Tire position determination method, controller, vehicle, medium and program product

Abstract

The invention relates to the technical field of vehicle tire positioning, and provides a tire position determining method, a controller, a vehicle, a medium and a program product.The tire position determining method comprises the steps that data frames sent by sensors installed on tires at the emission time point are obtained, the tires correspond to the sensors in a one-to-one mode, and the data frames correspond to the sensors in a one-to-one mode; the data frame comprises ID information, a transmitting time point and a transmitting phase of the sensor; according to the wheel tooth number information, the transmitting time point, the transmitting phase and the preset fixed phase, the wheel tooth number information of the set of tires in the preset fixed phase is obtained; after the wheel tooth number information of the multiple sets of tires in the preset fixed phase is obtained, the positions of the tires are determined according to the wheel tooth number information of the multiple sets of tires in the preset fixed phase and the ID information of the sensors. The data processing process does not need to wait for the preset fixed phase, so that the data processing process of the controller of the vehicle does not need to be limited by the preset fixed phase, and the tire position determination efficiency is further improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle tire positioning, and specifically, to a tire position determination method, a controller, a vehicle, a medium, and a program product. Background Art

[0002] Tire condition monitoring is the basis for ensuring the good operation of a vehicle. In addition to analyzing the basic functions of vehicle tire pressure detection for tire condition and the basic performance of signal transmission, usually in order to accurately monitor the conditions of each tire, when the air pressure or temperature of a certain tire is abnormal, its specific position can be correctly displayed, such as the front left (FL), the front right (FR), the rear right (RR), and the rear left (RL). Therefore, it is necessary to determine the position of each tire before monitoring the tire status.

[0003] In the related art, to determine the tire position by the extrapolation method, data can be sent only when the tire pressure sensor reaches a predetermined fixed phase, and the receiving end can perform corresponding data processing only after receiving the data sent by the tire sensor, so that the efficiency of tire position determination is limited. Summary of the Invention

[0004] The purpose of the present disclosure is to provide a tire position determination method, a controller, a vehicle, a medium, and a program product to solve the problems in the related art.

[0005] To achieve the above purpose, the present disclosure provides A tire position determination method, the tire position determination method includes: Obtain a data frame sent by a sensor installed on a tire at a transmission time point, where the tire and the sensor correspond one by one, and the data frame includes the ID information of the sensor, the transmission time point, and the transmission phase; According to the wheel tooth number information, the transmission time point, the transmission phase, and a preset fixed phase, obtain a set of wheel tooth number information of the tire at the preset fixed phase; After obtaining multiple sets of wheel tooth number information of the tire at the preset fixed phase, determine the position of the tire according to the multiple sets of wheel tooth number information of the tire at the preset fixed phase and the ID information of the sensor.

[0006] Optionally, the step of obtaining a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information, the transmission time point, the transmission phase, and the preset fixed phase includes: According to the transmission time point and the wheel tooth number information collected at a preset time interval, obtain the wheel tooth number information of the tire at the transmission time point; Obtain a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information of the tire at the emission time point, the emission phase, and the preset fixed phase.

[0007] Optionally, the obtaining the wheel tooth number information of the tire at the emission time point according to the emission time point and the wheel tooth number information collected at preset time intervals includes: Obtain the wheel tooth number information of the tire at the emission time point according to the emission time point, the first wheel tooth number information collected at the first time point, and the second wheel tooth number information collected at the second time point, where the first time point is before the emission time point, the second time point is after the emission time point, and the time difference between the first time point and the second time point is the preset time interval.

[0008] Optionally, the obtaining the wheel tooth number information of the tire at the emission time point according to the emission time point, the first wheel tooth number information collected at the first time point, and the second wheel tooth number information collected at the second time point includes: Determine the mapping relationship between the wheel tooth number information and time according to the first wheel tooth number information collected at the first time point and the second wheel tooth number information collected at the second time point; Determine the wheel tooth number information of the tire at the emission time point according to the mapping relationship between the wheel tooth number information and time.

[0009] Optionally, the obtaining a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information of the tire at the emission time point, the emission phase, and the preset fixed phase includes: Obtain the difference tooth number information according to the emission phase and the preset fixed phase; Obtain a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information of the tire at the emission time point and the difference tooth number information.

[0010] Optionally, the obtaining the difference tooth number information according to the emission phase and the preset fixed phase includes: Calculate the phase difference between the emission phase and the preset fixed phase; Obtain the difference tooth number information according to the phase difference and the number of teeth per wheel circumference.

[0011] Optionally, the wheel tooth number information includes the number of teeth of the wheels in four different directions. The determining the position of the tire according to the wheel tooth number information of multiple sets of tires at the preset fixed phase and the ID information of the sensor includes: Statistically analyze the deviation degree of the arrays of the wheel tooth number information of multiple groups of tires with the same ID information of the sensor at the preset fixed phase; Determine the position of the tire corresponding to the ID information of the sensor by taking the azimuth with the smallest deviation degree.

