of n is an even number, i can be the integer before or after the average value of n, that is, i = n / 2 or i = n / 2+1.

[0055] Optionally, Fourier analysis is performed on the acceleration data corresponding to the n acceleration sampling points of each cycle to obtain m fitted sine curves; based on the phases of the acceleration data corresponding to the n acceleration sampling points in the m fitted sine curves, the first phase of the acceleration data corresponding to the i-th acceleration sampling point in the k-th cycle and the second phase of the acceleration data corresponding to the i-th acceleration sampling point in the h-th cycle are determined.

[0056] Specifically, Fourier analysis is a mathematical transformation used to convert time-domain signals into frequency-domain signals. Sine curve fitting involves analyzing Fourier-analyzed acceleration data to obtain a function that approximates a sine wave. Sine curve fitting can be used to describe the periodic behavior of acceleration data.

[0057] For example, Figure 3 A schematic diagram of a first phase obtained through Fourier analysis provided in an embodiment of the present invention. Figure 4 Schematic diagram of a second phase obtained by Fourier analysis according to an embodiment of the present invention. Figure 3 and Figure 4 As shown, after Fourier analysis, the first phase corresponding to the 11th acceleration sampling point 11point1 of the first cycle and the second phase corresponding to the 11th acceleration sampling point 11point2 of the second cycle can be used to analyze the status of the tire pressure sensor in the tire.

[0058] In an embodiment of the present invention, Fourier analysis is performed on the acceleration data of each period, and the data points in the time domain are converted into the frequency domain, so as to find the first phase and second phase of the acceleration sampling points corresponding to the acceleration data of the corresponding period on the fitting sine curve, providing data preparation for the subsequent acquisition of the first phase difference.

[0059] S230: Obtain a first phase difference according to the first phase and the second phase.

[0060] Specifically, the first phase difference can be obtained by subtracting the first phase from the second phase.

[0061] S240 , obtaining a first gear tooth phase corresponding to the ith acceleration sampling point in the kth period and a second gear tooth phase corresponding to the ith acceleration sampling point in the hth period according to gear tooth information corresponding to the n acceleration sampling points in the mth period.

[0062] Specifically, the first tooth phase refers to the phase information extracted from the tooth information corresponding to the i-th acceleration sampling point in the k-th cycle, representing the phase offset or position information of the tooth at that sampling point. The second tooth phase refers to the phase information extracted from the i-th acceleration sampling point in the h-th cycle, representing the phase offset or position information of the tooth at that sampling point. By comparing the first and second tooth phases, the phase changes of the teeth between different cycles can be analyzed.

[0063] Exemplarily, m=2, n=21, i=11, k=1, h=2, that is, the first gear tooth phase corresponding to the 11th acceleration sampling point of the first cycle is taken, and the second gear tooth phase corresponding to the 11th acceleration sampling point of the second cycle is taken.

[0064] In the embodiment of the present invention, taking the first gear tooth phase corresponding to the acceleration sampling point corresponding to the first phase and the second gear tooth phase corresponding to the acceleration sampling point corresponding to the second phase can provide data preparation for subsequently obtaining the gear tooth phase difference.

[0065] S250: Obtain a gear tooth phase difference according to the first gear tooth phase and the second gear tooth phase.

[0066] Specifically, the tooth phase difference can be obtained by subtracting the first tooth phase from the second tooth phase.

[0067] S260: Determine a corresponding relationship between the tire pressure sensor and the tire according to the first phase difference and the gear tooth phase difference.

[0068] The technical solution provided by the embodiment of the present invention obtains the first phase, the second phase, the first gear tooth phase and the second gear tooth phase for the same acceleration sampling points corresponding to two different periods, thereby obtaining the first phase difference and the gear tooth phase difference. The first phase and the second phase are calculated by Fourier analysis, which can decompose complex time domain signals into multiple frequency components and extract the amplitude and phase information of each component. Even in the case of large changes in vehicle speed, the first phase and the second phase can be accurately calculated. In addition, only two periods of data are needed to realize the self-positioning of the tire pressure sensor, so that the receiving end of the vehicle control system does not need to record a large amount of gear tooth information, which effectively reduces the memory requirement. In summary, the tire pressure sensor self-positioning method provided by the present invention has the advantages of high accuracy and small memory requirement.

[0069] Figure 5 This is a flow chart of another tire pressure sensor self-positioning method provided by an embodiment of the present invention. Based on the above embodiments, optionally, Figure 5 As shown, the method includes:

[0070] S310. Send an agreed signal to the tire pressure monitoring module to agree on sampling information, and receive a confirmation signal sent by the tire pressure monitoring module; wherein the sampling information includes: the start sampling time, the number of sampling cycles, the first preset time, the number of acceleration sampling points and the second preset time.

