Wheel corner verification method, computer program product, storage medium, vehicle controller and vehicle

Abstract

The invention provides a wheel turning angle verification method, a computer program product, a storage medium, a vehicle controller and a vehicle. According to the wheel turning angle verification method provided by the invention, in the running process of the front wheel steering function and the rear wheel steering function of the vehicle, the wheel turning angle can be verified; acquiring wheel turning angle data and wheel running speed data of a target wheel of the vehicle; calculating the target yaw velocity of the vehicle according to the wheel turning angle data and the wheel driving speed data of the target wheel; and performing consistency comparison processing on the target yaw velocity and the reference yaw velocity of the vehicle to obtain a correctness verification result of the wheel rotation angle data of the target wheel, so that whether the wheel rotation angle data corresponding to the front wheel and the rear wheel of the vehicle are correct or not can be accurately and conveniently verified.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a method for verifying wheel rotation angles, a computer program product, a storage medium, a vehicle controller, and a vehicle. Background Art

[0002] With the development of the national economy and the improvement of the national consumption level, automobiles have been widely introduced into ordinary households, and people's requirements for the operating performance of automobiles are also getting higher and higher. Currently, in addition to the front-wheel steering function with a simpler structure, better running stability, and lower implementation cost, the rear-wheel steering function is also gradually popularized and applied due to its characteristics such as increasing the maneuverability of the vehicle and shortening the turning radius of the vehicle. Since the wheel rotation angle data of the front wheels and rear wheels measured by in-vehicle sensors directly affects the accuracy of vehicle driving control. Therefore, accurately and conveniently verifying the correctness of the wheel rotation angle data corresponding to the front wheels and rear wheels of an automobile is very important for improving the controllability and safety of the vehicle during operation. Summary of the Invention

[0003] Based on this, the present invention provides a method for verifying wheel rotation angles, a computer program product, a storage medium, a vehicle controller, and a vehicle. By using this method for verifying wheel rotation angles, during the operation of the front-wheel steering function and the rear-wheel steering function of the vehicle, it is possible to accurately and conveniently verify whether the wheel rotation angle data corresponding to the front wheels and rear wheels of the vehicle is correct, which is beneficial to ensuring the controllability and safety of the vehicle during operation.

[0004] On the one hand, the present invention provides a method for verifying wheel rotation angles, the method comprising:

[0005] During the operation of the front-wheel steering function and the rear-wheel steering function of the vehicle, obtaining the wheel rotation angle data and the wheel driving speed data of the target wheels of the vehicle; wherein, the target wheels include the front wheels and the rear wheels;

[0006] According to the wheel rotation angle data and the wheel driving speed data of the target wheels, calculating the target yaw rate of the vehicle;

[0007] Obtaining the reference yaw rate of the vehicle;

[0008] Performing a consistency comparison process on the target yaw rate and the reference yaw rate to obtain a correctness verification result for the wheel rotation angle data of the target wheels.

[0009] Further, in some embodiments, the obtaining the wheel rotation angle data of the target wheels of the vehicle includes:

[0010] Obtaining first sensor data collected by a rotation angle sensor mounted on the vehicle for determining the wheel rotation angle of the target wheels;

[0011] Obtaining the wheel driving speed data of the target wheel of the vehicle itself includes:

[0012] Obtaining second sensor data collected by a wheel speed sensor mounted on the vehicle itself for determining the wheel driving speed of the target wheel.

[0013] Further, in some embodiments, calculating the target yaw rate of the vehicle itself based on the wheel rotation angle data and the wheel driving speed data of the target wheel includes:

[0014] For any one of the target wheels, calculating the difference between the wheel driving speed data of the target wheel on one side and the wheel driving speed data of the target wheel on the other side to obtain a first value;

[0015] Calculating the product of the wheelbase between the target wheel on one side and the target wheel on the other side and the cosine value of the wheel rotation angle data of the target wheel to obtain a second value;

[0016] Calculating the quotient of the first value and the second value to obtain the target yaw rate of the vehicle itself.

[0017] Further, in some embodiments, obtaining the reference yaw rate of the vehicle itself includes:

[0018] Obtaining third sensor data collected by a yaw rate sensor mounted on the vehicle itself for reflecting the yaw rate of the vehicle itself to obtain the reference yaw rate of the vehicle itself; or,

[0019] Obtaining the lateral acceleration data and the vehicle driving speed data of the vehicle itself;

[0020] Calculating the quotient of the lateral acceleration data and the vehicle driving speed data of the vehicle itself to obtain the reference yaw rate of the vehicle itself.

[0021] Further, in some embodiments, performing a consistency comparison process on the target yaw rate and the reference yaw rate to obtain a correctness verification result for the wheel rotation angle data of the target wheel includes:

[0022] For any one of the target wheels, calculating the target difference between the target yaw rate corresponding to the target wheel and the reference yaw rate;

[0023] If the target difference is less than the preset threshold corresponding to the target wheel, generating a correctness verification result indicating that the wheel rotation angle data of the target wheel is correct;

[0024] If the target difference is greater than or equal to the preset threshold value corresponding to the target wheel, a correctness verification result indicating that the wheel rotation angle data of the target wheel is incorrect is generated.

