Tire detection device positioning method, equipment, medium, program product and vehicle

Abstract

The invention relates to a tire detection device positioning method and equipment, a medium, a program product and a vehicle, and the method comprises the steps: obtaining the angle information of a tire detection device of the vehicle, and the wheel tooth pulse data of a wheel of the vehicle; and positioning the tire detection device according to the angle information and the wheel tooth pulse data. The invention aims to improve the positioning efficiency of the tire detection device.

Description

Technical Field

[0001] The present application relates to the field of data processing, and in particular to a tire detection device positioning method, equipment, medium, program product and vehicle. Background Art

[0002] Tire condition monitoring systems (TCMs) are safety systems that ensure the smooth operation of vehicles. They have experienced rapid growth in the automotive market in recent years. In addition to the basic functions of analyzing tire conditions and signal transmission required by automotive tire monitoring devices, accurate monitoring of individual tire conditions often requires accurate display of the specific location of abnormal tire pressure or temperature. Therefore, after installing a TCM system, the installation location of the tire monitoring device must be precisely determined. However, currently, this requires at least twenty minutes to complete self-positioning under typical driving conditions, resulting in inefficient positioning of the tire monitoring device. Summary of the Invention

[0003] The embodiments of the present application provide a tire detection device positioning method, apparatus, medium, program product, and vehicle, which improve the positioning efficiency of the tire detection device and at least partially solve the above-mentioned technical problems.

[0004] To achieve the above-mentioned objective, according to a first aspect of the present application, a tire detection device positioning method is provided, the tire detection device positioning method comprising:

[0005] Obtaining angle information of a tire detection device of a vehicle and tooth pulse data of a wheel of the vehicle;

[0006] The tire detection device is positioned according to the angle information and the gear tooth pulse data.

[0007] Optionally, positioning the tire detection device according to the angle information and the gear tooth pulse data includes:

[0008] Determine target tooth pulse values of the wheel corresponding to a plurality of reference phase angles according to the angle information and the tooth pulse data; wherein the reference phase angle is a designated rotation phase angle of the tire detection device;

[0009] The tire detection device is positioned based on the target tooth pulse values of the wheel corresponding to the multiple reference phase angles.

[0010] Optionally, the phase angle difference between adjacent reference phase angles is a rotation phase angle change value of the tire detection device within one rotation cycle of the tire detection device.

[0011] Optionally, determining target tooth pulse values of the wheel corresponding to a plurality of reference phase angles according to the angle information and the tooth pulse data includes:

[0012] Determining target tracing times corresponding to the multiple reference phase angles according to the angle information;

[0013] Target tooth pulse values of the wheels corresponding to the multiple reference phase angles are determined based on the tooth pulse data and the target retroactive times corresponding to the multiple reference phase angles.

[0014] Optionally, determining the target tracing times corresponding to the multiple reference phase angles according to the angle information includes:

[0015] determining a rate of change of a phase angle of the tire detection device and an actual rotation phase angle of the tire detection device based on the angle information;

[0016] Target traceback times corresponding to the multiple reference phase angles are determined according to the actual rotation phase angle and the phase angle change rate.

[0017] Optionally, determining the target traceback times corresponding to the multiple reference phase angles according to the actual rotation phase angle and the phase angle change rate includes:

[0018] determining a rotation interval time from the plurality of reference phase angles to the actual rotation phase angle according to the actual rotation phase angle and the phase angle change rate;

[0019] The target tracing times corresponding to the multiple reference phase angles are determined according to the rotation interval time.

[0020] Optionally, determining the rotation interval time from the multiple reference phase angles to the actual rotation phase angle according to the actual rotation phase angle and the phase angle change rate includes:

[0021] determining a phase angle difference between the actual rotation phase angle and at least one reference phase angle of the plurality of reference phase angles;

[0022] The rotation interval time from the plurality of reference phase angles to the actual rotation phase angle is determined according to the phase angle difference and the phase angle change rate.

[0023] Optionally, determining the target tracing times corresponding to the multiple reference phase angles according to the rotation interval time includes:

[0024] The target tracing times corresponding to the multiple reference phase angles are determined according to the reception delay time of the angle information and the rotation interval time.

[0025] Optionally, the acquiring angle information of a tire detection device of the vehicle and gear tooth pulse data of the wheel of the vehicle includes:

[0026] Acquiring the angle information through a signal frame received through a communication channel;

[0027] The tire detection device sends multiple signal frames in a time-sharing manner through the communication channel, and the multiple signal frames are generated based on the angle information collected by the tire detection device.

[0028] Optionally, the angle information is obtained from a signal frame received through a communication channel:

[0029] When at least two signal frames are received through the communication within a preset time period, and both of the at least two signal frames include the identifier of the tire detection device, determining a target signal frame closest to the initial signal frame from the at least two signal frames;

[0030] The angle information is obtained from the target signal frame.

[0031] Optionally, the receiving delay time includes:

[0032] The transmission delay of the target signal frame and the interval time between the target signal frame and the first signal frame.

[0033] Optionally, the communication channel includes a wireless transmission channel.

[0034] Optionally, determining the target tooth pulse values of the wheels corresponding to the multiple reference phase angles according to the tooth pulse data and the target tracing times corresponding to the multiple reference phase angles includes:

[0035] The target gear tooth pulse value is determined according to the target acquisition time of the actual rotation phase angle, the target tracing time and the gear tooth pulse data.

[0036] Optionally, determining the target gear tooth pulse value according to the target acquisition time of the actual rotation phase angle, the target tracing time and the gear tooth pulse data includes:

[0037] Determine a reference gear tooth pulse value at a reference time according to the gear tooth pulse data;

[0038] The target gear tooth pulse value is determined according to the target collection time, the target tracing time, the reference time and the reference gear tooth pulse value.