[0012] Optionally, the sensor includes an acceleration sensor, and the data frame is generated in the following manner: In a state where the vehicle is traveling smoothly, determine the mapping relationship between the phase and time according to multiple acceleration signals sampled by the acceleration sensor; Predict the transmission phase corresponding to the acceleration sensor at any future moment according to the mapping relationship between the phase and time; Take the future moment as the transmission moment when the acceleration sensor sends the data frame in the future, and generate the data frame according to the transmission moment and the transmission phase.

[0013] The embodiment of the present disclosure further provides a controller, including: A memory storing a computer program thereon; A processor configured to execute the computer program in the memory to implement the steps of any one of the above-provided tire position determination methods.

[0014] The embodiment of the present disclosure further provides a vehicle including the above controller.

[0015] The embodiment of the present disclosure further provides a computer-readable storage medium storing a computer program thereon, and when the computer program is executed by a processor, the steps of any one of the above-provided tire position determination methods are implemented.

[0016] The embodiment of the present disclosure further provides a computer program product including a computer program, and when the computer program is executed by a processor, the steps of any one of the above-provided tire position determination methods are implemented.

[0017] Through the above technical solution, the vehicle controller directly obtains the data frame including the ID information of the sensor, the transmission moment, and the transmission phase sent by the sensor installed on the tire at the transmission moment, and obtains the wheel tooth number information of a group of tires at the preset fixed phase according to the wheel tooth number information, the transmission moment, the transmission phase, and the preset fixed phase; and after obtaining the wheel tooth number information of multiple groups of tires at the preset fixed phase, determine the position of the tire according to the wheel tooth number information of multiple groups of tires at the preset fixed phase and the ID information of the sensor. The data processing process of the vehicle controller does not need to wait until after the preset fixed phase, so that the data processing process of the vehicle controller is not restricted by the preset fixed phase, thereby improving the efficiency of tire position determination.

[0018] Other features and advantages of the present disclosure will be described in detail in the following detailed implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification. Together with the following detailed implementation, they are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the drawings: Figure 1 is a schematic diagram of signal processing of a tire pressure sensor shown according to an exemplary embodiment.

[0020] Figure 2 is a flowchart of a method for determining tire position shown according to an exemplary embodiment.

[0021] Figure 3 is a flowchart of a method for generating a data frame shown according to an exemplary embodiment.

[0022] Figure 4 is a flowchart of sub-steps of step S2 shown according to an exemplary embodiment.

[0023] Figure 5 is a schematic diagram of the correspondence between the number of teeth of a wheel and time shown according to an exemplary embodiment.

[0024] Figure 6 is a schematic diagram of timing comparison shown according to an exemplary embodiment.

[0025] Figure 7 is a flowchart of sub-steps of step S21 shown according to an exemplary embodiment.

[0026] Figure 8 is a flowchart of sub-steps of step S22 shown according to an exemplary embodiment.

[0027] Figure 9 is a flowchart of sub-steps of step S221 shown according to an exemplary embodiment.

[0028] Figure 10 is a flowchart of sub-steps of step S3 shown according to an exemplary embodiment.

[0029] Figure 11 is a schematic diagram of the framework of a receiving end shown according to an exemplary embodiment.

[0030] Figure 12 is a schematic diagram of the processing flow of a receiving end shown according to an exemplary embodiment.

[0031] Figure 13It is a schematic comparison diagram of a data frame and wheel tooth number information shown according to an exemplary embodiment.

[0032] Figure 14 It is a block diagram of a tire position determination device shown according to an exemplary embodiment. Detailed implementation manners

[0033] The following will detail the specific implementation manners of the present disclosure with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only for the purpose of illustrating and explaining the present disclosure, and are not used to limit the present disclosure.

[0034] In the following description, terms such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying an order.

[0035] Before introducing the specific implementation manners of the present disclosure, first, the application scenario of the present disclosure will be described.

[0036] Please refer to Figure 1 , during the normal driving process of a vehicle, the tire condition, especially the normality of the tire pressure, will affect the normal driving of the vehicle. Both too high or too low tire pressure will have a great impact on the normal driving of the vehicle. Therefore, it is necessary to install a pressure sensor inside the tire to monitor the tire pressure and temperature of the vehicle. The tire pressure monitoring system is generally used for the real-time monitoring of the vehicle tire pressure and the positioning of the tire unit. Generally speaking, the tire pressure monitoring system consists of a tire pressure sensor installed at the tire valve position, a wheel speed sensor, a high-frequency receiving module, and a domain controller, etc.