[0025] Further, in some embodiments, before calculating the target yaw rate of the vehicle based on the wheel rotation angle data and the wheel driving speed data of the target wheel, the method further includes:

[0026] Determining whether a preset condition for reflecting the risk of wheel slip of the vehicle is satisfied, and obtaining a determination result; wherein the preset condition includes at least one of: the wheel slip rate of the target wheel reaches a target threshold value, and the function for preventing wheel slip of the vehicle is activated.

[0027] Calculating the target yaw rate of the vehicle based on the wheel rotation angle data and the wheel driving speed data of the target wheel includes:

[0028] If the determination result indicates that the preset condition for reflecting the risk of wheel slip of the vehicle is not satisfied, then calculating the target yaw rate of the vehicle based on the wheel rotation angle data and the wheel driving speed data of the target wheel.

[0029] Further, in some embodiments, after performing a consistency comparison process on the target yaw rate and the reference yaw rate to obtain a correctness verification result for the wheel rotation angle data of the target wheel, the method further includes:

[0030] If the correctness verification result reflects that the wheel rotation angle data of the target wheel is incorrect, then generating an abnormal prompt instruction for the wheel rotation angle data of the target wheel; and / or

[0031] If the correctness verification result reflects that the wheel rotation angle data of the target wheel is incorrect, then generating an operation control instruction for a preset vehicle function that needs to use the wheel rotation angle data of the target wheel during operation.

[0032] On the other hand, the present invention also provides a computer program product, which includes a computer program that, when executed, implements the steps of the above method.

[0033] On the other hand, the present invention also provides a storage medium, on which a computer program is stored, and the computer program, when executed, implements the steps of the above method.

[0034] On the other hand, the present invention also provides a vehicle controller, including: a processor and a memory; wherein the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to implement the steps of the above method.

[0035] On the other hand, the present invention also provides a vehicle, including the above-mentioned vehicle controller.

[0036] According to the wheel angle calibration method provided by the present invention, during the operation of the front-wheel steering function and the rear-wheel steering function of the vehicle, the wheel angle data and the wheel driving speed data of the target wheel (for example, the front wheel, the rear wheel, etc.) of the vehicle can be obtained; so as to calculate the target yaw rate of the vehicle according to the wheel angle data and the wheel driving speed data of the target wheel; by performing a consistency comparison process on the target yaw rate corresponding to the target wheel and the reference yaw rate of the vehicle, it is possible to accurately and conveniently calibrate whether the wheel angle data corresponding to the front wheel and the rear wheel of the vehicle is correct, which is beneficial to ensuring the controllability and safety of the vehicle during operation.

[0037] It should be understood that the content described in the summary of the invention is not intended to limit the key or important features of the embodiments of the present invention, nor to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of a vehicle kinematic model provided by an embodiment of the present invention;

[0039] Figure 2 It is a schematic flow chart of a wheel angle calibration method provided by an embodiment of the present invention;

[0040] Figure 3 It is a schematic structural diagram of a vehicle controller provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the specific embodiments and corresponding drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art without making creative efforts based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0042] In the description of one or more embodiments of the present invention, the terms "including" and its similar terms should be understood as an open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions hereinafter.

[0043] With the continuous progress of technology, cars have gradually started to be equipped with front-wheel steering function and rear-wheel steering function. By separately controlling the rotation of the front wheels and rear wheels of the car, the driving direction of the car is changed to improve the maneuverability, stability and safety of the vehicle during driving. However, affected by factors such as sensor wear, aging, improper installation position of the steering system, and environmental interference, there may be a large deviation between the measured wheel rotation angle data and the actual wheel rotation angle data. Therefore, when controlling the vehicle according to the incorrect measured wheel rotation angle data, it is easy for the driver to have difficulty controlling the vehicle, affecting the controllability and safety of the vehicle operation process.

[0044] Currently, through analysis and demonstration, it is known that when the front-wheel steering function and the rear-wheel steering function are operating simultaneously, the sum of the front-wheel rotation angle and the rear-wheel rotation angle generated by the car should be consistent with the total rotation angle of the front and rear axles required to control the car. On this basis, currently, after measuring the front-wheel rotation angle data and the rear-wheel rotation angle data of the car, it is determined whether the sum of the front-wheel rotation angle data and the rear-wheel rotation angle data of the car is equal to the total rotation angle of the front and rear axles required to control the car. If so, it can be considered that the measured front-wheel rotation angle data and rear-wheel rotation angle data are correct data. If not, it can be considered that the measured front-wheel rotation angle data and rear-wheel rotation angle data are incorrect data, thus realizing the correctness verification of the measured wheel rotation angle data. Although the current correctness verification scheme for wheel rotation angle data is convenient and fast, it may not be able to identify the situation where the front-wheel rotation angle data and the rear-wheel rotation angle data respectively have positive and negative deviations within a certain range, thus affecting the credibility and accuracy of the correctness verification result of the wheel rotation angle data.

