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

Abstract

The application provides a wheel rotation angle verification method, a computer program product, a storage medium, a vehicle controller and a vehicle. According to the wheel rotation angle verification method, wheel rotation angle data and wheel running speed data of a target wheel of a vehicle can be obtained during the operation of the front wheel steering function and the rear wheel steering function of the vehicle, so that the target yaw rate of the vehicle can be calculated according to the wheel rotation angle data and the wheel running speed data of the target wheel. Through consistency comparison between the target yaw rate and the reference yaw rate of the vehicle, the correctness verification result of the wheel rotation angle data of the target wheel can be obtained, so that whether the wheel rotation angle data of the front wheel and the rear wheel of the vehicle is correct can be accurately and conveniently verified.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a wheel angle verification method, a computer program product, a storage medium, a vehicle controller, and a vehicle. Background Technology

[0002] With the development of the national economy and the improvement of people's consumption levels, automobiles have become widely available in ordinary households, and people's requirements for the handling performance of automobiles are also increasing. Currently, in addition to front-wheel steering, which is simpler in structure, has better operational stability, and lower implementation costs, rear-wheel steering is also gradually becoming more widely used due to its ability to increase vehicle maneuverability and shorten the turning radius. Since the wheel angle data of the front and rear wheels measured by onboard sensors directly affects the accuracy of vehicle driving control, accurate and convenient verification of the wheel angle data for each wheel is crucial for improving the controllability and safety of vehicle operation. Summary of the Invention

[0003] Based on this, the present invention provides a wheel angle verification method, a computer program product, a storage medium, a vehicle controller, and a vehicle. By using this wheel angle verification method, the correctness of the wheel angle data corresponding to the front and rear wheels of the vehicle can be accurately and conveniently verified during the operation of the front wheel steering function and the rear wheel steering function, which helps to ensure the controllability and safety of the vehicle operation.

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

[0005] During the operation of the front-wheel steering and rear-wheel steering functions of this vehicle, the wheel angle data and wheel speed data of the target wheels of this vehicle are acquired; wherein, the target wheels include the front wheels and the rear wheels;

[0006] Based on the wheel angle data and wheel speed data of the target wheel, the target yaw rate of the vehicle is calculated.

[0007] Obtain the reference yaw rate of this vehicle;

[0008] A consistency comparison is performed between the target yaw rate and the reference yaw rate to obtain the correctness verification result of the wheel angle data for the target wheel.

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

[0010] Acquire first sensor data, collected by the steering angle sensor mounted on this vehicle, for determining the wheel angle of the target wheel;

[0011] The acquisition of the wheel speed data of the target wheel of the vehicle includes:

[0012] Acquire second sensor data, obtained from the wheel speed sensor mounted on this vehicle, to determine the wheel speed of the target wheel.

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

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

[0015] The second value is obtained by multiplying the wheelbase between the target wheel on one side and the target wheel on the other side by the cosine of the wheel angle data of the target wheel;

[0016] The target yaw rate of the vehicle is obtained by calculating the quotient of the first value and the second value.

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

[0018] Obtain the reference yaw rate of the vehicle from the yaw rate data collected by the vehicle's yaw rate sensor; or,

[0019] Obtain the lateral acceleration data and vehicle speed data of this vehicle;

[0020] The reference yaw rate of the vehicle is obtained by calculating the quotient of the vehicle's lateral acceleration data and the vehicle's speed data.

[0021] Furthermore, in some embodiments, the process of comparing the target yaw rate with the reference yaw rate to obtain a correctness verification result for the wheel angle data of the target wheel includes:

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

[0023] If the target difference is less than the preset threshold corresponding to the target wheel, a correctness verification result is generated to reflect the correctness of the wheel angle data of the target wheel;

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

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

[0026] Determine whether a preset condition reflecting the risk of wheel slippage of the vehicle is met, and obtain a determination result; wherein, the preset condition includes at least one of: the wheel slippage rate of the target wheel reaches a target threshold, and the vehicle's function for preventing wheel slippage is activated;

[0027] The step of calculating the target yaw rate of the vehicle based on the wheel angle data and wheel speed data of the target wheel includes:

[0028] If the judgment result indicates that the preset conditions for reflecting the risk of wheel slippage of the vehicle are not met, then the target yaw rate of the vehicle is calculated based on the wheel angle data and wheel speed data of the target wheel.

