Steering state determination method and device and computer readable storage medium

Abstract

The invention provides a steering state determination method of a target object. The target object comprises a direction controller and a steering device, and the direction controller is used for controlling a first steering angle of the steering device. The method comprises the following steps: determining an adjustment wheelbase of the target object based on a first control angle of the direction controller; determining a steering angle range from a plurality of candidate angle ranges based on the first control angle; determining an estimated steering angle of the steering device based on the moving speed of the target object, the first control angle and the adjustment wheelbase; and comparing the estimated steering angle with the steering angle range to determine the steering state of the target object. In addition, the invention also provides a steering state determination device capable of executing the method and a computer readable storage medium.

Description

Technical Field

[0001] The present disclosure relates to a technology for determining a steering state, and particularly to a method, an apparatus, and a computer-readable storage medium for determining the steering state of a target object. Background Art

[0002] With the progress of technology, it has become quite common to install multiple measuring devices on a vehicle. It is extremely important to accurately understand the operating state of the vehicle's steering system itself to ensure that the vehicle can avoid losing control when turning during driving.

[0003] Calculating the wheel angle based on the steering wheel angle and a fixed steering ratio can be used as a way to confirm the steering state of an assisted driving or autonomous driving control system. However, the relationship between the left and right wheels and the steering wheel is not completely independent, and the steering operations between the two will change due to differences in the vehicle's steering mechanism itself, and the impact of this mechanical structure on the actual movement is difficult to actually measure. In addition, after the vehicle has been running for a long time, there are often differences between the factory-set values and the actual values of the operating state. If a vehicle actually malfunctions when turning during driving, the relationship between the wheel angle and the steering wheel angle will also change accordingly.

[0004] Therefore, if the wheel angle cannot be directly measured or cannot be indirectly but accurately calculated after the steering wheel is turned, the failure of the steering system cannot be directly detected. This also results in the vehicle being unable to prevent potential subsequent accidents in advance.

[0005] In summary, although it is difficult for a vehicle to directly measure the steering angle during driving, the driver or the autonomous driving control system still needs a method to indirectly but accurately calculate the wheel angle to determine that the vehicle can complete the turn smoothly during driving. Summary of the Invention

[0006] The present disclosure provides a method, an apparatus, and a computer-readable storage medium for determining the steering state of a target object, which can easily obtain the error relationship between the angle of a steering device (such as a wheel) and the design value in the true motion state of a target state (such as a car) through simple static tests, dynamic tests, etc., so as to monitor the steering system of the target object in real time during the actual operation of the target object to detect faults or fault tendencies that are difficult to directly measure in advance. During the actual operation, the present disclosure does not require additional devices or sensors except for the measuring devices of the target object itself, and the real-time monitoring algorithm has high calculation efficiency and consumes less computing resources, which is conducive to large-scale promotion.

[0007] The first aspect of the present disclosure proposes a method for determining the steering state of a target object. The target object includes a direction controller and a steering device, and the direction controller is used to control a first steering angle of the steering device. The method includes determining an adjusted wheelbase of the target object based on a first control angle of the direction controller; determining a steering angle range from a plurality of candidate angle ranges based on the first control angle; determining an estimated steering angle of the steering device based on a moving speed of the target object, the first control angle, and the adjusted wheelbase; and comparing the estimated steering angle with the steering angle range to determine the steering state of the target object.

[0008] The second aspect of the present disclosure proposes a device for determining the steering state of a target object, including one or more processors and a memory storing a program. The program includes instructions that cause the steering state determination device to execute the above method when executed by the processor.

[0009] The third aspect of the present disclosure proposes a computer-readable storage medium storing a program, the program including instructions that cause a computing device to execute the above method when executed by one or more processors of the computing device. Description of the Drawings

[0010] The drawings exemplarily show embodiments and form a part of the specification, and are used together with the written description of the specification to explain the exemplary embodiments. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts. In all the drawings, the same reference numerals refer to similar but not necessarily identical elements.

[0011] Figure 1A is a block diagram showing a system for determining the steering state of a target object according to an exemplary embodiment.

[0012] Figure 1B is a block diagram showing a target object having a steering state determination device according to an exemplary embodiment.

[0013] Figure 2 is a flowchart showing a method for determining the steering state of a target object according to an exemplary embodiment.

[0014] Figure 3 is a block diagram showing the Figure 1A target object in a stationary state for testing according to an exemplary embodiment.

[0015] Figure 4A and Figure 4BIt is a schematic diagram showing that when a target object is in a stationary state according to an exemplary embodiment, four steering units are angle-controlled by a direction controller at a second control angle.

[0016] Figure 5 It is a schematic diagram showing that according to an exemplary embodiment Figure 1A The block diagram of the target object in the constant speed test state in is for testing.

[0017] Figure 6 It is a distribution diagram showing the relationship between multiple third control angles and candidate steering angles when the target object is in a constant speed test state according to an exemplary embodiment.

[0018] Figure 7 It is a schematic diagram showing a computing device according to an exemplary embodiment. Detailed implementation manners

[0019] In order to make the objectives, technical solutions, and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the accompanying drawings. Apparently, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0020] In the present disclosure, the term "a plurality of" means two or more, unless otherwise specified. In the present disclosure, the term "and / or" describes the associated relationship of associated objects, covering any one of the listed objects and all possible combination manners. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0021] In the present disclosure, unless otherwise specified, the terms "first", "second", etc. are used to distinguish similar objects, and are not intended to limit their positional relationship, timing relationship, or importance relationship. It should be understood that such terms can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in a manner other than those illustrated or described herein.

[0022] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily limit to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these process, method, system, product, or device.

[0023] The following further describes the present disclosure in detail with reference to the embodiments of the accompanying drawings.

[0024] Please refer to Figure 1A ,Figure 1A It is a block diagram showing a steering state determination system 1 for a target object according to an exemplary embodiment. The steering state determination system 1 includes a steering state determination device 10 and a target object 11. In some embodiments, the steering state determination device 10 includes a processor 101, a data interface 102, and a memory 103. In some embodiments, the target object 11 includes a direction controller 111, a steering device 112, a direction angle measurer 113, and a moving speed measurer 114. In some embodiments, although the steering state determination device 10 may be located outside the target object 11, it can be coupled to the target object 11 and receive data transmitted from the direction angle measurer 113 and the moving speed measurer 114 through the data interface 102. In some embodiments, the direction angle measurer 113 and the moving speed measurer 114 can be coupled to the steering state determination device 10 wirelessly, so that the steering state determination device 10 can receive data transmitted from the direction angle measurer 113 and the moving speed measurer 114 through the data interface 102.

[0025] Please refer to Figure 1B , Figure 1B It is a block diagram showing a target object 12 having a steering state determination device 10 according to an exemplary embodiment. In some embodiments, the target object 12 includes a steering state determination device 10, a direction controller 111, a steering device 112, a direction angle measurer 113, and a moving speed measurer 114. In other words, the steering state determination device 10 can be directly provided in the target object 12. In some embodiments, the direction angle measurer 113 and the moving speed measurer 114 can be coupled to the steering state determination device 10 directly or indirectly through wired or wireless means, so that the steering state determination device 10 can receive data transmitted from the direction angle measurer 113 and the moving speed measurer 114 through the data interface 102.