[0045] Figure 1 Schematic diagram of a kinematic model of an automobile provided by an embodiment of the present invention; for the convenience of understanding, in combination with Figure 1 An explanation is given for the problems existing in the current correctness verification scheme for wheel rotation angle data. As Figure 1 (a) shows, assuming that the vehicle needs to turn during the driving process in the arrow direction, the front-wheel 101 can be controlled to generate a front-wheel rotation angle, and the rear-wheel 102 can be controlled to generate a rear-wheel rotation angle. After simplifying the kinematic model of the car shown in Figure 1 (a), a bicycle model (Bicycle Model) shown in Figure 1 (b) can be obtained. Among them, the angle between the black solid line 104 and the longitudinal center line 109 of the car can be consistent with the wheel rotation angle of the front-wheel 101, and the angle between the black solid line 105 and the longitudinal center line 109 of the car can be consistent with the wheel rotation angle of the rear-wheel 102. In addition, the position relationship of the center of mass 106 relative to the black solid line 104 and the black solid line 105 can also be consistent with the position relationship of the center of mass 103 relative to the front-wheel 101 and the rear-wheel 102.

[0046] Assume that the currently measured front wheel steering angle can be the angle between the black dashed line 107 and the vehicle longitudinal center line 109. By comparing the angles between the black dashed line 107 and the black solid line 104 and the vehicle longitudinal center line 109, it can be known that there is a negative deviation in the measured front wheel steering angle. Similarly, the currently measured rear wheel steering angle can be the angle between the black dashed line 108 and the vehicle longitudinal center line 109. By comparing the angles between the black dashed line 108 and the black solid line 105 and the vehicle longitudinal center line 109, it can be known that there is a positive deviation in the measured rear wheel steering angle. At this time, since the sum of the measured rear wheel steering angle and the measured front wheel steering angle may still be consistent with the total front and rear axle steering angles required to control the vehicle, it is easy to wrongly determine that the measured front wheel steering angle data and rear wheel steering angle data are correct. This not only affects the credibility and accuracy of the correctness verification results of the wheel steering angle data, but also may cause some vehicle functions to be affected in performance due to the use of incorrect wheel steering angle data, and even may cause dangerous conditions such as incorrect function activation or incorrect function exit, affecting the controllability and safety of the vehicle operation process.

[0047] Based on this, the present invention proposes a wheel steering angle verification method. This method can obtain the wheel steering angle data and wheel driving speed data of the target wheels of the vehicle during the operation of the front wheel steering function and the rear wheel steering function of the vehicle; so as to calculate the target yaw rate of the vehicle according to the wheel steering angle data and wheel driving speed data of the target wheels; by performing a consistency comparison process on the target yaw rate corresponding to the target wheels and the reference yaw rate of the vehicle, it is possible to accurately and conveniently verify whether the wheel steering angle data corresponding to the front wheels and rear wheels of the vehicle are correct, which is beneficial to ensuring the controllability and safety of the vehicle operation process.

[0048] Please refer to Figure 2 , which is a schematic flowchart of a wheel steering angle verification method provided by an embodiment of the present invention. From a program perspective, the execution subject of this process can be an application program installed on the vehicle control device or the vehicle. Or, the execution subject of this process can also be the vehicle control device or the vehicle, or other devices that can communicate with the vehicle control device or the vehicle. No specific limitation is made in this regard.

[0049] Next, a detailed description will be given of Figure 2 the process shown below. The wheel steering angle verification method may specifically include the following steps:

[0050] Step S202, during the operation of the front wheel steering function and the rear wheel steering function of the vehicle, obtain the wheel steering angle data and wheel driving speed data of the target wheels of the vehicle; wherein, the target wheels include the front wheels and the rear wheels.

[0051] In an embodiment of the present invention, the front-wheel steering function may refer to the function that the front wheels of a vehicle can turn left and right, so that the driving direction of the vehicle can be changed by controlling the steering angle of the front wheels. The rear-wheel steering function may refer to the function that the rear wheels of a vehicle can turn left and right, so that the driving direction of the vehicle can be changed by controlling the steering angle of the rear wheels.

[0052] In practical applications, the wheel angle data and wheel driving speed data of the target wheels of the vehicle can usually be measured by using sensors mounted on the vehicle. Among them, there can be various types of target wheels. For example, the target wheels can be the front wheels on both left and right sides, or the rear wheels on both left and right sides, etc. The wheel angle data of the target wheels can reflect the angle between the target wheels (front wheels / rear wheels) and the longitudinal center line of the vehicle (i.e., the front wheel angle / rear wheel angle). Moreover, the directions of the front wheel angle and the rear wheel angle respectively controlled and generated when the front-wheel steering function and the rear-wheel steering function of the vehicle are operating can be the same or different, and no specific limitation is made thereto. And the wheel driving speed data can reflect the distance traveled by the target wheels (front wheels / rear wheels) per unit time, which will not be elaborated herein.