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

[0030] If the correctness verification result reflects that the wheel angle data of the target wheel is incorrect, an error message instruction for the wheel angle data of the target wheel is generated; and / or,

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

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

[0033] On the other hand, the present invention also provides a storage medium having a computer program stored thereon, which, when executed, implements the steps of the above-described method.

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

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

[0036] According to the wheel angle verification 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 wheel speed data of the target wheel (e.g., front wheel, rear wheel, etc.) of the vehicle can be acquired; so as to calculate the target yaw rate of the vehicle based on the wheel angle data and wheel speed data of the target wheel; by performing a consistency comparison between the target yaw rate corresponding to the target wheel and the reference yaw rate of the vehicle, the correctness of the wheel angle data corresponding to the front wheel and the rear wheel of the vehicle can be accurately and conveniently verified, which helps to ensure the controllability and safety of the vehicle operation process.

[0037] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0038] Figure 1 A schematic diagram of a vehicle kinematic model provided in an embodiment of the present invention;

[0039] Figure 2 A flowchart illustrating a wheel rotation angle verification method provided in an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of the present invention. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0042] In the description of one or more embodiments of the present invention, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "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. Other explicit and implicit definitions may also be included below.

[0043] With the continuous advancement of technology, automobiles have gradually begun to be equipped with front-wheel steering and rear-wheel steering functions. By controlling the rotation of the front and rear wheels separately, the direction of the vehicle can be changed, thereby improving handling, stability, and safety. However, due to factors such as sensor wear and aging, improper installation of the steering system, and environmental interference, there may be significant deviations between the measured wheel angle data and the actual wheel angle data. Therefore, when driving control is based on incorrect wheel angle data, it can easily make it difficult for the driver to control the vehicle, affecting the controllability and safety of the vehicle's operation.

[0044] Currently, analysis and demonstration have shown that when both front-wheel and rear-wheel steering functions are operating simultaneously, the sum of the front and rear wheel steering angles should be consistent with the total front-to-rear axle steering angle required to be controlled. Based on this, after measuring the front and rear wheel steering angle data, it is currently determined whether the sum of the front and rear wheel steering angles equals the required total front-to-rear axle steering angle. If so, the measured front and rear wheel steering angle data are considered correct; otherwise, they are considered incorrect, thus verifying the correctness of the measured wheel steering angle data. While this current method for verifying wheel steering angle data is convenient and quick, it may fail to identify situations where the front and rear wheel steering angle data exhibit positive or negative deviations within a certain range, thereby affecting the reliability and accuracy of the verification results.

[0045] Figure 1 This is a schematic diagram of a vehicle kinematic model provided in an embodiment of the present invention; for ease of understanding, it is illustrated herein in conjunction with... Figure 1 This section explains the problems with current methods for verifying the correctness of wheel angle data. For example... Figure 1 As shown in (a), assuming the vehicle needs to turn while traveling in the direction of the arrow, the front wheels 101 can be controlled to generate a front wheel steering angle, and the rear wheels 102 can be controlled to generate a rear wheel steering angle. Figure 1 After simplifying the car kinematics model shown in (a), we can obtain the following: Figure 1 (b) shows a bicycle model in which the angle between the black solid line 104 and the longitudinal center line 109 of the vehicle can be consistent with the wheel angle of the front wheel 101, and the angle between the black solid line 105 and the longitudinal center line 109 of the vehicle can be consistent with the wheel angle of the rear wheel 102. In addition, the positional relationship of the center of mass 106 relative to the black solid lines 104 and 105 can also be consistent with the positional relationship of the center of mass 103 relative to the front wheel 101 and the rear wheel 102.

[0046] Assuming the measured front wheel steering angle can be the angle between the black dashed line 107 and the vehicle's longitudinal centerline 109, comparing the angles between the black dashed line 107 and the black solid line 104 with the vehicle's longitudinal centerline 109 reveals a negative deviation. Similarly, the measured rear wheel steering angle can be the angle between the black dashed line 108 and the vehicle's longitudinal centerline 109, and comparing the angles between the black dashed line 108 and the black solid line 105 with the vehicle's longitudinal centerline 109 reveals a positive deviation. In this case, 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 angle required to control the vehicle, it is easy to mistakenly conclude that the measured front and rear wheel steering angle data are correct. This not only affects the reliability and accuracy of the verification results for the correctness of wheel angle data, but may also cause some vehicle functions to be affected by the use of incorrect wheel angle data, and may even cause dangerous conditions such as function misactivation or function misdeactivation, affecting the controllability and safety of the vehicle operation process.