[0026] The steering state determination device 10 can be a mobile phone, a tablet computer, a desktop computer, a laptop computer, an online server, an edge computer, or other computing devices, etc., which are not limited herein.

[0027] The processor 101 and the memory 103 are coupled to each other. The memory 103 stores a plurality of instructions for the processor 101 to execute the steering state determination method of the target object according to the plurality of instructions stored in the memory 103. To complete the steering state determination method of the present disclosure, the memory 103 stores a steering state determination program 1030.

[0028] The data interface 102 can utilize a custom protocol or follow existing or de facto standards, including but not limited to Ethernet, IEEE 802.11 or IEEE 802.15 series, Wireless USB, or telecommunication standards (including but not limited to GSM, CDMA2000, TD-SCDMA, WiMAX, 3GPP-LTE, or TD-LTE), so that the steering state determination device 10 can receive data transmitted from other devices or other measuring instruments, or so that the steering state determination device 10 can transmit data to other devices. In some embodiments, the data interface 102 can be a wired or wireless data interface. In some embodiments, the data interface 102 can directly or indirectly receive data transmitted from the direction angle measuring instrument 113 and the moving speed measuring instrument 114 through wired or wireless coupling means.

[0029] The target objects 11 and 12 can be any form of transportation vehicle or conveyance, such as a gasoline vehicle, an electric vehicle, a truck, a lorry, a forklift, a bulldozer, a pallet truck, an amphibious vehicle, an airplane, etc., and are not limited herein. In some embodiments, the target objects 11 and 12 can be a conveyance or transportation vehicle with manual or autonomous driving. For example: an autonomous vehicle and an automatic pallet truck for transporting goods, etc.

[0030] The direction controller 111 can be any form of physical direction control device such as a steering wheel, a direction control handle, a direction control lever, any form of display device that displays a direction control interface, or an electronic device (such as: an autonomous driving system) that directly transmits the control angle as data to the steering device 112. In some embodiments, the coupling between the direction controller 111 and the steering device 112 can be a mechanical connection, a wired transmission connection, or a wireless transmission connection. In some embodiments, the direction controller 111 can be used to control the steering angle of the steering device 112 to control the traveling direction of the target objects 11 and 12.

[0031] The steering device 112 can be any form of direction conversion device such as a tire, a wheel steering rod, a wheel steering motor, etc. In some embodiments, the steering device 112 can include multiple steering units (for example: multiple tires that can make the target objects 11 and 12 move forward and turn). In some embodiments, when the direction controller 111 performs angle control at a control angle, the multiple steering units can each have the same or different steering angles.

[0032] When the direction controller 111 is any form of physical direction control device such as a steering wheel, a direction control handle, or a direction control lever, the direction angle measurer 113 can be a rotation angle sensor of the direction controller 111. When the direction controller 111 is any form of display device that displays a direction control interface, the direction angle measurer 113 can be a direction control interface that receives an input of a control angle or a processor that confirms the input control angle. When the direction controller 111 is an electronic device that directly transmits a control angle as data to the steering device 112, the direction angle measurer 113 can be any component that can obtain the control angle transmitted by the electronic device.

[0033] The moving speed measurer 114 can be a component such as a speed sensor or a speed detector provided in the target object 11 or 12 to measure the moving speed of the target object 11 or 12. The moving speed measurer 114 can be an external device (e.g., an external speed measuring device such as a speed radar) provided outside the target objects 11 and 12 to measure the moving speeds of the target objects 11 and 12. When the moving speed measurer 114 belongs to an external device and is not in the target objects 11 and 12, the moving speed measurer 114 can additionally have an identification module (not shown in the figure) capable of identifying the target object 11 or 12 and a measurer data interface (not shown in the figure) to identify the target object 11 or 12 and transmit the corresponding moving speed to the corresponding target object.

[0034] Figure 2 is a flowchart showing a method 200 for determining a steering state of a target object according to an exemplary embodiment. Since there are multiple ways to execute the steering state determination method 200, Figure 2 the shown steering state determination method 200 is only an example. The steering state determination method 200 can be executed using Figure 1A and Figure 1B the configurations shown, and while explaining the steering state determination method 200, please also refer to Figure 1A and Figure 1B for various components. Therefore, the target object can be the target object 11 or the target object 12. Figure 2 Each step shown in

[0035] In step S210, the steering state determination device 10 determines an adjusted wheelbase L′ of the target object based on a first control angle δ of the direction controller 111 C1 , of the target object.

[0036] The steering device 112 of the target object may have a plurality of steering units. In this embodiment, the case where the front steering unit controls the steering of the target object will be mainly discussed. When the number of the plurality of steering units is 4, 6 or more than 8, and the plurality of steering units include two front steering units and more than two rear steering units, the distance between the two front steering units may be the steering unit pitch S of the target object, and the distance between the two front steering units and the more than two rear steering units may be the steering unit wheelbase L. In some embodiments, when the plurality of steering units are tires, the steering unit pitch S may be the wheel track S between two front wheels, and the steering unit wheelbase L may be the wheelbase L between the front and rear wheels. In some embodiments, when the number of the rear steering units is 2, the steering unit wheelbase L may be the distance between the two front steering units and the two rear steering units. In some embodiments, when the number of the rear steering units is more than 2, if every two rear steering units are regarded as a group, then the average value of the distances between each group of rear steering units and the two front steering units is the steering unit wheelbase L.

[0037] When the target object is under angular control by the direction controller 111 at a first control angle δ C1 during operation, the direction controller 111 can control the first steering angle δ T1 of the steering device 112. The steering state determination device 10 can directly receive the value of the first control angle δ C1 of the direction controller 111 provided by the direction angle measurer 113. In some embodiments, when the target object is steering during operation, since the first steering angles δ T1 (e.g., the actual steering angles of the two front wheels) of the two front steering units are different, the common steering center M of the two front steering units is offset relative to the rear steering units. Therefore, the steering unit wheelbase L of the target object changes during steering during operation, and the target object does not steer based on the steering unit wheelbase L. However, it is difficult for the steering state determination device 10 to directly measure the change in the steering unit wheelbase L of the target object during steering during operation through a measuring tool. Therefore, the steering state determination device 10 can estimate the adjusted wheelbase L' of the target object through the first control angle δ C1 from a plurality of reference wheelbases L ref stored in advance.