[0053] Step S204: Calculate the target yaw rate of the vehicle according to the wheel angle data and wheel driving speed data of the target wheels.

[0054] In an embodiment of the present invention, the yaw rate of a vehicle may refer to the angular velocity at which the vehicle rotates around its own vertical axis in the lateral plane, and it is a key parameter for measuring the steering or direction change rate. Since the yaw rate of the vehicle is closely related to the wheel angle and the wheel driving speed, and other sensors are usually mounted on the vehicle to also measure the yaw rate generated by the vehicle, it is possible to determine whether the measured wheel angle data is correct and has good credibility by comparing the yaw rate of the vehicle calculated according to the wheel angle and the wheel driving speed with the yaw rate of the vehicle measured by other means.

[0055] Based on this, when it is necessary to correct whether the measured wheel angle data of any kind of target wheel (for example, the front wheel or the rear wheel) is correct, the target yaw rate corresponding to this kind of target wheel can be calculated according to the wheel angle data and wheel driving speed data of this kind of target wheel.

[0056] Step S206: Obtain the reference yaw rate of the vehicle.

[0057] In an embodiment of the present invention, the reference yaw rate of the vehicle can be a yaw rate with good credibility generated by the vehicle currently. Moreover, the reference yaw rate of the vehicle can generally be data obtained by using a method different from the method for obtaining the target yaw rate corresponding to the above-mentioned target wheel. In practical applications, there can be various methods for obtaining the reference yaw rate of the vehicle. For example, the reference yaw rate of the vehicle can be directly measured by a sensor, or the reference yaw rate of the vehicle can be calculated by combining sensor data measured by other sensors except for the wheel rotation angle data and the wheel driving speed data used for collecting the target wheel. No specific limitation is made thereto.

[0058] Step S208: Perform a consistency comparison process on the target yaw rate and the reference yaw rate to obtain a correctness verification result for the wheel rotation angle data of the target wheel.

[0059] In an embodiment of the present invention, the yaw rates of the vehicle obtained by different acquisition methods can generally be consistent. Therefore, if there is a large difference between the yaw rates of the vehicle obtained by different acquisition methods, it can indicate that at least some of the acquired yaw rates are incorrect. Based on this, on the basis that the credibility of the reference yaw rate of the vehicle is relatively good, it is possible to accurately and conveniently determine whether the measured wheel rotation angle data of the target wheel is correct by comparing whether the target yaw rate calculated according to the measured wheel rotation angle data of the target wheel is consistent with the reference yaw rate.

[0060] Figure 2 In the method in [reference], during the operation of the front-wheel steering function and the rear-wheel steering function of the vehicle, the wheel rotation angle data and the wheel driving speed data of the target wheel of the vehicle can be obtained, so as to calculate the target yaw rate of the vehicle according to the wheel rotation angle data and the wheel driving speed data of the target wheel; by performing a consistency comparison process on the target yaw rate corresponding to the target wheel and the reference yaw rate of the vehicle, it is possible to accurately and conveniently verify whether the wheel rotation angle data corresponding to the front wheels and rear wheels (i.e., target wheels) of the vehicle is correct, which is beneficial to ensuring the controllability and safety of the vehicle during operation.

[0061] In some feasible embodiments, the obtaining of the wheel rotation angle data of the target wheel of the vehicle may include:

[0062] Obtain first sensor data collected by a rotation angle sensor carried by the vehicle for determining the wheel rotation angle of the target wheel.

[0063] Optionally, the obtaining of the wheel driving speed data of the target wheel of the vehicle may include:

[0064] Obtain second sensor data collected by the wheel speed sensor mounted on the vehicle for determining the wheel driving speed of the target wheel.

[0065] In an embodiment of the present invention, the corner sensor may be a sensor for measuring or monitoring the rotation angle of an object. The vehicle can generally be equipped with one or more corner sensors to measure the wheel corner data of the target wheel. For example, when the target wheel is a front wheel, since the front wheel corner can be changed by turning the steering wheel, there is usually a preset correlation between the steering wheel corner and the front wheel corner. Based on this, the corner sensor may include a steering wheel corner sensor. Thus, the first sensor data for reflecting the steering wheel corner of the vehicle measured by the steering wheel corner sensor can be obtained, and in combination with the preset correlation between the steering wheel corner and the front wheel corner, the wheel corner data of the front wheel of the vehicle can be determined according to the first sensor data.