[0071] Specifically, sampling information refers to the parameters and settings related to tire pressure monitoring module data collection. The start sampling time refers to the starting time point of the tire pressure monitoring module's sampling process. The number of sampling cycles refers to the number of complete sampling cycles performed by the tire pressure monitoring module. The number of acceleration sampling points refers to the number of acceleration sampling points included in each sampling cycle. The first preset time refers to the time interval between each sampling cycle. The second preset time refers to the time interval between each acceleration sampling point.

[0072] In the embodiment of the present invention, the receiving end of the control system of the automobile agrees on sampling information with the tire pressure monitoring module, which can ensure the efficient operation of the tire pressure monitoring system and the accuracy of data collection.

[0073] S320: When receiving a confirmation signal sent by the tire pressure detection module, start sampling according to the sampling information.

[0074] In an embodiment of the present invention, by receiving the confirmation signal, the vehicle control system can confirm that the tire pressure detection module has correctly received and understood the sampling instruction, thereby avoiding sampling failures caused by signal loss or transmission errors.

[0075] S330: Acquire acceleration data corresponding to n acceleration sampling points of m periods, wherein the interval between the m-1th period and the mth period is a first preset time, and the interval between the n-1th acceleration sampling point and the nth acceleration sampling point is a second preset time.

[0076] In the embodiment of the present invention, the first preset time and the second preset time ensure the uniformity and regularity of data collection, and avoid data deviation caused by inconsistent sampling intervals.

[0077] S340. Obtain n gear tooth phases of m periods, wherein a first preset time interval exists between the m-1th period and the mth period, and a second preset time interval exists between a sampling moment corresponding to the n-1th gear tooth phase and a sampling moment corresponding to the nth gear tooth phase.

[0078] In this embodiment of the present invention, the first and second preset times ensure uniformity and regularity in data collection, avoiding data deviations caused by inconsistent sampling intervals. The time intervals between the gear tooth phase and the phase corresponding to the acceleration data are identical, ensuring a one-to-one correspondence between the calculated first phase difference and the gear tooth phase difference, thus ensuring the accuracy of the tire pressure sensor's self-positioning.

[0079] S350. Calculate a first phase difference based on the acceleration data, where the first phase difference is the phase difference between the phase corresponding to the acceleration data of the kth period and the phase corresponding to the acceleration data of the hth period, where 0<k≤m, 0<h≤m, h≠k.

[0080] S360: Calculate a gear tooth phase difference according to the gear tooth information, where the gear tooth phase difference is a phase difference between a gear tooth phase in the kth period and a gear tooth phase in the hth period.

[0081] S370: Determine the corresponding relationship between the tire pressure sensor and the tire based on the first phase difference and the gear tooth phase difference

[0082] The technical solution provided by the embodiment of the present invention ensures that the gear tooth sensor and the tire pressure detection module are sampled at the same time, which can ensure that the phase corresponding to the acceleration data corresponds one-to-one with the gear tooth phase, and further ensure that the first phase difference and the gear tooth phase difference correspond one-to-one, thereby effectively improving the accuracy of the tire pressure sensor self-positioning device.

[0083] Figure 6 A schematic structural diagram of a tire pressure sensor self-positioning device provided by an embodiment of the present invention.

[0084] like Figure 6 As shown, the tire pressure sensor self-positioning device includes:

[0085] The measurement module 410 is configured to obtain m cycles of acceleration data of the tire and m cycles of gear tooth information.

[0086] The first phase difference acquisition module 420 is configured to calculate the first phase difference according to the acceleration data.

[0087] The gear tooth phase difference acquisition module 430 is configured to calculate the gear tooth phase difference based on the gear tooth information.

[0088] The self-positioning module 440 is configured to determine a corresponding relationship between the tire pressure sensor and the tire according to the first phase difference and the gear tooth phase difference.

[0089] The tire pressure sensor self-positioning device provided in the embodiment of the present invention can execute the tire pressure sensor self-positioning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0090] An embodiment of the present invention also provides a vehicle, which includes the tire pressure sensor self-positioning device provided by any of the above embodiments, can execute the tire pressure sensor self-positioning method provided by any of the above embodiments, and has functional modules and beneficial effects corresponding to the execution method.

[0091] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0092] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A tire pressure sensor self-positioning method, characterized in that: A tire pressure monitoring module is provided in the tire, the tire pressure monitoring module includes an acceleration sensor and a tire pressure sensor, a gear position sensor is provided on the gear teeth of the tire, and the tire pressure sensor self-positioning method includes: Acquire acceleration data of the tire for m periods and gear tooth information for m periods, where m≥2; Calculating a first phase difference according to the acceleration data, the first phase difference being a phase difference between a phase corresponding to the acceleration data of the kth cycle and a phase corresponding to the acceleration data of the hth cycle, wherein 0<k≤m, 0<h≤m, h≠k; Calculating a gear tooth phase difference according to the gear tooth information, wherein the gear tooth phase difference is a phase difference between a gear tooth phase in a kth period and a gear tooth phase in an hth period; The corresponding relationship between the tire pressure sensor and the tire is determined according to the first phase difference and the gear tooth phase difference.