[0038] In some embodiments, the plurality of reference wheelbases L ref can be obtained in advance by testing when the target object is in a stationary state. In some embodiments, the direction controller 111 can pass through a plurality of second control angles δ C2Angle control is performed on the stationary target object to obtain multiple reference wheelbase lengths L ref . Figure 3 is a block diagram showing the testing of the target object 11 in a stationary state according to an exemplary embodiment. In some embodiments, the steering state determination device 10 can be coupled to the angle measurer 13 either wired or wirelessly. In some embodiments, Figure 1A the steering state determination device 10 in Figure 1B can be coupled to the angle measurer 13 either wired or wirelessly and perform testing in a stationary state. In some embodiments, the angle measurer 13 can be coupled to the data interface 102 either wired or wirelessly, so that the steering state determination device 10 can receive data transmitted from the angle measurer 13 through the data interface 102.

[0039] In some embodiments, when the target object is in a stationary state, the multiple steering units can be directly or indirectly connected to the angle measurer 13 respectively, so that the multiple angle measurers 13 can measure multiple second steering angles δ C2 of the respective multiple steering units at different second control angles δ T2 . In some embodiments, when the target object is in a stationary state, multiple angle measurers 13 can measure multiple second steering angles δ C2 of the respective multiple steering units at different second control angles δ T2 without being connected to the multiple steering units. In some embodiments, the multiple angle measurers 13 can be four-wheel aligners. Therefore, when the target object is in a stationary state, in response to the direction controller 111 performing angle control using multiple second control angles δ C2 , the angle measurer 13 is controlled to measure the multiple second steering angles δ C2 of the respective multiple steering units in the steering device 112 corresponding to the multiple second control angles δ T2 , and based on the multiple second steering angles δ C2 of the respective steering devices 112 at the multiple second control angles δ T2 , the multiple reference wheelbase lengths L C2 of the target object at the multiple second control angles δ ref are determined.

[0040] Figure 4A and Figure 4B are schematic diagrams showing the angle control of two steering units 1121 and 1122 by the direction controller 111 at a second control angle δ C2 during the stationary state of the target object according to an exemplary embodiment. Figure 4A and Figure 4BTaking four steering units 1121 - 1124 as an example, but not limited to the target object that can only be applied to four steering units. In some embodiments, steering units 1121 and 1122 can be front steering units capable of steering, and steering units 1123 and 1124 can be rear steering units with fixed directions. In some embodiments, the angle measurer 13 can only measure the front steering units capable of steering, and does not measure the rear steering units with fixed directions. The distance between steering units 1121 and 1122 is the steering unit pitch S, and the distances between steering units 1121 and 1122 and between steering units 1123 and 1124 are the steering unit wheelbase L.

[0041] In some embodiments, since the target object does not move its position when it is in a stationary state, the angle measurer 13 can be directly set on the four steering units 1121 - 1124 to measure the respective second steering angles δ of the four steering units 1121 - 1124. T2 In some embodiments, since the target object does not move its position when it is in a stationary state, before the test starts, the target object can be pre - parked at a predetermined position, and the angle measurer 13 can be set up on the four steering units 1121 - 1124 that can measure the fixed position to measure the respective second steering angles δ of the four steering units 1121 - 1124. T2 .

[0042] According to Figure 4A and Figure 4B shown, when the direction controller 111 performs angle control (for example: turn right) on the target object with the second control angle δ C2 , through the angle measurer 13, the respective second outer steering angles δ O2 and the second inner steering angles δ I2 of the steering units 1121 and 1122 can be obtained. As Figure 4A shown, the second outer steering angle δ O2 can be smaller than the second inner steering angle δ I2 , and at this time, the steering of the target object conforms to the positive Ackermann relationship. As Figure 4B shown, the second outer steering angle δ O2 can be larger than the second inner steering angle δ l2 , and at this time, the steering of the target object conforms to the anti - Ackermann relationship. When different target objects perform angle control of turning right with the same second control angle δ C2 , the second outer steering angle δ O2 and the second inner steering angle δ I2The size relationship between them may change depending on the different target objects. Similarly, different target objects at the same second control angle δ C2 When performing left-turn angle control, the second outer steering angle δ O2 of the front steering unit and the second inner steering angle δ I2 The size relationship between them may change depending on the different target objects.

[0043] According to the second outer steering angle δ O2 and the second inner steering angle δ l2 of the steering units 1121 and 1122, two vertical line segments 1121a and 1122a perpendicular to the steering units 1121 and 1122 can be determined. The intersection point of the two vertical line segments 1121a and 1122a can be the common steering center M when the target object performs angle control at the second control angle δ C2 during the stationary state. The distances between the steering units 1121 and 1122 and the common steering center M in the front-rear axial direction of the target object can be the reference wheelbase L C2 corresponding to the second control angle δ ref . The reference wheelbase L C2 corresponding to the second control angle δ ref can be represented by the formula (1) of the following first adjustment method and the formula (2) of the second adjustment method:

[0044] If δ O2 <δ I2 When,

[0045] If δ O2 >δ I2 When,

[0046] During the stationary state of the target object, in response to the direction controller 111 performing angle control at multiple second control angles δ C2 , the angle measuring device 13 can obtain the respective second outer steering angles δ C2 and the second inner steering angles δ O2 of the steering units 1121 and 1122 at different second control angles δ I2 . Therefore, based on the second outer steering angles δ C2 and the second inner steering angles δ O2 at different second control angles δ I2 , multiple reference wheelbases L C2 of the target object at different second control angles δ ref can be further obtained.

[0047] In some embodiments, a plurality of second control angles δ C2 and a plurality of second steering angles δ T2 (e.g., a plurality of second outer steering angles δ O2 and a plurality of second inner steering angles δ I2 ) The corresponding relationship between them can be stored in the steering state determination device 10 in advance to estimate the adjusted wheelbase L′ of the target object when being angle-controlled by the first control angle δ C1 . In some embodiments, the corresponding relationship between a plurality of second control angles δ C2 and a plurality of reference wheelbases L ref can be stored in the steering state determination device 10 in advance to estimate the adjusted wheelbase L′ of the target object when being angle-controlled by the first control angle δ C1 .

[0048] In some embodiments, when the target object is angle-controlled by the direction controller 111 with the first control angle δ C1 , the steering state determination device 10 can compare the first control angle δ C1 with a plurality of second control angles δ C2 , and based on the corresponding relationship between the plurality of second control angles δ C2 and the plurality of second steering angles δ T2 , to determine, for the steering device 112, the reference steering angle δ T2 corresponding to the first control angle δ C1 . The steering state determination device 10 can obtain the adjusted wheelbase L′ corresponding to the first control angle δ Tref based on the reference steering angle δ Tref . In some embodiments, in response to the direction controller 111 using the first control angle δ C1 for angle control, the reference steering angle δ C1 may include the second outer steering angle δ Tref and the second inner steering angle δ O2 of each of the steering units 1121 and 1122 in the steering device. The steering units 1121 and 1122 can each serve as the first steering element or the second steering element. In some embodiments, when the steering unit 1121 serving as the first steering element is an outer steering unit, the first reference angle of the first steering element can be the second outer steering angle δ I2 . When the steering unit 1121 serving as the second steering element is an inner steering unit, the second reference angle of the second steering element can be the second inner steering angle δ O2 . Therefore, at the first control angle δ I2 C1 ​Under the angular control of the target object, when the first reference angle is less than the second reference angle, the adjustment wheelbase L' corresponding to the first control angle δ C1 is generated based on the first adjustment method. Conversely, when the first reference angle is greater than the second reference angle, the adjustment wheelbase L' corresponding to the first control angle δ C1 is generated based on a second adjustment method different from the first adjustment method.