[0037] Each tire pressure sensor is installed at the position of the tire valve of the vehicle tire. The tire pressure sensor is built-in with a pressure sensor, a temperature sensor, and an acceleration sensor, and transmits the detected values to the tire pressure sensor MCU through the AD module. The MCU encapsulates the sampled information into a frame and sends it to the high-frequency receiving module inside the vehicle through the RF signal; after receiving it, the high-frequency receiving module parses the corresponding information and sends it to the domain controller, and the domain controller finally displays the information on the display screen and reminds the user of the specific tire pressure information. During this process, since the vehicle has four tires, tire A, tire B, tire C, and tire D, there are four tire pressure sensors, and each tire pressure sensor will have its own ID number. However, the vehicle domain controller cannot accurately correspond the ID number of each sensor to its respective position. Therefore, the problem to be solved by the tire pressure position determination method is to determine the corresponding relationship between the tire where the sensor ID is located and the specific position.

[0038] The determination of the tire position can be achieved through the mixed signals of the Anti-Lock Brake System (ABS) and the Angular Position Sensor (APS). Among them, the APS has a phase monitoring function and can send high-frequency data of a certain sampling point. When the high-frequency receiving module receives the high-frequency positioning message, the ABS tooth number information is collected at the same time. Through multiple samplings, an algorithm is designed to compare the angular information and the tooth number information, realizing the correspondence between the ABS tooth number signal and the APS sensor ID information, so as to determine the tire position where the sensor is located and achieve the determination of the tire position.

[0039] The main methods for determining the tire position are the extrapolation method and the time-phase method.

[0040] In the extrapolation method, when the vehicle speed is greater than the set threshold, the APS sensor fixed on the tire samples the acceleration information of N points, and after fitting the time-phase curve, when the APS sensor reaches the predetermined fixed phase, it sends a data frame of radio frequency signal to the high-frequency receiving module, where the data frame includes at least the tire ID information. The wheel speed sensor in the ABS module is used to collect the tooth number signals of each wheel and send them to the domain controller in a wired transmission manner through the CAN / LIN bus. The domain controller queries the tooth number signal by calculating the backward time and the receiving time of the data frame, and locates the ID of the APS sensor to the wheel with the smallest variance / standard deviation of the tooth number information, so that the ID information of the APS sensor corresponds to the actual position of the tire.

[0041] In the time-phase method, when the vehicle speed is greater than the set threshold, after the APS sensor processes the sampling information, it directly sends a data frame of radio frequency signal to the domain controller. The data frame includes the APS sensor ID information, the delay time information between the emission point and the sampling point, and the sampling point phase information. The ABS sensor is used to collect the tooth number signals of each wheel and send them to the domain controller in a wired transmission manner through the CAN / LIN bus. The domain controller queries the tooth number information of the sampling point through the delay time information, and obtains the tooth number information of the fixed reference phase point by subtracting the phase difference. Finally, the ID of the APS sensor is located to the wheel with the smallest variance / standard deviation of the tooth number information to complete the determination of the tire position.

[0042] The inventor found that the extrapolation method needs to wait for a period of time to emit at the fixed phase point during the self-positioning process, wasting a period of time in the real-time monitoring of tire pressure. The implementation of the time-phase method requires a data frame with a longer byte length, which is easy to mismatch with the vehicle's communication protocol. At the same time, it is also necessary to calculate the delay time and the back-off time at the transmitting end, which has a relatively high requirement for the RAM of the tire pressure chip and increases the cost of the sensor.

[0043] To solve the above problems, the vehicle controller directly obtains the data frame sent by the sensor installed on the tire at the emission time point, which includes the ID information of the sensor, the emission time point, and the emission phase. Based on the wheel tooth number information, the emission time point, the emission phase, and a preset fixed phase, a set of wheel tooth number information of the tire at the preset fixed phase is obtained. After obtaining multiple sets of wheel tooth number information of the tire at the preset fixed phase, the position of the tire is determined according to the multiple sets of wheel tooth number information of the tire at the preset fixed phase and the ID information of the sensor. After continuous sampling and data processing, the data frame is directly sent at the transmission time point, and data processing is performed at the receiving end. There is no need to wait until the fixed phase for transmission, which takes less time and requires fewer data frames, reducing the energy consumption at the sending end. It can quickly determine the tire position, thereby improving the efficiency of tire position determination. That is, the data processing process of the vehicle controller does not need to wait until after the preset fixed phase, so that the data processing process of the vehicle controller is not restricted by the preset fixed phase, thereby improving the efficiency of tire position determination. By using the data frame including the ID information of the sensor, the emission time point, and the emission phase, the content in the data frame is reduced, avoiding the occurrence of protocol mismatch, and improving the stability of tire position determination.

[0044] Figure 2 It is a flowchart of a tire position determination method shown according to an exemplary embodiment. This tire position determination method can be applied to the vehicle controller. Please refer to Figure 2 and this tire position determination method may include steps S1 to S3.