[0066] Alternatively, since the movement of the steering gear at the vehicle is required to drive the target wheel to rotate whether the target wheel is a front wheel or a rear wheel, a rack position sensor can also be deployed at the rack of the steering gear as the corner sensor. Thus, the first sensor data for reflecting the position of the rack of the steering gear measured by the rack position sensor can be obtained, and in combination with the preset correlation between the position of the rack of the steering gear and the wheel corner, the wheel corner data of the front / rear wheels of the vehicle can be determined according to the first sensor data.

[0067] In an embodiment of the present invention, the wheel speed sensor may be a sensor for measuring the rotational speed of an automobile wheel. Since the wheel driving speed can be the product of the number of rotations of the automobile wheel per unit time and the wheel circumference, the second sensor data for reflecting the wheel rotational speed measured by the wheel speed sensor can be obtained, and the wheel driving speed data of the front / rear wheels of the vehicle can be determined according to the second sensor data and the wheel circumference.

[0068] Alternatively, since the vehicle-mounted satellite positioning system can receive satellite signals to determine the position and speed of the vehicle, the vehicle driving speed measured by the vehicle-mounted satellite positioning system can also be used as the wheel driving speed data of the front / rear wheels of the vehicle. Moreover, since the vehicle speed can be calculated by transmitting radar signals to the front of the vehicle by the vehicle-mounted radar device and receiving the reflected signals, the vehicle driving speed measured by radar speed measurement can also be obtained and used as the wheel driving speed data of the front / rear wheels of the vehicle.

[0069] Of course, the above-mentioned corner sensor may also include other types of sensors that can be used to determine the wheel corner, or the wheel corner data and wheel driving speed data of the target wheel of the vehicle can be obtained by other means, and no specific limitations are made in this regard.

[0070] In some feasible embodiments, calculating the target yaw rate of the vehicle based on the wheel steering angle data and the wheel traveling speed data of the target wheel may include:

[0071] For any one of the target wheels, calculate the difference between the wheel traveling speed data of the target wheel on one side and the wheel traveling speed data of the target wheel on the other side to obtain a first value.

[0072] Calculate the product of the wheelbase between the target wheel on one side and the target wheel on the other side and the cosine value of the wheel steering angle data of the target wheel to obtain a second value.

[0073] Calculate the quotient of the first value and the second value to obtain the target yaw rate of the vehicle.

[0074] In the embodiments of the present invention, the target yaw rate of the vehicle can be calculated according to the following formula:

[0075]

[0076] where Yaw Rate is the target yaw rate of the vehicle.

[0077] If the target wheel is a front wheel, ω1 and ω2 can be the angular velocities of the inner and outer front wheels, R is the wheel radius of the front wheel, A is the wheelbase between the inner and outer front wheels, θ is the wheel steering angle data of the front wheel, and v1 and v2 are the wheel traveling speed data of the inner and outer front wheels.

[0078] If the target wheel is a rear wheel, ω1 and ω2 can be the angular velocities of the inner and outer rear wheels, R is the wheel radius of the rear wheel, A is the wheelbase between the inner and outer rear wheels, θ is the wheel steering angle data of the rear wheel, and v1 and v2 are the wheel traveling speed data of the inner and outer rear wheels.

[0079] Based on this, for any one type of target wheel (for example, a front wheel or a rear wheel), the difference between the wheel traveling speed data v1 of the target wheel on one side and the wheel traveling speed data v2 of the target wheel on the other side can be calculated to obtain a first value. And, calculate the product of the wheelbase A between the target wheel on one side and the target wheel on the other side and the cosine value of the wheel steering angle data of the target wheel to obtain a second value. By calculating the quotient of the first value and the second value, the target yaw rate corresponding to this type of target wheel can be obtained, which is convenient and fast.

[0080] In some feasible embodiments, obtaining the reference yaw rate of the vehicle may include:

[0081] Obtain the third sensor data collected by the yaw rate sensor mounted on the vehicle, which is used to reflect the yaw rate of the vehicle, to obtain the reference yaw rate of the vehicle. Alternatively,

[0082] Obtain the lateral acceleration data of the vehicle and the vehicle driving speed data of the vehicle.

[0083] Calculate the quotient of the lateral acceleration data of the vehicle and the vehicle driving speed data of the vehicle to obtain the reference yaw rate of the vehicle.

[0084] In the embodiments of the present invention, the yaw rate sensor may be a device for detecting the angular velocity of the deflection of an automobile along the vertical axis. The sensitive element inside the yaw rate sensor can sense the change in the vehicle yaw rate when the vehicle body undergoes a lateral swing, and convert these physical changes into corresponding electrical signals for output, so that the control unit of the vehicle can determine the reference yaw rate of the vehicle in combination with the third sensor data collected by the yaw rate sensor.

[0085] Alternatively, since the yaw rate of the vehicle under steady-state steering conditions can be the quotient of the lateral acceleration data of the vehicle and the vehicle driving speed data. Based on this, it is also possible to obtain the lateral acceleration data ay of the vehicle collected by the inertial sensor mounted on the vehicle, and the measured vehicle driving speed data v of the vehicle, so as to calculate the reference yaw rate of the vehicle with good credibility.