[0049] In some embodiments, when the target object is under angular control by the direction controller 111 at the first control angle δ C1 , the steering state determination device 10 can compare the first control angle δ C1 with multiple second control angles δ C2 , and based on the corresponding relationship between the multiple second control angles δ C2 and multiple reference wheelbases L ref , determine the adjustment wheelbase L' corresponding to the first control angle δ ref from the multiple reference wheelbases L C1 .

[0050] In step S220, the steering state determination device 10 determines the steering angle range R C1 from multiple candidate angle ranges R Cand based on the first control angle δ T .

[0051] When the target object is under angular control by the direction controller 111 at the first control angle δ C1 , the direction controller 111 can control the first steering angle δ T1 of the steering device 112. Although the steering state determination device 10 can directly receive the value of the first control angle δ C1 of the direction controller 111 provided by the direction angle measurer 113, it is difficult for the steering state determination device 10 to directly measure the first steering angle δ T1 of the steering device 112 when the target object is steering during operation through a measuring tool. Conversely, it is also difficult for the steering state determination device 10 to collect all the feasible steering angles δ a when the target object is making a normal turn during operation. Therefore, the steering state determination device 10 can determine the steering angle range R C1 corresponding to the first control angle δ Cand from the multiple candidate angle ranges R C1 stored in advance based on the first control angle δ T .

[0052] In some embodiments, multiple candidate angle ranges RCand It can be obtained in advance by performing a test when the target object is in a constant-speed test state. In some embodiments, the direction controller 111 can use a plurality of third control angles δ C3 to perform angle control on the target object in the constant-speed test state, so as to obtain a plurality of candidate angle ranges R Cand . Figure 5 It is a block diagram showing the test of the target object 11 in the constant-speed test state in Figure 1A according to an exemplary embodiment. In some embodiments, the steering state determination device 10 can be coupled to the speed measurer 14 in a wired or wireless manner. In some embodiments, Figure 1B the steering state determination device 10 in

[0053] can be coupled to the speed measurer 14 in a wired or wireless manner and perform a test in the constant-speed test state. In some embodiments, the speed measurer 14 can be coupled to the data interface 102 in a wired or wireless manner, so that the steering state determination device 10 can receive the data transmitted from the speed measurer 14 through the data interface 102. C3 Under the condition, the plurality of steering units can respectively measure the respective rotational speeds ω of the plurality of steering units at different third control angles δ T . In some embodiments, when the target object is in the constant-speed test state, the plurality of speed measurers 14 can detect the respective rotational speeds ω of the plurality of steering units at different third control angles δ C3 without being connected to the plurality of steering units T . In some embodiments, the plurality of speed measurers 14 can be four-wheel aligners. Therefore, when the target object is in the constant-speed test state, in response to the direction controller 111 using a plurality of third control angles δ C3 for angle control, the speed measurer 14 is controlled to measure the respective rotational speeds ω of the plurality of steering units in the steering device 112 corresponding to the plurality of third control angles δ C3 . In some embodiments, the respective rotational speeds ω corresponding to the plurality of third control angles δ T can be further used to estimate all the feasible steering angles δ when the target object performs normal steering during operation C3 . T a .

[0054] In some embodiments, the constant-speed test can be a steady-state circular motion test. The target object can be at a speed below the highest preset speed V max (i.e., 0 < V c ​≤V max Select multiple different candidate speeds V within the range of c and, at the maximum control angle δ Smax or less (i.e., 0 < δ C3 ≤δ Smax ), select multiple different third control angles δ C3 to conduct a steady-state circular motion test. Due to the asymmetry of the two front steering units during steering (e.g., the candidate steering angles δ T3 of the two front steering units are different), the two front steering units can be measured separately, and multiple rotational speeds ω T are obtained respectively (e.g., the outer rotational speed ω0(V c , δ C3 ) and the inner rotational speed ω i (V c , δ C3 ). Therefore, after conducting the steady-state circular motion test through the target object, the multiple rotational speeds ω0(V c , δ C3 ) and ω c (V C3 , δ i ) of the two front steering units respectively can be obtained at different candidate speeds V c and different third control angles δ C3 .

[0055] When the test in the constant-speed test state is a steady-state circular motion test, at different candidate speeds V c and different third control angles δ C3 , the multiple rotational speeds ω0(V c , δ C3 ) and ω i (V c , δ C3 ) determined for the two front steering units respectively are the multiple rotational speeds ω T under normal steering. Therefore, the relationship between the multiple rotational speeds ω0(V c , δ C3 ) and ω i (V c , δ C3 ) and the candidate speed V c and the third control angle δ C3 can be used to further calculate all feasible candidate steering angles δ C3 for the target object at multiple third control angles δ T3 .

[0056] In some embodiments, since different candidate speeds V are tested simultaneously in the constant-speed test state c , there will be, at a single third control angle δ C3 , multiple different rotational speeds ω0(V c , δ c , δ C3 ) and multiple rotational speeds ω i (V c , δ C3 ) due to the different candidate speeds V. Therefore, in the test in the constant-speed test state, due to the different candidate speeds V c , multiple different rotational speeds ω0(V C3 , δ c , δ C3 ) and multiple rotational speeds ω i (V c , δ C3 ) can be obtained for each third control angle δ C3 , thereby establishing all feasible candidate steering angles δ T3 of the target object at each third control angle δ

[0057] Since the two front steering units are mounted on the target object, the relative position between the two front steering units will not change. Therefore, when the target object performs the steady-state circular motion test, the circumferential rotation angular velocities of the two front steering units around the common steering center M are the same. Assuming that the turning radii of the two front steering units are both r r , the relationship between multiple rotational speeds ω0(V c , δ C3 ) and ω i (V c , δ C3 ) can be expressed by formula (3):

[0058] (ω0 × r r ) / r0 = (ω i × r r ) / r i Formula (3)

[0059] where, taking Figure 4A as an example, the turning radii r o and r i are the distances between the steering units 1121 and 1122 and the common steering center M respectively. The lateral distance between the steering unit 1122 and the common steering center M in the Figure 4A is set as D. Then, the adjusted wheelbase L′, the lateral distance D, the steering unit spacing S, and the turning radii r o and r iThe relationship between them can be expressed by formula (4):

[0060]

[0061] By substituting formula (3) into formula (4), the lateral distance D can be expressed by formula (5):

[0062]

[0063] Furthermore, through formula (5), the outer candidate steering angles δ of the steering units 1121 and 1122 O3 and the inner candidate steering angles δ I3 can be expressed by formula (6):

[0064]