[0047] Based on this, the present invention proposes a wheel angle verification method. This method can acquire the wheel angle data and wheel speed data of the target wheel of the vehicle during the operation of the front wheel steering function and the rear wheel steering function. This allows for the calculation of the target yaw rate of the vehicle based on the wheel angle data and wheel speed data of the target wheel. By comparing the target yaw rate corresponding to the target wheel with the reference yaw rate of the vehicle, the accuracy and convenience of the wheel angle data corresponding to the front and rear wheels of the vehicle can be verified, which helps to ensure the controllability and safety of the vehicle's operation.

[0048] Please see Figure 2 This is a flowchart illustrating a wheel angle verification method provided in an embodiment of the present invention. From a programming perspective, the executing entity of this process can be an application program installed on a vehicle control device or the vehicle. Alternatively, the executing entity can also be a vehicle control device or the vehicle, or other devices capable of communicating with a vehicle control device or the vehicle; no specific limitation is made in this regard.

[0049] The following is about Figure 2 The process shown will be explained in detail. The wheel 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, acquire the wheel angle data and wheel speed data of the target wheel of the vehicle; wherein, the target wheel includes the front wheel and the rear wheel.

[0051] In this embodiment of the invention, the front wheel steering function refers to the ability of the vehicle's front wheels to turn left and right, thereby changing the vehicle's direction of travel by controlling the steering angle of the front wheels. The rear wheel steering function refers to the ability of the vehicle's rear wheels to turn left and right, thereby changing the vehicle's direction of travel by controlling the steering angle of the rear wheels.

[0052] In practical applications, sensors mounted on the vehicle are typically used to measure the wheel angle and speed data of the target wheels. The target wheels can be of various types, such as the front wheels (left and right) or the rear wheels (left and right). The wheel angle data reflects the angle between the target wheel (front / rear) and the vehicle's longitudinal centerline (i.e., front wheel angle / rear wheel angle). Furthermore, the directions of the front and rear wheel angles generated by the vehicle's front and rear steering functions can be the same or different; there is no specific limitation. The wheel speed data reflects the distance traveled by the target wheel (front / rear) per unit time, which will not be elaborated upon further.

[0053] Step S204: Calculate the target yaw rate of the vehicle based on the wheel angle data and wheel speed data of the target wheel.

[0054] In this embodiment of the invention, the yaw rate of a vehicle refers to the angular velocity of the vehicle rotating about its own vertical axis in the lateral plane. It is a key parameter for measuring the rate of change of steering or direction. Since the yaw rate of a vehicle is closely related to the wheel angle and wheel speed, and since other sensors are usually mounted on the vehicle to measure the yaw rate generated by the vehicle, the accuracy and reliability of the measured wheel angle data can be determined by comparing the yaw rate calculated based on the wheel angle and wheel speed with the yaw rate measured by other methods.

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

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

[0057] In this embodiment of the invention, the reference yaw rate of the vehicle can be a reliable yaw rate currently generated by the vehicle. Furthermore, the reference yaw rate of the vehicle can typically be data obtained using a different method than the method used to obtain the target yaw rate corresponding to the 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 can be directly measured by a sensor, or it can be calculated by combining sensor data from other sensors besides those used to collect wheel angle data and wheel speed data for the target wheel. No specific limitation is made in this regard.

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

[0059] In this embodiment of the invention, the yaw rate of the vehicle obtained through different acquisition methods can generally be consistent. Therefore, if there is a large difference between the yaw rate of the vehicle obtained through different acquisition methods, it can be indicated that at least some of the acquired yaw rates are incorrect. Based on this, assuming the reliability of the reference yaw rate of the vehicle is good, the accuracy of the measured wheel angle data of the target wheel can be accurately and conveniently determined by comparing whether the target yaw rate calculated based on the measured wheel angle data of the target wheel is consistent with the reference yaw rate.