[0045] Step S1, obtain the data frame sent by the sensor installed on the tire at the emission time point.

[0046] Among them, the tire and the sensor are in one-to-one correspondence, and the data frame includes the ID information of the sensor, the emission time point, and the emission phase.

[0047] For each tire, a sensor is installed at the valve position of the tire, and the sensor can directly or indirectly detect the phase. For example, the acceleration sensor in the tire pressure sensor indirectly detects the phase.

[0048] By obtaining the data of the sensor installed on a tire, it can be used to determine the position of the tire.

[0049] The emission phase can be the phase corresponding to the emission time point.

[0050] The high-frequency signal module receives the data frame sent by the sensor and transmits the data frame to the vehicle controller, such as the domain controller.

[0051] It should be understood that the time when the data frame is transmitted from the sensor end is the transmission time point, and there is a time difference between this time point and the time point when the data frame is received at the domain control end.

[0052] Step S2: Obtain a set of wheel tooth number information of the tire at the preset fixed phase based on the wheel tooth number information, the transmission time point, the transmission phase, and the preset fixed phase.

[0053] The preset fixed phase can be any phase set according to user requirements.

[0054] Determine the difference tooth number information corresponding to this difference according to the gap between the transmission phase and the preset fixed phase, and on the basis of the wheel tooth number information of the tire at the transmission time point, combine this difference tooth number information for adjustment to obtain a set of wheel tooth number information of the tire at the preset fixed phase.

[0055] Step S3: After obtaining multiple sets of wheel tooth number information of the tire at the preset fixed phase, determine the position of the tire according to the multiple sets of wheel tooth number information of the tire at the preset fixed phase and the ID information of the sensor.

[0056] Each time steps S1 and S2 are executed, a set of wheel tooth number information of the tire at the preset fixed phase can be obtained. Repeatedly execute the above steps S1 and S2 multiple times to obtain multiple sets of wheel tooth number information of the tire at the preset fixed phase.

[0057] The number of sets of wheel tooth number information of the tire at the preset fixed phase can be set or adjusted according to the actual situation. For example, 20 sets.

[0058] Determine the actual position (front left / front right / rear left / rear right) of the tire corresponding to the ID information of each sensor according to the multiple sets of wheel tooth number information of the tire at the preset fixed phase.

[0059] The vehicle controller directly obtains the data frame including the ID information, the transmission time point, and the transmission phase of the sensor installed on the tire at the transmission time point, and obtains a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information, the transmission time point, the transmission phase, and the preset fixed phase; and after obtaining multiple sets of wheel tooth number information of the tire at the preset fixed phase, determine the position of the tire according to the multiple sets of wheel tooth number information of the tire at the preset fixed phase and the ID information of the sensor. The data processing process of the vehicle controller does not need to wait until after the preset fixed phase, so that the data processing process of the vehicle controller is not restricted by the preset fixed phase, thereby improving the efficiency of tire position determination.

[0060] In a possible implementation manner, please refer to Figure 3 , the sensor includes an acceleration sensor, and the data frame is generated in the following manner: Step S11 : When the vehicle is running smoothly, a mapping relationship between phase and time is determined based on a plurality of acceleration signals sampled by the acceleration sensor.

[0061] The vehicle's stable driving can be determined by the vehicle's speed during the current period. If the vehicle's speed during the current period is greater than a preset speed threshold, and the speed increase over a period of time is less than a preset speed increase, the vehicle is considered to be in a stable driving state.

[0062] The number of acceleration signals can also be set according to actual conditions, for example, 21. After the set number of acceleration signals are collected, data processing is performed on the set number of acceleration signals to determine the mapping relationship between phase and time.

[0063] Determining the relationship between phase and time based on multiple acceleration signals sampled by the accelerometer can be understood as follows: based on the different angular frequencies detected by the accelerometer, the gravitational acceleration component is separated through the algorithm within the accelerometer. Based on the oscillating sinusoidal curve formed by the superposition of gravitational acceleration on the centrifugal acceleration, the phase of the accelerometer on the tire, that is, the specific position of the accelerometer on the tire, can be calculated. In this way, the relationship between phase and time can be obtained.

[0064] For example, an acceleration sensor can continuously sample acceleration information at multiple moments and fit a sinusoidal curve between acceleration and time. This curve corresponds to the tire's rotation angle information, and the mapping relationship between phase and time can be determined from this curve. The mapping relationship between phase and time can also be represented by the curve.

[0065] Step S12: predicting the transmission phase of the acceleration sensor at any future time point based on the mapping relationship between phase and time.

[0066] The future time point may be any time point after the mapping relationship between the phase and the time is determined.