2. The tire pressure sensor self-positioning method according to claim 1, characterized in that: The step of acquiring the acceleration data of the tire for m periods and the gear tooth information for m periods comprises: Acceleration data corresponding to n acceleration sampling points in m cycles and gear tooth information corresponding to n acceleration sampling points in m cycles of the tire are obtained, wherein m and n are both positive integers, and n≥2.

3. The tire pressure sensor self-positioning method according to claim 2, characterized in that: The calculating the first phase difference according to the acceleration data comprises: According to the acceleration data corresponding to the n acceleration sampling points of the m cycles, a first phase of the acceleration data corresponding to the ith acceleration sampling point of the kth cycle and a second phase of the acceleration data corresponding to the ith acceleration sampling point of the hth cycle are obtained respectively, wherein k, h and i are all positive integers, and 0<i≤n; A first phase difference is obtained according to the first phase and the second phase.

4. The tire pressure sensor self-positioning method according to claim 3, characterized in that: The acquiring the gear tooth phase difference according to the gear tooth information comprises: According to the gear tooth information corresponding to the n acceleration sampling points of the m cycles, respectively obtaining a first gear tooth phase corresponding to the ith acceleration sampling point of the kth cycle and a second gear tooth phase corresponding to the ith acceleration sampling point of the hth cycle; A gear tooth phase difference is obtained according to the first gear tooth phase and the second gear tooth phase.

5. The tire pressure sensor self-positioning method according to claim 3, characterized in that: The method of obtaining the first phase of the acceleration data corresponding to the ith acceleration sampling point in the kth period and the second phase of the acceleration data corresponding to the ith acceleration sampling point in the hth period respectively according to the acceleration data corresponding to the n acceleration sampling points in the mth period includes: Performing Fourier analysis on the acceleration data corresponding to the n acceleration sampling points in each cycle to obtain m fitting sinusoidal curves; According to the phases of the acceleration data corresponding to the n acceleration sampling points in the m fitting sinusoidal curves, the first phase of the acceleration data corresponding to the ith acceleration sampling point in the kth period and the second phase of the acceleration data corresponding to the ith acceleration sampling point in the hth period are determined.

6. The tire pressure sensor self-positioning method according to claim 2, characterized in that: The acquisition of acceleration data corresponding to n acceleration sampling points of m cycles and gear tooth information corresponding to n acceleration sampling points of m cycles of the tire includes: Acquire acceleration data corresponding to n acceleration sampling points of m cycles, wherein the interval between the m-1th cycle and the mth cycle is a first preset time, and the interval between the n-1th acceleration sampling point and the nth acceleration sampling point is a second preset time; Obtain n gear tooth phases of m cycles, wherein a first preset time is separated from an m-1th cycle and an m-th cycle, and a second preset time is separated from a sampling moment corresponding to an n-1th gear tooth phase and a sampling moment corresponding to an n-1th gear tooth phase.

7. The tire pressure sensor self-positioning method according to claim 1, characterized in that: The determining the corresponding relationship between the tire pressure sensor and the tire according to the first phase difference and the gear tooth phase difference comprises: If the difference between the first phase difference and the gear tooth phase difference is smaller than a preset phase difference threshold, the tire pressure sensor is disposed in a tire corresponding to the gear position sensor.

8. The tire pressure sensor self-positioning method according to claim 6, characterized in that: Before acquiring the acceleration data of the tire for m periods and the gear tooth information for m periods, the method further includes: Sending a predetermined signal sampling information to the tire pressure monitoring module, and receiving a confirmation signal sent by the tire pressure monitoring module; wherein the sampling information includes: the start sampling time, the number of sampling cycles, the first preset time, the number of acceleration sampling points and the second preset time; When a confirmation signal sent by the tire pressure detection module is received, sampling is started according to the sampling information.

9. A tire pressure sensor self-positioning device, characterized in that: The tire pressure sensor self-positioning device comprises: A measuring module, used for acquiring acceleration data of the tire for m periods and gear tooth information for m periods; A first phase difference acquisition module, used for calculating a first phase difference according to the acceleration data; A gear tooth phase difference acquisition module, used for calculating the gear tooth phase difference according to the gear tooth information; The self-positioning module is used to determine the corresponding relationship between the tire pressure sensor and the tire according to the first phase difference and the gear tooth phase difference.

10. A vehicle, characterized in that: The vehicle includes the tire pressure sensor self-positioning device according to claim 9, and the vehicle can execute the tire pressure sensor self-positioning method according to any one of claims 1-8.

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