[0060] Figure 2 The method described above can acquire the wheel angle data and wheel speed data of the target wheel of the vehicle during the operation of the front wheel steering function and the rear wheel steering function. This allows for the calculation of the target yaw rate of the vehicle based on the wheel angle data and wheel speed data of the target wheel. By comparing the target yaw rate corresponding to the target wheel with the vehicle's reference yaw rate, the accuracy and convenience of the wheel angle data corresponding to the front and rear wheels (i.e., the target wheel) can be verified, which helps to ensure the controllability and safety of the vehicle's operation.

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

[0062] Obtain first sensor data collected by the steering angle sensor mounted on this vehicle to determine the wheel angle of the target wheel.

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

[0064] Acquire second sensor data, obtained from the wheel speed sensor mounted on this vehicle, to determine the wheel speed of the target wheel.

[0065] In this embodiment of the invention, the steering angle sensor can be a sensor used to measure or monitor the rotation angle of an object. The vehicle can typically be equipped with one or more steering angle sensors to measure the wheel angle data of the target wheel. For example, when the target wheel is the front wheel, since the front wheel angle can be changed by turning the steering wheel, there is usually a preset correlation between the steering wheel angle and the front wheel angle. Based on this, the steering angle sensor can include a steering wheel angle sensor. Thus, by acquiring first sensor data reflecting the steering wheel angle of the vehicle measured by the steering wheel angle sensor, and combining this data with the preset correlation between the steering wheel angle and the front wheel angle, the wheel angle data of the vehicle's front wheels can be determined based on the first sensor data.

[0066] Alternatively, since the target wheel needs to be driven to rotate by the movement of the vehicle's steering gear regardless of whether it is a front or rear wheel, a rack position sensor can be deployed on the steering gear rack as a steering angle sensor. This allows the vehicle to determine the front / rear wheel steering angle data by acquiring first sensor data reflecting the position of the steering gear rack, combined with a preset correlation between the steering gear rack position and wheel steering angle, based on the first sensor data.

[0067] In this embodiment of the invention, the wheel speed sensor can be a sensor used to measure the rotational speed of a vehicle's wheels. Since the wheel speed can be the product of the number of revolutions of the vehicle's wheels per unit time and the wheel's circumference, the front / rear wheel speed data of the vehicle can be determined by acquiring second sensor data reflecting the wheel rotational speed measured by the wheel speed sensor and using the second sensor data and the wheel circumference.

[0068] Alternatively, since vehicle-mounted satellite positioning systems can receive satellite signals to determine a vehicle's position and speed, the vehicle speed measured by the system can also be used as the front / rear wheel speed data. Furthermore, since vehicle-mounted radar equipment can emit radar signals forward and receive reflected signals to calculate speed, the vehicle speed measured by radar can also be used as the front / rear wheel speed data.

[0069] Of course, the aforementioned steering angle sensor may also include other types of sensors that can be used to determine the steering angle of the wheel, or the wheel steering angle data and wheel speed data of the target wheel of the vehicle may be obtained through other means, without any specific limitations.

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

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

[0072] The second value is obtained by multiplying the wheelbase between the target wheel on one side and the target wheel on the other side by the cosine of the wheel angle data of the target wheel.

[0073] The target yaw rate of the vehicle is obtained by calculating the quotient of the first value and the second value.

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

[0075]

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

[0077] If the target wheel is the front wheel, then 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 wheel distance between the inner and outer front wheels, θ is the wheel turning angle data of the front wheel, and v1 and v2 are the wheel speed data of the inner and outer front wheels.

[0078] If the target wheel is the rear wheel, then 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 wheel distance between the inner and outer rear wheels, θ is the wheel turning angle data of the rear wheel, and v1 and v2 are the wheel speed data of the inner and outer rear wheels.

[0079] Based on this, for any target wheel (e.g., front or rear wheel), the difference between the wheel speed data v1 of one side of the target wheel and the wheel speed data v2 of the target wheel on the other side can be calculated to obtain a first value. Furthermore, the cosine of the wheelbase A between the target wheel on one side and the target wheel on the other side and the wheel angle data of the target wheel can be calculated. The product of the first and second values ​​yields the second value. By calculating the quotient of the first and second values, the target yaw rate corresponding to this type of target wheel can be obtained quickly and easily.

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

[0081] Obtain the reference yaw rate of the vehicle from the data collected by the yaw rate sensor onboard the vehicle, which reflects the yaw rate of the vehicle. Alternatively,

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

[0083] The reference yaw rate of the vehicle is obtained by calculating the quotient of the vehicle's lateral acceleration data and the vehicle's speed data.