[0065] Therefore, when the target object is in the constant-speed test state, according to the steering device 112 at multiple third control angles δ C3 and multiple candidate speeds V c at each of their respective multiple rotational speeds ω0(V c , δ C3 ) and ω i (V c , δ C3 ) and the multiple reference wheelbases L of the target object corresponding to the multiple third control angles δ C3 , determine the multiple candidate steering angles δ of the steering device 112 at each of the multiple third control angles δ ref (for example: candidate steering angles δ C3 and δ T3 ). O3 and δ I3 )

[0066] For example, when the target object is in the constant-speed test state, the multiple reference wheelbases L corresponding to the target object can be determined through multiple third control angles δ C3 . In some embodiments, when confirming the multiple reference wheelbases L in the constant-speed test state ref , the multiple reference wheelbases L corresponding to the multiple second control angles δ ref obtained when the target object is in the stationary state can be used C2 . In addition, when the target object is in the constant-speed test state, at multiple third control angles δ ref and multiple candidate speeds V C3 , the multiple rotational speeds ω0(V c , δ c ) and ω C3 measured i (V c, δ C3 ) The multiple candidate steering angles δ of the steering device 112 at multiple third control angles δ can be estimated through formula (6). C3 and multiple candidate speeds V c at each of the multiple candidate steering angles δ O3 and δ I3 . Therefore, when the target object is in the constant speed test state, the multiple candidate steering angles δ of the steering device 112 at multiple third control angles δ C3 can be used to establish multiple candidate angle ranges R of the steering device 112 at multiple third control angles δ O3 and δ I3 . Since the steering device 112 may include steering units 1121 and 1122, the multiple candidate steering angles δ of the steering unit 1121 at multiple third control angles δ C3 can be used to establish multiple candidate angle ranges R of the steering unit 1121 at multiple third control angles δ Cand . In addition, the multiple candidate steering angles δ of the steering unit 1122 at multiple third control angles δ C3 can be used to establish multiple candidate angle ranges R of the steering unit 1122 at multiple third control angles δ O3 . In some embodiments, the multiple candidate angle ranges R of one of the steering elements 1121 or 1122 in the steering device 112 at multiple third control angles δ C3 each correspond to one of the multiple third control angles δ Cand at multiple third control angles δ C3 . I3 . C3 . Cand . C3 . Cand . C3 . C3 .

[0067] Figure 6 is a distribution diagram showing the relationship between multiple third control angles δ and candidate steering angles δ of the target object in the constant speed test state according to an exemplary embodiment. Combining C3 with T3 and looking at it, Figure 4A and Figure 6 , Figure 6 the dark dots in are the multiple candidate steering angles δ of the steering unit 1121 at multiple third control angles δ C3 , and the dark line segment at the top can be the left steering unit fitting line generated by fitting with multiple candidate steering angles δ 3L . Additionally, 3L the light dots in Figure 6 are the multiple candidate steering angles δ of the steering unit 1122 at multiple third control angles δ C3Multiple candidate steering angles δ below 3R , and the light-colored line segment below can be the right-turn unit fitting line generated by fitting with multiple candidate steering angles δ 3R .

[0068] In some embodiments, when the target object makes a right turn (i.e., the third control angle δ C3 is less than 0), the steering unit 1121 has multiple candidate steering angles δ C3 below multiple third control angles δ 3L which can be multiple candidate steering angles δ O3 , and the steering unit 1122 has multiple candidate steering angles δ C3 below multiple third control angles δ 3R which can be multiple candidate steering angles δ I3 . In some embodiments, when the target object makes a left turn (i.e., the third control angle δ C3 is greater than 0), the steering unit 1121 has multiple candidate steering angles δ C3 below multiple third control angles δ 3L which can be multiple candidate steering angles δ I3 , and the steering unit 1122 has multiple candidate steering angles δ C3 below multiple third control angles δ 3R which can be multiple candidate steering angles δ O3 .

[0069] In some embodiments, at different third control angles δ C3 , the steering unit 1121 has multiple candidate steering angles δ c due to multiple candidate speeds V 3L . Therefore, the steering unit 1121 can have multiple candidate steering angles δ C3 respectively according to different third control angles δ 3L . Since the steering unit 1121 can have multiple candidate steering angles δ C3 at different third control angles δ 3L , the steering unit 1121 can establish multiple candidate angle ranges R C3 corresponding to different third control angles δ Cand respectively. In some embodiments, there is a one-to-one relationship between multiple third control angles δ C3 and the multiple candidate angle ranges R Cand of the steering unit 1121. Therefore, the steering state determination device 10 can, based on the first control angle δ C1 , obtain a candidate angle range R Cand in one of the multiple candidate angle ranges RCand , as the steering angle range R of the target object during the steering period T .

[0070] In some embodiments, different third control angles δ C3 Under this condition, the steering unit 1122 will have multiple candidate speeds V c There are multiple candidate steering angles δ 3R Therefore, the steering unit 1122 can adjust the third control angle δ according to different C3 Each has multiple candidate steering angles δ 3R Due to the different third control angle δ C3 The lower steering units 1122 may each have a plurality of candidate steering angles δ 3R , so the steering unit 1122 can correspond to different third control angles δ C3 Establish multiple candidate angle ranges R respectively Cand In some embodiments, the third control angles δ C3 Multiple candidate angle ranges R of the steering unit 1122 Cand Therefore, the steering state determination device 10 can be based on the first control angle δ C1 , obtain the steering element 1122 in the steering device 112 in multiple candidate angle ranges R Cand A candidate angle range R Cand , as the steering angle range R of the target object during the steering period T .

[0071] In some embodiments, in order to establish each third control angle δ C3 The corresponding candidate angle range R Cand , can be based on a steering element in the steering device 112, from each third control angle δ C3 The plurality of candidate steering angles δ corresponding to each 3R and δ 3L In the above example, select at least one candidate steering angle δ 3R or δ 3L For example, from the perspective of the steering unit 1121, multiple third control angles δ C3 A specific third control angle δ C3 , to obtain the third control angle δ corresponding to the specific C3 Multiple candidate steering angles δ 3L , and from the candidate steering angle δ obtained for the steering unit 1121 3L In the above example, select at least one candidate steering angle δ 3L Based on the steering unit 1121 at the specific third control angle δC3 for the at least one selected candidate steering angle δ 3L , a reference angle range of the steering unit 1121 at the specific one of the third control angles δ C3 is established. In some embodiments, the reference angle range can be used as a plurality of candidate angle ranges R Cand corresponding to the specific one of the third control angles δ C3 in one of the candidate angle ranges R Cand . Therefore, the reference angle range can be included in the plurality of candidate angle ranges R Cand .