[0086] In practical applications, the principle of obtaining the vehicle driving speed data of the vehicle may be consistent with the principle of obtaining the wheel driving speed data of the target wheel, so as to reduce the accuracy and reliability of the correctness verification result of the wheel angle data generated due to abnormal measurement results of the driving speed. Of course, the principle of obtaining the vehicle driving speed data of the vehicle and the wheel driving speed data of the target wheel may also be inconsistent. Instead, after verifying that the above data is of good credibility through other means, and then combining the above data to generate the correctness verification result of the wheel angle data, it is also possible to ensure the accuracy and reliability of the above correctness verification result, and no specific limitation is made in this regard. Of course, other methods may also be used to obtain the reference yaw rate of the vehicle with good credibility, and no specific limitation is made in this regard.

[0087] In some feasible embodiments, the consistency comparison process for the target yaw rate and the reference yaw rate to obtain the correctness verification result of the wheel angle data of the target wheel may include:

[0088] For any one of the target wheels, calculate the target difference between the target yaw rate corresponding to the target wheel and the reference yaw rate.

[0089] If the target difference is less than the preset threshold value corresponding to the target wheel, a correctness verification result for reflecting the correctness of the wheel rotation angle data of the target wheel is generated.

[0090] If the target difference is greater than or equal to the preset threshold value corresponding to the target wheel, a correctness verification result for reflecting the incorrectness of the wheel rotation angle data of the target wheel is generated.

[0091] In the embodiment of the present invention, affected by factors such as noise or delay in the data transmission and signal processing processes, there can usually be a certain difference between the target yaw rate calculated based on the wheel rotation angle data of the target wheel and the reference yaw rate of the vehicle itself. When the difference between the two is large, it can be considered that the target yaw rate calculated based on the wheel rotation angle data of the target wheel belongs to incorrect data, that is, it can be considered that the measured wheel rotation angle data of the target wheel is incorrect.

[0092] Based on this, the preset threshold values corresponding to various types of target wheels can be set in advance according to actual needs; moreover, the preset threshold values corresponding to the front wheels and rear wheels of the vehicle itself can be either the same or different, and no specific limitation is made in this regard. Subsequently, when the target difference between the target yaw rate corresponding to any target wheel (that is, the target yaw rate calculated based on the wheel rotation angle data of the target wheel) and the reference yaw rate of the vehicle itself is greater than or equal to the preset threshold value corresponding to the target wheel, a correctness verification result for reflecting the incorrectness of the wheel rotation angle data of the target wheel can be generated; otherwise, a correctness verification result for reflecting the correctness of the wheel rotation angle data of the target wheel can be generated.

[0093] It can be seen that the wheel rotation angle verification method provided in the embodiment of the present invention can respectively compare the consistency between the target yaw rate calculated based on the wheel rotation angle data of the front wheels or rear wheels and the reference yaw rate of the vehicle itself, so as to accurately and conveniently verify whether the wheel rotation angle data corresponding to the front wheels or rear wheels of the vehicle itself is correct, thereby being able to solve the problem that the current wheel rotation angle verification scheme incorrectly determines that the front / rear wheel rotation angle data is correct data when there are positive and negative deviations within a certain range in the front wheel rotation angle data and the rear wheel rotation angle data respectively, which is beneficial to ensuring the controllability and safety of the vehicle during operation.

[0094] In some feasible implementation manners, before calculating the target yaw rate of the vehicle based on the wheel rotation angle data and the wheel driving speed data of the target wheel, it may further include:

[0095] Determine whether a preset condition for reflecting that the vehicle has a risk of wheel slip is satisfied to obtain a judgment result; wherein, the preset condition includes: at least one of the wheel slip rate of the target wheel reaching a target threshold and the function of the vehicle for preventing wheel slip being activated.

[0096] Correspondingly, the calculating the target yaw rate of the vehicle based on the wheel steering angle data and the wheel driving speed data of the target wheel may include:

[0097] If the judgment result indicates that the preset condition for reflecting that the vehicle has a risk of wheel slip is not satisfied, then calculate the target yaw rate of the vehicle based on the wheel steering angle data and the wheel driving speed data of the target wheel.

[0098] In an embodiment of the present invention, when the wheels of the vehicle slip, the contact state between the wheels and the ground will change, so that there may be a large deviation between the target yaw rate calculated in combination with the wheel steering angle data and the actual yaw rate generated by the vehicle. In addition, since the wheel slip will make the dynamic control behavior of the vehicle more complex, in this case, the yaw rate of the vehicle may change rapidly, making it difficult for the sensor to accurately capture the relevant sensor data for determining the instantaneous value of the yaw rate of the vehicle, which is also likely to cause a large deviation between the target yaw rate calculated in combination with the wheel steering angle data and the actual yaw rate generated by the vehicle. Therefore, it is possible to allow the execution of Figure 1 only when the vehicle does not have a risk of wheel slip, which is beneficial to ensuring the accuracy of the correctness verification result of the wheel steering angle data generated for the target wheel.