[0084] In this embodiment of the invention, the yaw rate sensor can be a device used to detect the yaw rate of a vehicle along its vertical axis. The sensitive element inside the yaw rate sensor can sense changes in the vehicle's yaw rate when the vehicle body sways laterally, and convert these physical changes into corresponding electrical signals. This allows the vehicle's control unit to combine the data from the third sensor collected by the yaw rate sensor to determine the vehicle's reference yaw rate.

[0085] Alternatively, since the yaw rate of a vehicle under steady-state steering conditions can be the quotient of the vehicle's lateral acceleration data and its speed data, a reliable reference yaw rate can be calculated by obtaining the vehicle's lateral acceleration data (ay) collected by the vehicle's inertial sensors and the measured vehicle speed data (v).

[0086] In practical applications, the principle for acquiring the vehicle's speed data can be consistent with the principle for acquiring the target wheel's speed data. This reduces the interference from abnormal speed measurement results on the accuracy and reliability of the generated wheel angle data verification results. Alternatively, the principles for acquiring the vehicle's speed data and the target wheel's speed data can differ. Instead, other methods can be used to verify the reliability of the aforementioned data before combining it with the generated wheel angle data verification results. This also ensures the accuracy and reliability of the verification results, and no specific limitations are imposed. Furthermore, other methods can be used to obtain a reliable baseline yaw rate for the vehicle, and no specific limitations are imposed on this either.

[0087] In some feasible implementations, the process of comparing the target yaw rate with the reference yaw rate to obtain the correctness verification result of the wheel angle data for the target wheel may include:

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

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

[0090] If the target difference is greater than or equal to the preset threshold corresponding to the target wheel, a correctness verification result is generated to reflect that the wheel angle data of the target wheel is incorrect.

[0091] In this embodiment of the invention, due to factors such as noise or delay in data transmission and signal processing, the target yaw rate calculated by combining the wheel angle data of the target wheel and the reference yaw rate of the vehicle can usually have a certain difference. However, when the difference between the two is large, the target yaw rate calculated by combining the wheel angle data of the target wheel can be considered to be erroneous data, that is, the measured wheel angle data of the target wheel can be considered to be incorrect.

[0092] Based on this, preset thresholds corresponding to various types of target wheels can be set in advance according to actual needs. Furthermore, the preset thresholds corresponding to the front and rear wheels of the vehicle can be the same or different, without specific limitations. Subsequently, when the target yaw rate (i.e., the target yaw rate calculated by combining the wheel angle data of the target wheel) corresponding to any target wheel is greater than or equal to the preset threshold corresponding to that target wheel, a correctness verification result reflecting that the wheel angle data of the target wheel is incorrect can be generated; otherwise, a correctness verification result reflecting that the wheel angle data of the target wheel is correct can be generated.

[0093] As can be seen, the wheel angle verification method provided in this embodiment of the invention can compare the consistency between the target yaw rate calculated by combining the wheel angle data of the front wheel or the rear wheel and the reference yaw rate of the vehicle, so as to accurately and conveniently verify whether the wheel angle data corresponding to the front wheel or the rear wheel of the vehicle is correct. This can solve the problem that the current wheel angle verification scheme erroneously judges that the front / rear wheel angle data are both correct when the front wheel angle data and the rear wheel angle data have a certain range of positive and negative deviations. This is beneficial to ensuring the controllability and safety of the vehicle's operation.

[0094] In some feasible implementations, before calculating the target yaw rate of the vehicle based on the wheel angle data and wheel speed data of the target wheel, the following steps may be included:

[0095] Determine whether a preset condition reflecting the risk of wheel slippage of the vehicle is met, and obtain a determination result; wherein, the preset condition includes at least one of: the wheel slippage rate of the target wheel reaches a target threshold, and the vehicle's function for preventing wheel slippage is activated.

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

[0097] If the judgment result indicates that the preset conditions for reflecting the risk of wheel slippage of the vehicle are not met, then the target yaw rate of the vehicle is calculated based on the wheel angle data and wheel speed data of the target wheel.