[0072] In some embodiments, the candidate angle range R Cand can be determined based on the data gap between the target object being in a stationary state and in a constant-speed test state. In some embodiments, for the plurality of second control angles δ C2 and the plurality of second steering angles δ T2 when the target object is in a stationary state, a first relationship can be fitted. In some embodiments, the first relationship can be a linear relationship, a quadratic relationship, a cubic relationship, or other polynomials. In some embodiments, for the plurality of third control angles δ C3 and the data relationship between the plurality of candidate steering angles when the target object is in a constant-speed test state, a second relationship can be fitted. In some embodiments, the second relationship can be a linear relationship, a quadratic relationship, a cubic relationship, etc. By substituting different control angles into the second control angle δ C2 and the third control angle δ C3 respectively, the difference between the candidate steering angle δ T3 and the second steering angle δ T2 can be determined at a specific control angle, and thus the corresponding candidate angle range R Cand can be determined. For example: The first relationship and the second relationship of the steering unit 1121 can both be quadratic relationships, and can be respectively represented by formula (7):

[0073]

[0074] wherein, δ 2L and δ 3L of the steering unit 1121 can be the steering angles calculated through the first relationship and the second relationship respectively. a1, a2, b1, and b2 are the coefficients in the two relationships respectively, c1 and c2 are the constants in the two relationships respectively, and δ C2 and δ C3For the second control angle and the third control angle of the direction controller 111. Therefore, only the first control angle δ of the direction controller 111 needs to be C1 substituted into formula (7) to determine the candidate angle range δ at a specific control angle 2L ±|δ 3L -δ 2L |. In some embodiments, the candidate angle range δ of the steering unit 1122 can be obtained in the same way 2R ±|δ 3R -δ 2R |.

[0075] In some embodiments, among the multiple candidate steering angles δ when the target object is in a constant speed test state T3 , statistical values such as the maximum value or the third quartile can be taken as the obtained candidate steering angle δ O3 , and compared with the second steering angle δ corresponding to the first control angle δ C1 to determine the candidate angle range R T1 . In some embodiments, the multiple candidate steering angles δ when the target object is in a constant speed test state Cand can also be used to calculate the variance σ (the variance can be calculated separately for different control angles or jointly for all control angles), and the second steering angle δ when the target object is in a stationary state T3 is used as a reference value to obtain the candidate angle range δ T2 ±d×σ at each control angle. In some embodiments, d is any real number preset in advance. T2 ±d×σ. In some embodiments, d is any real number preset in advance.

[0076] In step S230, the steering state determination device 10 determines the estimated steering angle δ of the steering device based on the moving speed V m of the target object, the first control angle δ C1 and the adjusted wheelbase L'. E .

[0077] When the target object is under angle control by the direction controller 111 at the first control angle δ C1 during operation, the direction controller 111 can control the first steering angle δ of the steering device 112 T1 . Although the steering state determination device 10 can directly receive the value of the first control angle δ of the direction controller 111 provided by the direction angle measurer 113 C1 . However, it is difficult for the steering state determination device 10 to directly measure the first steering angle δ when the target object is steering during operation through a measuring tool T1 . Therefore, the steering state determination device 10 can determine the first steering angle δ during steering of the target object during operation through the moving speed V of the target objectm and a first control angle δ C1 , to determine, from a plurality of pre-stored rotational speeds ω T , the reference rotational speed ω of the steering device 112 corresponding to the moving speed V m and the first control angle δ C1 . ref .

[0078] In some embodiments, based on the test results of the constant-speed test state, the steering state determination device 10 can pre-determine a plurality of rotational speeds ω T corresponding to the moving speed V m and a third control angle δ C3 . (For example: the outer rotational speed ω0(V c , δ C3 ) and the inner rotational speed ω i (V c , δ C3 ). Therefore, based on the test results of the constant-speed test state by the target object, the steering state determination device 10 can determine the respective plurality of rotational speeds ω0(V m , δ C1 ) and ω m (V C1 , δ i ) of the two front steering units based on the moving speed V m and the first control angle δ C1 of the target object.

[0079] In some embodiments, the corresponding relationship can also generate fitting relationships between different rotational speeds ω c and the third control angle δ T for different candidate speeds V C3 respectively. Therefore, when the moving speed V m of the target object is determined, the steering state determination device 10 can determine the reference rotational speed ω T of the steering device 112 based on the fitting relationship between the rotational speed ω C3 and the third control angle δ C1 and the first control angle δ ref of the direction controller 111.

[0080] In some embodiments, the corresponding relationship can also generate fitting relationships between different rotational speeds ω C3 and candidate speeds V T for different third control angles δ c respectively. Therefore, when the first control angle δ C1When determined, the steering state determination device 10 can be based on the rotational speed ω T and the candidate speed V c between the fitting relationship and the moving speed V of the target object m , to obtain the reference rotational speed ω of the steering device 112 ref .

[0081] In some embodiments, the steering state determination device 10 can be based on the reference rotational speed ω of the steering device 112 ref and the adjusted wheelbase L′, and only calculate the estimated steering angle δ of one steering element in the steering device 112 E . In some embodiments, the steering state determination device 10 can be based on the adjusted wheelbase L′ and the reference rotational speeds ω of at least two steering elements in the steering device 112 ref , and respectively calculate the estimated steering angles δ of the at least two steering elements in the steering device 112 E .

[0082] In some embodiments, the steering state determination device 10 can, through the foregoing formula (6), based on the known adjusted wheelbase L′, the steering unit spacing S, and the rotational speeds ω0 (V m , δ C1 ) and ω i (V m , δ C1 ) calculate the estimated steering angle δ of any one steering element in the steering device 112 E .

[0083] In step S240, the steering state determination device 10 compares the estimated steering angle δ E with the steering angle range R T , to determine the steering state of the target object.

[0084] In some embodiments, the steering state determination device 10 can only compare the estimated steering angle δ of one steering element in the steering device 112 E with the corresponding steering angle range R T , and directly determine the steering state of the target object based on the comparison result of this one steering element. For example: when the target object makes a right turn, the steering state determination device 10 can only compare the estimated steering angle δ of the steering element 1121 E with the steering angle range R T , and directly determine the steering state of the target object based on the comparison result for the steering element 1121. Similarly, when the target object makes a right turn, the steering state determination device 10 can only compare the estimated steering angle δ of the steering element 1122E is compared with the steering angle range R T and, based on the comparison result for the steering element 1122, the steering state of the target object is directly determined.

[0085] In some embodiments, when the estimated steering angle δ E exceeds the steering angle range R T the steering state determination device 10 determines that the steering state of the target object is abnormal. In some embodiments, when the estimated steering angle δ E is within the steering angle range R T the steering state determination device 10 determines that the steering state of the target object is normal.

[0086] In some embodiments, the steering state determination device 10 may compare the estimated steering angle δ of at least two respective steering elements in the steering device 112 E with the steering angle range R T and, based on the comparison results for the at least two steering elements, determine the steering state of the target object.

[0087] In some embodiments, when the estimated steering angles δ of the at least two steering elements E each exceed their respective steering angle ranges R T the steering state determination device 10 may determine that the steering state of the target object is abnormal. In contrast, when the estimated steering angle δ of one of the at least two steering elements E is within the steering angle range R T the steering state determination device 10 determines that the steering state of the target object is normal.