[0099] Specifically, a preset condition for reflecting that the vehicle has a risk of wheel slip can be set in advance according to actual needs. For example, the wheel slip rate of the target wheel of the vehicle reaches the target threshold, and the function of the vehicle for preventing wheel slip is activated, etc. Among them, the target threshold can be set according to actual needs, so its specific value is not limited; and the function for preventing wheel slip may include functions such as Anti-lock Brake and Traction Control, and no specific limitations are made on these here. Subsequently, when it is determined that the preset condition for reflecting that the vehicle has a risk of wheel slip is not satisfied, the steps for calculating the target yaw rate of the vehicle in Figure 1 can be executed, and if the preset condition is satisfied, the steps in Figure 1 can be prohibited from being executed, which is not only beneficial to ensuring the reliable operation of the Figure 1 scheme, but also beneficial to saving computing resources.

[0100] In some feasible embodiments, after performing the consistency comparison process on the target yaw rate and the reference yaw rate to obtain the correctness verification result of the wheel rotation angle data for the target wheel, the following may further be included:

[0101] If the correctness verification result indicates that the wheel rotation angle data of the target wheel is incorrect, an abnormal prompt instruction for the wheel rotation angle data of the target wheel is generated. And / or,

[0102] If the correctness verification result indicates that the wheel rotation angle data of the target wheel is incorrect, an operation control instruction for a preset vehicle function that requires the wheel rotation angle data of the target wheel during operation is generated.

[0103] In the embodiments of the present invention, when the wheel rotation angle data of the target wheel measured by the sensor is incorrect, it usually causes the vehicle to deviate during driving, thereby affecting the controllability and safety of the vehicle when the user is driving. Based on this, an abnormal prompt instruction for the wheel rotation angle data of the target wheel needs to be generated.

[0104] Subsequently, the information display device in the vehicle can be made to respond to the abnormal prompt instruction and display an abnormal prompt message for prompting that there is an error in the currently measured wheel rotation angle data of the target wheel of the vehicle, so that the driver and passengers can timely know this problem, and thus can repair the vehicle in time to ensure the driving safety of the driver and passengers. Among them, the information display device may include, but is not limited to, the human machine interface (HMI), headlight device, audio device, vibration device, etc. of the vehicle, so as to display the abnormal prompt message for the wheel rotation angle data in the form of text, light, audio or vibration, with good flexibility and beneficial to improving the user experience.

[0105] Alternatively, the abnormal prompt instruction may also be sent by the remote communication module of the vehicle to the cloud server, so that the cloud server can respond to the abnormal prompt instruction and display an abnormal prompt message for prompting that there is an error in the currently measured wheel rotation angle data of the target wheel of the vehicle, so that other supervisors can timely know this problem, and then other supervisors can urge the vehicle user of this vehicle to repair the vehicle, or cooperate with the vehicle manufacturer of this vehicle to detect whether the vehicle corner data measurement is abnormal due to abnormal vehicle generation process, etc., and no specific limitation is made thereto.

[0106] In addition, since functions such as vehicle stability control and traction control often also rely on accurate wheel angle data, and incorrect wheel angle data may cause the failure and mis-triggering of these vehicle functions. Therefore, if the correctness verification result reflects that the wheel angle data of the target wheel is incorrect, an operation control instruction for a preset vehicle function that needs to use the wheel angle data of the target wheel during operation can also be generated, so that the vehicle controls the operation process of the above preset vehicle function in response to the operation control instruction. For example, disabling the preset vehicle function, or changing the triggering condition of the above preset vehicle function, or changing the execution process or execution result of the above preset vehicle function, etc., so as to ensure the safe and stable operation of the vehicle.

[0107] The present invention also provides a computer program product, which includes a computer program that, when executed, implements the steps of the wheel angle verification method in the above embodiments. The specific execution process can refer to the specific descriptions in the above embodiments and will not be elaborated here.

[0108] The present invention also provides a storage medium that can store a computer program, and the computer program, when executed, can implement the wheel angle verification method in the above embodiments. The specific execution process can refer to the specific descriptions in the above embodiments and will not be elaborated here.

[0109] In one embodiment, the present invention also provides Figure 3 a schematic structural diagram of the vehicle controller shown. As Figure 3 shown, at the hardware level, the vehicle controller may include a processor 31 and a memory 35. Of course, it may also include an internal bus 32, a network interface 33, a memory 34, and other hardware required for other services. The vehicle controller can be set in the vehicle, and the processor 31 therein can read the corresponding computer program from the memory 35 into the memory and then run it to implement the above wheel angle verification method. The specific execution process can refer to the specific descriptions in the above embodiments and will not be elaborated here.