[0098] In this embodiment of the invention, when the vehicle's wheels slip, the contact state between the wheels and the ground changes, potentially causing a significant deviation between the target yaw rate calculated from wheel angle data and the actual yaw rate generated by the vehicle. Furthermore, wheel slippage complicates the vehicle's dynamic control behavior; in this situation, the vehicle's yaw rate may change rapidly, making it difficult for sensors to accurately capture the instantaneous sensor data used to determine the vehicle's yaw rate. This also easily leads to a significant deviation between the target yaw rate calculated from wheel angle data and the actual yaw rate generated by the vehicle. Therefore, execution should only be permitted when the vehicle does not face the risk of wheel slippage. Figure 1 The steps in the wheel angle verification scheme help ensure the accuracy of the verification results of the generated wheel angle data for the target wheel.

[0099] Specifically, preset conditions reflecting the risk of wheel slippage in the vehicle can be pre-set according to actual needs. For example, if the wheel slippage rate of a target wheel reaches a target threshold, the vehicle's wheel slippage prevention function is activated. The target threshold can be set according to actual needs, and its specific value is not limited. The wheel slippage prevention function can include anti-lock braking (ABS) and traction control (TCC) functions, etc., and these are not specifically limited. Subsequently, the system can only be activated if the preset conditions reflecting the risk of wheel slippage are not met. Figure 1 The step used to calculate the target yaw rate of the vehicle can be disabled if the preset condition is met. Figure 1 The steps in the process are conducive to ensuring Figure 1 The reliable operation of the solution also helps to save computing resources.

[0100] In some feasible implementations, after performing a consistency comparison between the target yaw rate and the reference yaw rate to obtain the correctness verification result of the wheel angle data for the target wheel, the process may further include:

[0101] If the correctness check result indicates that the wheel angle data of the target wheel is incorrect, an error message indicating an error in the wheel angle data of the target wheel is generated. And / or,

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

[0103] In this embodiment of the invention, when the wheel angle data of the target wheel measured by the sensor is incorrect, the vehicle will typically veer off course during driving, thereby affecting the vehicle's controllability and safety when the user is driving. Therefore, it is necessary to generate an abnormality warning command for the wheel angle data of the target wheel.

[0104] Subsequently, the information display device in the vehicle can respond to the aforementioned abnormality alert command and display an abnormality alert message indicating that the wheel angle data of the target wheel currently measured by the vehicle is incorrect. This allows the driver and passengers to be aware of the problem in a timely manner, enabling prompt vehicle repair and ensuring passenger safety. The information display device may include, but is not limited to, the vehicle's Human Machine Interface (HMI), lighting equipment, audio equipment, and vibration devices, to display abnormality alert messages regarding wheel angle data in text, light, audio, or vibration formats, offering good flexibility and enhancing the user experience.

[0105] Alternatively, the vehicle's remote communication module can send the abnormality alert command to the cloud server, allowing the cloud server to respond to the abnormality alert command and display an abnormality alert message indicating that the wheel angle data of the target wheel currently measured by the vehicle is incorrect. This would allow other supervisory personnel to be aware of the problem in a timely manner, and then urge the vehicle owner to repair the vehicle, or collaborate with the vehicle manufacturer to check whether the abnormality in the vehicle's wheel angle data measurement is caused by an abnormality in the vehicle's manufacturing process, etc. No specific limitations are made in this regard.

[0106] In addition, since vehicle stability control, traction control, and other functions often rely on accurate wheel angle data, and incorrect wheel angle data may cause these vehicle functions to malfunction or be falsely triggered, if the correctness check result reflects that the wheel angle data of the target wheel is incorrect, operation control instructions for preset vehicle functions that require the wheel angle data of the target wheel during operation can be generated. This allows the vehicle to respond to the operation control instructions and control the operation process of the preset vehicle functions, such as disabling the preset vehicle functions, changing the triggering conditions of the preset vehicle functions, or changing the execution process or execution result of the preset vehicle functions, thereby ensuring the safe and stable operation of the vehicle.

[0107] The present invention also provides a computer program product comprising a computer program that, when executed, implements the steps of the wheel angle verification method as described in the above embodiments. For the specific execution process, please refer to the detailed descriptions in the above embodiments, which will not be repeated here.

[0108] The present invention also provides a storage medium that can store a computer program. When the computer program is executed, it can implement the wheel angle verification method as described in the above embodiments. For the specific execution process, please refer to the specific description in the above embodiments, which will not be repeated here.