[0088] In some embodiments, when the estimated steering angle δ of one of the at least two steering elements E exceeds its own steering angle range R T the steering state determination device 10 may determine that the steering state of the target object is abnormal. In contrast, when the estimated steering angles δ of the at least two steering elements E are each within their respective steering angle ranges R T the steering state determination device 10 determines that the steering state of the target object is normal.

[0089] In some embodiments, when the steering state determination device 10 determines that the steering state of the target object is abnormal, to avoid danger during the operation of the target object, the steering state determination device 10 can provide a signal for reminding or warning the target object, so that the target object itself or the user of the target object can be aware of the possible risks caused by the steering state. In some embodiments, when the steering state determination device 10 determines that the steering state of the target object is abnormal, the steering state determination device 10 can provide steering assistance to assist the target object to turn smoothly during the steering process.

[0090] In some embodiments, when the steering state determination device 10 determines that the steering state of the target object is normal, the target object can be safely and stably controlled by the direction controller 111 during the operation. Therefore, the steering state determination device 10 does not need to provide any reminder, warning or steering assistance for the target object. In some embodiments, when the steering state determination device 10 determines that the steering state of the target object is normal, the steering state determination device 10 can provide a prompt so that the target object itself or the user of the target object can understand that the target object is in a normal steering state.

[0091] Figure 7 FIG. is a schematic diagram showing a computing device according to an exemplary embodiment.

[0092] Please refer to Figure 7 , in some embodiments, the steering state determination system 1 and the steering state determination device 10 in the target object 12 can be implemented in the form of a computing device 700.

[0093] In some embodiments, within computing device 700, the instruction set, when executed, and / or the processing logic, when initiated, can cause the machine to perform any one or more of the methods described and / or claimed herein. In alternative embodiments, the machine operates as a stand-alone device or can be connected (e.g., networked) to other machines. In a networked deployment, the machine can operate as a server or a client machine in a server-client network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The machine can be a personal computer (PC), laptop computer, tablet computing system, personal digital assistant (PDA), cellular phone, smart phone, web appliance, set-top box (STB), network router, switch or bridge, or any machine capable of executing instructions (sequentially or otherwise) that specify actions to be taken by that machine or initiate processing logic. Further, although only a single machine is illustrated, the term "machine" can also be construed to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methods described and / or claimed herein.

[0094] Computing device 700 can include data processors 702 (e.g., system-on-chip (SoC), general-purpose processing cores, graphics cores, and optionally other processing logic) and a memory 704 (e.g., RAM) that can communicate with each other via bus 706 or other data transfer systems. Computing device 700 can also include various input / output (I / O) devices and / or interfaces 710, such as a touchscreen display, audio jack, voice interface, and optionally a network interface 712. In an example embodiment, network interface 712 can include one or more radio transceivers that are configured to communicate with any one or more standard wireless and / or cellular protocols or access technologies (e.g., second generation (2G), 2.5G, third generation (3G), fourth generation (4G), and next-generation radio access of cellular systems, Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Enhanced Data GSM Environment (EDGE), Wideband Code Division Multiple Access (WCDMA), LTE, CDMA2000, WLAN, wireless router (WR) mesh, etc.). Network interface 712 can also be configured to work with a variety of other wired and / or wireless communication protocols (including TCP / IP, UDP, SIP, SMS, RTP, WAP, CDMA, TDMA, UMTS, UWB, WiFi, WiMax, IEEE802.11x, etc.). In essence, network interface 712 can actually include or support any wired and / or wireless communication and data processing mechanism by which information / data can be propagated between computing device 700 and another computing or communication system via network 714.

[0095] Memory 704 may represent a machine-readable medium (or computer-readable storage medium) on which one or more instruction sets, software, firmware, or other processing logic (such as logic 708) that implement any one or more of the methods or functions described and / or claimed herein are stored. During execution by computing device 700, logic 708 or a portion thereof may also reside entirely or at least partially within processor 702. As such, memory 704 and processor 702 may also constitute a machine-readable medium (or computer-readable storage medium). Logic 708 or a portion thereof may also be configured as processing logic or logic at least a portion of which is implemented in hardware. Logic 708 or a portion thereof may also be transmitted or received via network interface 712 over network 714. Although the machine-readable medium (or computer-readable storage medium) of the example embodiments may be a single medium, the term “machine-readable medium” (or computer-readable storage medium) should be understood to include a single non-transitory medium or multiple non-transitory media (such as a centralized or distributed database and / or associated caches and computing systems) that store one or more instruction sets. The term “machine-readable medium” (or computer-readable storage medium) may also be understood to include any non-transitory medium that is capable of storing, encoding, or carrying an instruction set for a machine to execute and cause the machine to perform any one or more of the methods of the various embodiments or that is capable of storing, encoding, or carrying a data structure utilized by or associated with such an instruction set. The term “machine-readable medium” (or computer-readable storage medium) may thus be understood to include, but is not limited to, solid-state memory, optical media, and magnetic media.

[0096] The disclosed and other embodiments, modules, and functional operations described in this document can be implemented in digital electronic circuitry, or in computer software, firmware, or hardware (including the structures disclosed in this document and their structural equivalents), or in combinations of one or more of them. The disclosed and other embodiments can be implemented as one or more computer program products, i.e., one or more modules of computer program instructions encoded on a computer-readable medium for execution by, or to control the operation of, a data processing apparatus. The computer-readable medium can be a machine-readable storage device, a machine-readable storage substrate, a memory device, a composition of matter affecting a machine-readable propagated signal, or a combination of one or more of them. The term "data processing apparatus" encompasses all apparatus, devices, and machines for processing data, including, by way of example, a programmable processor, a computer, or multiple processors or computers. In addition to hardware, the apparatus can also include code that creates an execution environment for the computer program under consideration, such as code constituting processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them. A propagated signal is an artificially generated signal, such as an electrical, optical, or electromagnetic signal generated by a machine, that is generated to encode information to be transmitted to a suitable receiver apparatus.

[0097] A computer program (also referred to as a program, software, software application, script, or code) can be written in any form of programming language, including a compiled or interpreted language, and the computer program can be deployed in any form, including being deployed as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program need not correspond to a file in a file system. The program can be stored in a portion of a file that holds other programs or data (such as one or more scripts stored in a markup language document), or in a single file dedicated to the program under consideration, or in multiple collaborating files (such as files that store one or more modules, subroutines, or portions of code). The computer program can be deployed to execute on one computer or on multiple computers located at one site or distributed across multiple sites and interconnected by a communication network.

[0098] The processes and logical flows described in this document can be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logical flows can also be performed by special-purpose logic circuitry, such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit), and the apparatus can also be implemented as special-purpose logic circuitry (such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit)).

[0099] Processors suitable for executing a computer program include, for example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read only memory or a random access memory or both. Essential elements of a computer are a processor for executing the instructions and one or more memory devices for storing the instructions and data. Generally, a computer will also include one or more mass storage devices for storing data (such as magnetic disks, magneto-optical disks, or optical disks), or the computer will be operatively coupled to receive data from, or transfer data to, or both, one or more mass storage devices. However, a computer need not have such devices. Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, including by way of example semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD-ROM disks and DVD-ROM disks. The processor and the memory may be supplemented by, or incorporated in, special purpose logic circuitry.