[0110] In one embodiment, the present invention also provides a vehicle, which may include the vehicle controller as described above to execute the steps of the above wheel angle verification method through the vehicle controller. The specific execution process can refer to the specific descriptions in the above embodiments and will not be elaborated here.

[0111] Finally, each embodiment in the present invention is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other, and each embodiment focuses on the differences from other embodiments. In particular, for embodiments such as computer program products, storage media, vehicle controllers, and vehicles, since they are basically similar to the method embodiments, the description is relatively simple, and reference can be made to the corresponding parts of the method embodiments for the relevant content.

[0112] The above description is only for the embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and changes can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A wheel steering angle verification method, comprising: During the operation of the front-wheel steering function and the rear-wheel steering function of the vehicle, obtaining the wheel steering angle data and the wheel driving speed data of the target wheels of the vehicle; wherein, the target wheels include the front wheels and the rear wheels; Calculating the target yaw rate of the vehicle based on the wheel steering angle data and the wheel driving speed data of the target wheels; Obtaining the reference yaw rate of the vehicle; Performing a consistency comparison process on the target yaw rate and the reference yaw rate to obtain a correctness verification result for the wheel steering angle data of the target wheels.

2. The method according to claim 1, wherein the obtaining of the wheel steering angle data of the target wheels of the vehicle comprises: Obtaining first sensor data collected by a steering angle sensor carried on the vehicle for determining the wheel steering angle of the target wheels; The obtaining of the wheel driving speed data of the target wheels of the vehicle comprises: Obtaining second sensor data collected by a wheel speed sensor carried on the vehicle for determining the wheel driving speed of the target wheels.

3. The method according to claim 1, wherein the calculating of the target yaw rate of the vehicle based on the wheel steering angle data and the wheel driving speed data of the target wheels comprises: For any one of the target wheels, calculating the difference between the wheel driving speed data of one side of the target wheel and the wheel driving speed data of the other side of the target wheel to obtain a first value; Calculating the product of the wheelbase between the one side of the target wheel and the other side of the target wheel and the cosine value of the wheel steering angle data of the target wheels to obtain a second value; Calculating the quotient of the first value and the second value to obtain the target yaw rate of the vehicle.

4. The method according to claim 1, wherein the obtaining of the reference yaw rate of the vehicle comprises: Obtaining third sensor data collected by a yaw rate sensor carried on the vehicle for reflecting the yaw rate of the vehicle to obtain the reference yaw rate of the vehicle; Or, Obtaining the lateral acceleration data of the vehicle and the vehicle driving speed data of the vehicle; Calculating the quotient of the lateral acceleration data of the vehicle and the vehicle driving speed data of the vehicle to obtain the reference yaw rate of the vehicle.

5. The method according to claim 1, wherein the performing of the consistency comparison process on the target yaw rate and the reference yaw rate to obtain a correctness verification result for the wheel steering angle data of the target wheels comprises: For any one of the target wheels, calculating the target difference between the target yaw rate corresponding to the target wheel and the reference yaw rate; If the target difference is less than the preset threshold corresponding to the target wheel, generating a correctness verification result for reflecting that the wheel steering angle data of the target wheel is correct; If the target difference is greater than or equal to the preset threshold corresponding to the target wheel, generating a correctness verification result for reflecting that the wheel steering angle data of the target wheel is incorrect.

6. The method according to claim 1, before calculating the target yaw rate of the vehicle based on the wheel steering angle data and the wheel traveling speed data of the target wheel, further includes: Determining whether a preset condition for reflecting the risk of wheel slip of the vehicle is satisfied to obtain a determination result; wherein, the preset condition includes at least one of the following: the wheel slip rate of the target wheel reaches a target threshold, and the function for preventing wheel slip of the vehicle is activated; The calculating the target yaw rate of the vehicle based on the wheel steering angle data and the wheel traveling speed data of the target wheel includes: If the determination result indicates that the preset condition for reflecting the risk of wheel slip of the vehicle is not satisfied, then calculating the target yaw rate of the vehicle based on the wheel steering angle data and the wheel traveling speed data of the target wheel.

7. The method according to any one of claims 1-6, after performing a consistency comparison process on the target yaw rate and the reference yaw rate to obtain a correctness verification result for the wheel steering angle data of the target wheel, further includes: If the correctness verification result reflects that the wheel steering angle data of the target wheel is incorrect, then generating an abnormal prompt instruction for the wheel steering angle data of the target wheel; and / or If the correctness verification result reflects that the wheel steering angle data of the target wheel is incorrect, then generating an operation control instruction for a preset vehicle function that needs to use the wheel steering angle data of the target wheel during operation.

8. A computer program product, which includes a computer program that, when executed, implements the steps of the method according to any one of claims 1-7.

9. A storage medium, on which a computer program is stored, and the computer program, when executed, implements the steps of the method according to any one of claims 1-7.

10. A vehicle controller, comprising: A processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the steps of the method according to any one of claims 1-7.

11. A vehicle, including the vehicle controller according to claim 10.

Images