[0067] After collecting the acceleration signal at the last sampling point and processing the data for a certain period of time, a mapping relationship between phase and time can be obtained. The future time point can be a time point that is separated from the last sampling point by the aforementioned data processing period. The future time point can also be a time point that is separated from the last sampling point by the aforementioned data processing period.

[0068] On the basis of determining the future time point, combined with the mapping relationship between phase and time, the phase corresponding to the future time point can be predicted, that is, the emission phase corresponding to the future time point.

[0069] Step S13: Use the future time point as the transmission time point for the acceleration sensor to send data frames in the future, and generate data frames based on the transmission time point and the transmission phase.

[0070] Use this future time point as the transmission time point of the acceleration sensor. When the time reaches this future time point, the acceleration sensor transmits the data frame composed of this transmission time point and the transmission phase.

[0071] In a possible implementation manner, please refer to Figure 4 , step S2 may include step S21 and step S22.

[0072] Step S21: Obtain the wheel tooth number information of the tire at the transmission time point according to the transmission time point and the wheel tooth number information of the wheels collected at a preset time interval.

[0073] The preset time interval can be set according to actual needs. For example, 20 ms. That is, every 20 ms, the ABS sensor transmits the tooth number information of each tire collected to the domain controller, and the domain controller receives the tooth number information of each tire transmitted from the ABS sensor.

[0074] It should be understood that, given the initial collection time point and the preset time interval of the wheel tooth number information collected at a preset time interval, the time point for each collection of the wheel tooth number information can be determined.

[0075] Based on the transmission time point, the time point for each collection of the wheel tooth number information, and the wheel tooth number information collected each time, obtain the wheel tooth number information of the tire at the transmission time point.

[0076] Step S22: Obtain a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information of the tire at the transmission time point, the transmission phase, and the preset fixed phase.

[0077] The preset fixed phase can be any phase set according to user requirements.

[0078] Determine the difference tooth number information corresponding to this difference according to the gap between the transmission phase and the preset fixed phase, and on the basis of the wheel tooth number information of the tire at the transmission time point, combine this difference tooth number information for adjustment to obtain a set of wheel tooth number information of the tire at the preset fixed phase.

[0079] In a possible implementation manner, step S21 may include: Based on the transmission time point, the first wheel tooth number information collected at the first time point, and the second wheel tooth number information collected at the second time point, obtain the wheel tooth number information of the tire at the transmission time point.

[0080] Among them, the first time point is before the emission time point, the second time point is after the emission time point, and there is a preset time interval between the first time point and the second time point.

[0081] Figure 5 It is a schematic diagram showing the correspondence between the number of teeth of a wheel and time according to an exemplary embodiment. Figure 6 It is a schematic diagram of timing comparison according to an exemplary embodiment. Figure 7 It is a flowchart of sub-steps of step S21 according to an exemplary embodiment. Please refer to Figures 5 to 7 , according to the first wheel tooth number information collected at the emission time point, the first time point, and the second wheel tooth number information collected at the second time point, obtaining the wheel tooth number information of the tire at the emission time point may include step S211 and step S212.

[0082] Step S211, according to the first wheel tooth number information collected at the first time point and the second wheel tooth number information collected at the second time point, determine the mapping relationship between the wheel tooth number information and time.

[0083] Step S212, according to the mapping relationship between the wheel tooth number information and time, determine the wheel tooth number information of the tire at the emission time point.

[0084] By establishing a mathematical model or function to describe how the wheel tooth number information changes at different time points, the wheel tooth number information at other time points can be predicted by collecting data at known time points, that is, the mapping relationship between the wheel tooth number information and time is obtained.

[0085] Exemplarily, it is assumed that the first wheel tooth number information collected at the first time point t1 is N1, and the second wheel tooth number information collected at the second time point t2 is N2. A linear or non-linear function can be formed through these data: N(t)= a⋅t + b Where a and b are coefficients solved from the known data points, N(t) represents the wheel tooth number information at any time point t, that is, the mapping relationship between the wheel tooth number information and time. Substituting the emission time point into this mapping relationship, the vehicle tooth number information at the emission time point can be obtained.

[0086] It should be understood that when the wheel tooth number information obtained by substituting the emission time point into this function is a non-integer, rounding processing can be performed on the wheel tooth number information.

[0087] In a possible implementation manner, please refer to Figure 8 , step S22 may include step S221 and step S222.

[0088] Step S221: Obtain the differential tooth number information based on the emission phase and the preset fixed phase.

[0089] Please refer to Figure 9 , step S221 may include step S2211 and step S2212.

[0090] Step S2211: Calculate the phase difference between the emission phase and the preset fixed phase.

[0091] Step S2212: Obtain the differential tooth number information based on the phase difference and the number of teeth per wheel circumference.

[0092] The number of teeth per wheel circumference can be the number of teeth that the wheel tooth counting sensor can emit when the tire rotates one circle. The number of teeth per wheel circumference can be 40 teeth, 48 teeth or others.