[0100] Some embodiments described herein are described in the general context of methods or processes, which in one embodiment may be implemented by a computer program product embodied in a computer-readable medium that may include computer-executable instructions (such as program code) that may be executed by a computer in a networked environment. The computer-readable medium may include removable and non-removable storage devices including, by way of example and not limitation, read only memory (ROM), random access memory (RAM), compact disc (CD), digital versatile disc (DVD), etc. Thus, the computer-readable medium may include non-transitory storage media. Generally, program modules may include routines, programs, objects, components, data structures, etc., that perform particular tasks or implement particular abstract data types. Computer or processor-executable instructions, associated data structures, and program modules represent examples of program code for executing the steps of the methods disclosed herein. A particular sequence of such executable instructions or associated data structures represents an example of corresponding acts for implementing the functions described in these steps or processes.

[0101] Some of the disclosed embodiments may be implemented as devices or modules using hardware circuits, software, or a combination thereof. For example, a hardware circuit implementation may include discrete analog and / or digital components, which may be integrated, for example, as part of a printed circuit board. Alternatively or additionally, the disclosed components or modules may be implemented as application specific integrated circuits (ASICs) and / or field programmable gate array (FPGA) devices. Additionally or alternatively, some embodiments may include a digital signal processor (DSP), which is a specialized microprocessor with an architecture optimized for the operational requirements of digital signal processing associated with the disclosed functionality of the present application. Similarly, the various components or sub-components within each module may be implemented in software, hardware, or firmware. Any one of the connection methods and media known in the art may be used to provide connections between modules and / or components within a module, including but not limited to communication over the Internet, a wired network, or a wireless network using an appropriate protocol.

[0102] Although this document includes many details, these details should not be construed as limitations on the scope of the claimed invention, but rather as descriptions of features specific to particular embodiments. Certain features described herein in the context of different embodiments may also be combined in a single embodiment. Conversely, the various features described in the context of a single embodiment may also be separated or implemented in any suitable sub-combination in multiple embodiments. Additionally, although features may be described as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination may in some cases be removed from the combination, and the claimed combination may be directed to a sub-combination or a variation of a sub-combination. Similarly, although operations are depicted in the figures in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in a sequential order, or that all illustrated operations be performed to achieve a desired result.

[0103] Only a few embodiments and examples have been described, and other implementations, enhancements, and variations may be made based on what is described and illustrated in this disclosure.

Claims

1. A method for determining the steering state of a target object, characterized in that The target object includes a direction controller and a steering device, and the direction controller is used to control a first steering angle of the steering device. The method includes: Determining an adjusted wheelbase of the target object based on a first control angle of the direction controller; Determining a steering angle range from a plurality of candidate angle ranges based on the first control angle; Determining an estimated steering angle of the steering device based on a moving speed of the target object, the first control angle, and the adjusted wheelbase; and Comparing the estimated steering angle with the steering angle range to determine a steering state of the target object.

2. The method according to claim 1, wherein The method further includes: When the target object is in a stationary state, in response to the direction controller performing angle control using a plurality of second control angles, controlling an angle measuring device to measure a plurality of second steering angles of the steering device corresponding to the plurality of second control angles.

3. The method according to claim 2, wherein The method further includes: Determining a reference steering angle corresponding to the first control angle from the plurality of second steering angles for the steering device; and Obtaining the adjusted wheelbase corresponding to the first control angle based on the reference steering angle.

4. The method according to claim 3, wherein: When the direction controller performs angle control using the first control angle, the reference steering angle includes a first reference angle of a first steering element in the steering device and a second reference angle of a second steering element; In response to the first reference angle being less than the second reference angle, the adjusted wheelbase corresponding to the first control angle is generated based on a first adjustment method; and And In response to the first reference angle being greater than the second reference angle, the adjusted wheelbase corresponding to the first control angle is generated based on a second adjustment method different from the first adjustment method.

5. The method according to claim 1, characterized in that, The method further includes: When the target object is in a constant speed test state, in response to the direction controller performing angle control using a plurality of third control angles, controlling a speed measuring device to measure a plurality of rotational speeds of the steering device corresponding to the plurality of third control angles.

6. The method according to claim 5, characterized in that, The method further includes: Determining a plurality of candidate steering angles of the steering device at the plurality of third control angles according to the plurality of rotational speeds of the steering device at the plurality of third control angles and a plurality of reference wheelbases of the target object corresponding to the plurality of third control angles; and Establishing the plurality of candidate angle ranges of the steering device at the plurality of third control angles according to the plurality of candidate steering angles of the steering device at the plurality of third control angles.

7. The method according to claim 6, wherein When the target object is in a stationary state, the method further includes: In response to the direction controller performing angle control using a plurality of second control angles, controlling an angle measuring device to measure a plurality of second steering angles of the steering device corresponding to the plurality of second control angles; and Determining the plurality of reference wheelbases of the target object at the plurality of second control angles according to the plurality of second steering angles of the steering device at the plurality of second control angles.

8. The method according to claim 6, wherein Each of the plurality of candidate angular ranges of a steering element in the steering device at the plurality of third control angles corresponds to one of the third control angles among the plurality of third control angles.

9. The method according to claim 6, wherein The method further includes: selecting, for one of the third control angles among the plurality of third control angles, at least one candidate steering angle from the plurality of candidate steering angles of a steering element in the steering device; and establishing, based on the at least one selected candidate steering angle of the steering element at the one third control angle, a reference angular range of the steering element at the one third control angle, wherein the reference angular range is included in the plurality of candidate angular ranges.

10. The method according to claim 5, wherein The method further includes: determining a reference rotational speed of the steering device from the plurality of rotational speeds based on the moving speed and the first control angle; and calculating an estimated steering angle of a steering element in the steering device based on the reference rotational speed of the steering device and the adjusted wheelbase.

11. The method according to claim 10, wherein The method further includes: determining, based on the first control angle, a candidate angular range of the one steering element in the plurality of candidate angular ranges in the steering device as the steering angular range.

12. The method according to claim 5, wherein The method further includes: obtaining a reference rotational speed of the steering device from the plurality of rotational speeds based on the moving speed and the first control angle; and calculating an estimated steering angle of each of at least two steering elements in the steering device based on the reference rotational speed of the steering device and the adjusted wheelbase.

13. The method according to claim 1, wherein The method further includes: determining that the steering state of the target object is abnormal in response to the estimated steering angle exceeding the steering angular range; and determining that the steering state of the target object is normal in response to the estimated steering angle being within the steering angular range.

14. A steering state determination device for a target object, comprising: one or more processors; and a memory storing a program, the program including instructions that, when executed by the processor, cause the steering state determination device to perform the method according to any one of claims 1 to 13.

15. A computer-readable storage medium storing a program, the program including instructions that, when executed by one or more processors of a computing device, cause the computing device to perform the method according to any one of claims 1 to 13.

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