[0109] In one embodiment, the present invention also provides Figure 3 The diagram shows the structure of the vehicle controller. Figure 3 At the hardware level, the vehicle controller may include a processor 31 and a memory 35, and may also include an internal bus 32, a network interface 33, a memory 34, and other hardware required for the business. The vehicle controller can be installed in the vehicle, and the processor 31 can read the corresponding computer program from the memory 35 into the memory and then run it to implement the wheel angle verification method described above. For the specific execution process, please refer to the detailed description in the above embodiments, which will not be repeated here.

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

[0111] Finally, the various embodiments in this invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing 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 the relevant parts can be referred to the description of the method embodiments.

[0112] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method for verifying wheel steering angle, comprising: During the operation of the front wheel steering function and the rear wheel steering function of this vehicle, the wheel angle data and wheel speed data of the target wheel of this vehicle are acquired; wherein, the target wheel includes the front wheel and the rear wheel; the wheel angle data includes: sensor data collected by the steering angle sensor on the vehicle to determine the wheel angle of the target wheel; Based on the wheel angle data and wheel speed data of the target wheel, the target yaw rate of the vehicle is calculated. Obtain the reference yaw rate of this vehicle; A consistency comparison is performed between the target yaw rate and the reference yaw rate to obtain the correctness verification result of the wheel angle data for the target wheel.

2. The method according to claim 1, wherein obtaining the wheel angle data of the target wheel of the vehicle includes: Acquire first sensor data, collected by the steering angle sensor mounted on this vehicle, for determining the wheel angle of the target wheel; The acquisition of the wheel speed data of the target wheel of the vehicle includes: Acquire second sensor data, obtained from the wheel speed sensor mounted on this vehicle, to determine the wheel speed of the target wheel.

3. The method according to claim 1, wherein calculating the target yaw rate of the vehicle based on the wheel angle data and wheel speed data of the target wheel includes: For any of the target wheels, the difference between the wheel speed data of one side of the target wheel and the wheel speed data of the other side of the target wheel is calculated to obtain a first value; The second value is obtained by multiplying the wheelbase between the target wheel on one side and the target wheel on the other side by the cosine of the wheel angle data of the target wheel; The target yaw rate of the vehicle is obtained by calculating the quotient of the first value and the second value.

4. The method according to claim 1, wherein obtaining the reference yaw rate of the vehicle comprises: The reference yaw rate of the vehicle is obtained by acquiring data from the third sensor, which is used to reflect the yaw rate of the vehicle, collected by the yaw rate sensor on the vehicle. or, Obtain the lateral acceleration data and vehicle speed data of this vehicle; The reference yaw rate of the vehicle is obtained by calculating the quotient of the vehicle's lateral acceleration data and the vehicle's speed data.

5. The method according to claim 1, wherein the step of performing a consistency comparison between the target yaw rate and the reference yaw rate to obtain a correctness verification result for the wheel angle data of the target wheel includes: For any of the target wheels, calculate the target difference between the target yaw rate and the reference yaw rate corresponding to the target wheel; If the target difference is less than the preset threshold corresponding to the target wheel, a correctness verification result is generated to reflect the correctness of the wheel angle data of the target wheel; If the target difference is greater than or equal to the preset threshold corresponding to the target wheel, a correctness verification result is generated to reflect that the wheel angle data of the target wheel is incorrect.

6. The method according to claim 1, further comprising, before calculating the target yaw rate of the vehicle based on the wheel angle data and wheel speed data of the target wheel: Determine whether a preset condition reflecting the risk of wheel slippage of the vehicle is met, and obtain a determination result; wherein, the preset condition includes at least one of: the wheel slippage rate of the target wheel reaches a target threshold, and the vehicle's function for preventing wheel slippage is activated; The step of calculating the target yaw rate of the vehicle based on the wheel angle data and wheel speed data of the target wheel includes: If the judgment result indicates that the preset conditions for reflecting the risk of wheel slippage of the vehicle are not met, then the target yaw rate of the vehicle is calculated based on the wheel angle data and wheel speed data of the target wheel.

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

8. A computer program product comprising a computer program that, when executed, performs the steps of the method according to any one of claims 1 to 7.

9. A storage medium having a computer program stored thereon, wherein the computer program, when executed, performs the steps of the method according to any one of claims 1 to 7.

10. A vehicle controller, comprising: A processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the steps of the method as claimed in any one of claims 1 to 7.

11. A vehicle comprising the vehicle controller as claimed in claim 10.

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