[0093] The ratio of the phase difference to 360° is equal to the ratio of the differential tooth number information to the number of teeth per wheel circumference. Through the equality relationship of the above ratios, the differential tooth number information can be determined.

[0094] Exemplarily, if the phase difference is 180° and the number of teeth per wheel circumference is 48 teeth, then the differential tooth number information is 180° / 360° * 48 = 24 teeth.

[0095] Step S222: Obtain a set of wheel tooth number information of the tire at the preset fixed phase based on the wheel tooth number information of the tire at the emission time point and the differential tooth number information.

[0096] For each tire, based on the wheel tooth number information of the tire at the emission time point, increasing or decreasing the differential tooth number information can obtain a set of wheel tooth number information of the tire at the preset fixed phase.

[0097] Specifically, whether to increase or decrease the differential tooth number information can be determined according to the magnitude relationship between the emission phase and the preset fixed phase.

[0098] If the emission phase is greater than the preset fixed phase, then based on the wheel tooth number information of the tire at the emission time point, decreasing the differential tooth number information can obtain a set of wheel tooth number information of the tire at the preset fixed phase.

[0099] If the emission phase is less than the preset fixed phase, then based on the wheel tooth number information of the tire at the emission time point, increasing the differential tooth number information can obtain a set of wheel tooth number information of the tire at the preset fixed phase.

[0100] The wheel tooth number information includes the tooth numbers of the wheels in four different directions. Performing the above processing on the tooth numbers of the wheels in each direction can obtain the tooth numbers of the wheels in four different directions of the tire at the preset fixed phase.

[0101] Please refer to Figure 10 Step S3 may include step S31 and step S32.

[0102] Step S31: Statistically analyze the deviation degree of an array composed of the wheel tooth number information of multiple groups of tires with the same ID information of the sensor at a preset fixed phase.

[0103] For the tires with the same ID information of each sensor, take the wheel tooth numbers of each group of such tires at four different orientations at a preset fixed phase as a row. The wheel tooth numbers of multiple groups of such tires at four different orientations at a preset fixed phase can form multiple rows to compose an array. Each column represents an orientation, and calculate the deviation degree of each column. The deviation degree can be, but is not limited to, variance, standard deviation, etc.

[0104] Exemplarily, Table 1 is an array composed of the wheel tooth numbers of multiple groups of tires at four different orientations at a preset fixed phase.

[0105]

[0106] Table 1 Step S32: Determine the position of the tire corresponding to the ID information of the sensor as the orientation with the minimum deviation degree.

[0107] In one embodiment, please refer to Figures 11 to 13 , the acceleration sensor in the APS module performs continuous multi-point sampling. The multi-point sampling is to collect the acceleration values of multiple points, and the acceleration values correspond to the angular positions of the tire rotation. After collecting the acceleration values, the MCU processes the data to fit a sine curve, and the sine curve is the phase-time curve. After the MCU finishes processing the sampling information, it immediately obtains and sends a self-positioning frame through radio frequency. The self-positioning frame includes information such as the phase information of the emission point and the tire ID. The high-frequency receiving module receives the self-positioning frame. The high-frequency receiving module can receive the APS signal and can transmit the signal to the domain control. The ABS module sends the wheel rotation tooth number information in a wired manner. The tooth number information is obtained through the wheel speed sensor in the ABS module. The wired manner includes CAN, LIN, etc. The domain control performs mixed processing and decision-making on the APS signal and the tooth number information to complete the positioning of the tire.

[0108] The APS calculates the angular position information. When the wheel rotates a complete circle, the acceleration sensor just experiences a complete sine period, thereby obtaining the phase and sine wave period of multiple sampling points of the sensor. The wheel speed sensor in the ABS obtains the tooth number information during the rotation of the wheel. When each tire of the vehicle passes a tooth, the tooth number count output by the wheel speed sensor will increase by 1. Since the number of teeth for each tire to rotate one circle is fixed, incrementing by 1 when reaching the fixed number of teeth can simulate the change of the number of teeth in one circle of the wheel. The ABS signal is directly transmitted to the domain control end through the CAN / LIN bus. The high-frequency receiving module receives the APS signal and transmits the signal to the domain control. According to the distribution of the tooth number information and angle information collected multiple times, a decision is made to achieve tire ID positioning. Since a fixed phase must correspond to a unique ABS tooth number. Due to turning or non-linear driving, the ABS tooth numbers of other tires may not be consistent with the value of the fixed phase. Therefore, the corresponding relationship between the corresponding ID and the specific tire position can be determined. After receiving the emission point phase information and the ABS buffer queue, the domain control processes the data and generates a decision table, and judges whether the decision requirements are met through error analysis to complete the positioning.

[0109] Data processing is to calculate the tooth numbers of the wheel speed sensors of the four tires corresponding to the emission point by calculating the loss time, and then calculate the ABS tooth numbers of the four tires according to the phase difference from the phase of the emission point to the fixed phase, so as to obtain the ABS tooth numbers of the four tires at the fixed phase point. Record this set of corresponding information in the final decision table, and finally calculate the tire position information corresponding to this sensor ID information through the decision algorithm at the receiving end.

[0110] The overall framework of the receiving end of the self-positioning method. It is mainly divided into four layers. From top to bottom, they are the external interface layer, the data receiving layer, the data processing layer, and the decision layer. Finally, the final result is obtained in the decision layer. The external interface layer is mainly an external interface, which can be for the upper computer end or the domain control end; the data receiving layer mainly defines various data structures to receive the parameters transmitted by the interface layer to facilitate subsequent calculations; the data processing layer calculates the corresponding tooth numbers by rolling back the loss time and adds them to different decision tables according to the different tire pressure sensor IDs; after reaching a certain number of frames, the decision layer calculator is called to calculate the standard deviation, and compare it with the defined error range. If it is less than the defined error, the positioning is successful.

[0111] Based on the same inventive concept, this embodiment also provides a tire position determination device, which can be applied to the controller of a vehicle. Figure 14 It is a block diagram of a tire position determination device shown according to an exemplary embodiment, as Figure 14 shown. The tire position determination device 600 may include: The first processing module 601 is configured to obtain a data frame sent by a sensor installed on a tire. Here, the tire and the sensor are in one-to-one correspondence. The data frame includes the ID information of the sensor, the transmission time point, and the transmission phase. The second processing module 602 is configured to obtain a set of wheel tooth number information of the tire at a preset fixed phase according to the wheel tooth number information, the transmission time point, the transmission phase, and the preset fixed phase. The third processing module 603 is configured to determine the position of the tire according to a set of wheel tooth number information of the tire at the preset fixed phase and the ID information of the sensor after obtaining multiple sets of wheel tooth number information of the tire at the preset fixed phase.

[0112] Optionally, the second processing module 602 includes: The first sub-processing module is configured to obtain the wheel tooth number information of the tire at the transmission time point according to the transmission time point and the wheel tooth number information collected at preset time intervals.

[0113] The second sub-processing module is configured to obtain a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information of the tire at the transmission time point, the transmission phase, and the preset fixed phase.

[0114] Optionally, the first sub-processing module includes: The first processing unit is configured to obtain the wheel tooth number information of the tire at the transmission time point according to the transmission time point, the first wheel tooth number information collected at the first time point, and the second wheel tooth number information collected at the second time point, where the first time point is before the transmission time point, the second time point is after the transmission time point, and the time interval between the first time point and the second time point is a preset time interval.

[0115] Optionally, the first processing unit includes: The first sub-processing unit is configured to determine the mapping relationship between the wheel tooth number information and time according to the first wheel tooth number information collected at the first time point and the second wheel tooth number information collected at the second time point. The second sub-processing unit is configured to determine the wheel tooth number information of the tire at the transmission time point according to the mapping relationship between the wheel tooth number information and time.

[0116] Optionally, the second sub-processing module includes: The third processing unit is configured to obtain the difference tooth number information according to the transmission phase and the preset fixed phase. The fourth processing unit is configured to obtain a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information of the tire at the transmission time point and the difference tooth number information.

[0117] Optionally, the third processing unit includes: A third sub-processing unit configured to calculate the phase difference between the transmission phase and a preset fixed phase; A fourth sub-processing unit configured to obtain difference tooth number information based on the phase difference and the number of teeth per wheel circumference.

[0118] Optionally, the wheel tooth number information includes the number of teeth of the wheels in four different orientations. The third processing module 603 includes: A third sub-processing module configured to perform a deviation degree statistic on an array formed by the wheel tooth number information of multiple groups of tires with the same sensor ID information at a preset fixed phase; A fourth sub-processing module configured to determine the orientation with the minimum deviation degree as the position of the tire corresponding to the sensor ID information.

[0119] Optionally, the sensor includes an acceleration sensor. The tire position determination device 600 further includes a fourth processing module configured to: In a state where the vehicle is traveling smoothly, determine the mapping relationship between the phase and time based on multiple acceleration signals sampled by the acceleration sensor; Predict the transmission phase corresponding to the acceleration sensor at any future time point according to the mapping relationship between the phase and time; Use the future time point as the transmission time point of the data frame sent by the acceleration sensor in the future, and generate a data frame based on the transmission time point and the transmission phase.

[0120] Regarding the tire position determination device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the tire position determination method, and will not be elaborated here.

[0121] An embodiment of the present disclosure further provides a controller, including: A memory storing a computer program thereon; A processor configured to execute the computer program in the memory to implement the steps of the above tire position determination method.

[0122] An embodiment of the present disclosure further provides a vehicle including the above controller.

[0123] An embodiment of the present disclosure further provides a computer-readable storage medium storing a computer program thereon, and when the computer program is executed by a processor, the steps of the above tire position determination method are implemented.

[0124] An embodiment of the present disclosure further provides a computer program product including a computer program, and when the computer program is executed by a processor, the steps of the above tire position determination method are implemented.

[0125] The preferred embodiments of the present disclosure have been described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0126] In addition, it should be noted that, in the various specific technical features described in the above specific embodiments, they can be combined in any appropriate manner without conflict. To avoid unnecessary repetition, the present disclosure will not separately describe various possible combination manners.

[0127] Furthermore, any combination can be made among various different embodiments of the present disclosure, as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A method for determining the position of a tire, characterized in that, The tire position determination method includes: Obtaining a data frame sent by a sensor installed on a tire at a transmission time point, where the tire and the sensor are in one-to-one correspondence, and the data frame includes the ID information of the sensor, the transmission time point, and the transmission phase; Obtaining a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information, the transmission time point, the transmission phase, and a preset fixed phase; After obtaining multiple sets of wheel tooth number information of the tire at the preset fixed phase, determining the position of the tire according to the multiple sets of wheel tooth number information of the tire at the preset fixed phase and the ID information of the sensor.

2. The tire position determination method according to claim 1, characterized in that, The obtaining a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information, the transmission time point, the transmission phase, and a preset fixed phase includes: Obtaining the wheel tooth number information of the tire at the transmission time point according to the transmission time point and the wheel tooth number information collected at a preset time interval; Obtaining a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information of the tire at the transmission time point, the transmission phase, and the preset fixed phase.

3. The tire position determination method according to claim 2, wherein The obtaining the wheel tooth number information of the tire at the transmission time point according to the transmission time point and the wheel tooth number information collected at a preset time interval includes: Obtaining the wheel tooth number information of the tire at the transmission time point according to the transmission time point, the first wheel tooth number information collected at the first time point, and the second wheel tooth number information collected at the second time point, where the first time point is before the transmission time point, the second time point is after the transmission time point, and the preset time interval is between the first time point and the second time point.

4. The tire position determination method according to claim 3, wherein The obtaining the wheel tooth number information of the tire at the transmission time point according to the transmission time point, the first wheel tooth number information collected at the first time point, and the second wheel tooth number information collected at the second time point includes: Determining the mapping relationship between the wheel tooth number information and time according to the first wheel tooth number information collected at the first time point and the second wheel tooth number information collected at the second time point; Determining the wheel tooth number information of the tire at the transmission time point according to the mapping relationship between the wheel tooth number information and time.

5. The tire position determination method according to claim 2, characterized in that The obtaining a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information of the tire at the transmission time point, the transmission phase, and a preset fixed phase includes: Obtaining difference tooth number information according to the transmission phase and the preset fixed phase; Obtaining a set of wheel tooth number information of the tire at the preset fixed phase according to the wheel tooth number information of the tire at the transmission time point and the difference tooth number information.

6. The tire position determination method according to claim ⑤, characterized in that, The obtaining difference tooth number information according to the transmission phase and the preset fixed phase includes: Calculating the phase difference between the transmission phase and the preset fixed phase; Obtaining difference tooth number information according to the phase difference and the number of teeth in one wheel circumference.

7. The tire position determination method according to claim 1, characterized in that, The wheel tooth number information includes the tooth numbers of the wheels in four different orientations. Determining the position of the tire based on the wheel tooth number information of multiple groups of tires at the preset fixed phase and the ID information of the sensor includes: Performing a deviation degree statistics on an array composed of the wheel tooth number information of multiple groups of tires with the same ID information of the sensor at the preset fixed phase; Determining the orientation with the smallest deviation degree as the position of the tire corresponding to the ID information of the sensor.

8. The tire position determination method according to claim 1, wherein, The sensor includes an acceleration sensor, and the data frame is generated in the following manner: In a state where the vehicle is driving smoothly, determining the mapping relationship between the phase and time according to multiple acceleration signals sampled by the acceleration sensor; Predicting the transmission phase corresponding to the acceleration sensor at any future time point according to the mapping relationship between the phase and time; Taking the future time point as the transmission time point when the acceleration sensor sends the data frame in the future, and generating the data frame according to the transmission time point and the transmission phase.

9. A controller, characterized in that, Including: A memory, on which a computer program is stored; A processor, configured to execute the computer program in the memory to implement the steps of the tire position determination method according to any one of claims 1 to 8.

10. A vehicle, characterized in that, Including the controller according to claim 9.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the tire position determination method according to any one of claims 1 to 8.

12. A computer program product, characterized in that, Including a computer program, which implements the steps of the tire position determination method according to any one of claims 1 to 8 when executed by the processor.

Images