[0039] Optionally, determining the target gear tooth pulse value according to the target acquisition time, the target tracing time, the reference time, and the reference gear tooth pulse value includes:

[0040] Determining a retrospective pulse change value according to the target acquisition time, the target retrospective time, the reference time, and the tooth pulse change rate of the reference tooth pulse value;

[0041] The target tooth pulse value is determined according to the retrospective pulse change value and the reference tooth pulse value.

[0042] Optionally, determining a reference tooth pulse value at a reference time according to the tooth pulse data includes:

[0043] Determine the target tracing cycle number according to the target tracing time and the sampling period corresponding to the gear tooth pulse data;

[0044] The reference gear tooth pulse value is determined according to the target tracing cycle number and the gear tooth pulse data.

[0045] Optionally, the target acquisition time is the last sampling time of the angle information, and the last sampling time is determined based on a timestamp of the angle information.

[0046] Optionally, positioning the tire detection device based on the target tooth pulse values of the wheels corresponding to the multiple reference phase angles includes:

[0047] determining the rotation angles of the wheel corresponding to the multiple reference phase angles according to the target tooth pulse values of the wheel corresponding to the multiple reference phase angles;

[0048] The tire detection device is positioned according to the rotation angles of the wheel corresponding to the multiple reference phase angles.

[0049] Optionally, positioning the tire detection device according to the rotation angles of the wheels corresponding to the multiple reference phase angles includes:

[0050] determining a discrete degree of samples corresponding to the wheel according to the rotation angles of the wheel corresponding to the multiple reference phase angles;

[0051] The tire detection device is positioned according to the discrete degree of the samples corresponding to the wheel.

[0052] Optionally, determining the discreteness of the samples corresponding to the wheels according to the rotation angles of the wheels corresponding to the multiple reference phase angles includes:

[0053] An angular standard deviation of the rotation angle of the wheel corresponding to the multiple reference phase angles is determined to determine a degree of sample dispersion corresponding to the wheel.

[0054] Optionally, the vehicle includes at least two wheels, and positioning the tire detection device according to the discreteness of samples corresponding to the wheels includes:

[0055] According to the discrete degrees of the samples corresponding to the at least two wheels, a target wheel matching the tire detection device is determined from the at least two wheels to locate the tire detection device.

[0056] Optionally, determining a target wheel that matches the tire detection device from the at least two wheels based on the discreteness of the samples corresponding to the at least two wheels includes:

[0057] The wheel with the smallest sample discreteness among the at least two wheels is determined as the target wheel.

[0058] Optionally, determining the wheel having the smallest sample discreteness among the at least two wheels as the target wheel includes:

[0059] When the difference in sample discreteness between the wheel with the smallest sample discreteness and the other wheels among the at least two wheels is greater than a preset threshold, the wheel with the smallest sample discreteness among the at least two wheels is determined as the target wheel.

[0060] Optionally, the angle information is generated based on the vertical acceleration of the tire detection device collected during a sampling period.

[0061] Optionally, the method further includes:

[0062] When a stability check success flag of the angle information is detected, the tire detection device is positioned according to the angle information and the gear tooth pulse data.

[0063] Optionally, the method further includes:

[0064] The tooth pulse data is normalized according to a unit tooth pulse value of the wheel in a rotation period, and based on the normalized tooth pulse data, the tire detection device is positioned according to the angle information and the tooth pulse data.

[0065] Optionally, the normalizing the tooth pulse data according to the unit tooth pulse value of the wheel in the rotation period includes:

[0066] The gear tooth pulse data is normalized according to the unit gear tooth pulse value of the wheel in the rotation period and the driving gear of the vehicle.

[0067] According to a second aspect of the present application, a computer device is further provided, including a processor, wherein the processor is connected to a memory, wherein the memory stores a computer program, and the processor is configured to run the computer program in the memory to execute any tire detection device positioning method in the embodiments of the present application.

[0068] According to a third aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the positioning method of any tire detection device in the embodiments of the present application is implemented.

[0069] According to a fourth aspect of the present application, a computer program product is provided, which includes a computer program. When the computer program is executed by a processor, it implements any tire detection device positioning method in the embodiments of the present application.

[0070] According to a fifth aspect of the present application, a vehicle is provided, which executes any tire detection device positioning method in the embodiments of the present application, or includes any computer device in the embodiments of the present application.

[0071] In summary, the embodiments of the present application, through the above technical solution, position the tire detection device through the angle information of the vehicle's tire detection device and the gear tooth pulse data of the vehicle's wheels, which can improve the positioning efficiency of the tire detection device.

[0072] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0074] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0075] Figure 1 This is a flow chart of an embodiment of a positioning method for a tire detection device provided in an embodiment of the present invention;

[0076] Figure 2 This is a simplified diagram of angle information recognition of a tire detection device provided in an embodiment of the present invention;

[0077] Figure 3 1 is a structural diagram of a tire detection device positioning system provided in an embodiment of the present invention;

[0078] Figure 4 1 is a schematic diagram of filtering signal frames sent by a tire detection device provided in an embodiment of the present invention;

[0079] Figure 5 1 is a schematic diagram of a normalization process of a gear tooth pulse value provided in an embodiment of the present invention;

[0080] Figure 6 1 is a schematic diagram of target gear tooth pulse value tracing provided in an embodiment of the present invention;

[0081] Figure 7 This is a sample statistical diagram provided in an embodiment of the present invention;

[0082] Figure 8 It is a structural diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0083] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0084] Based on the issues mentioned in the aforementioned background technology, tire condition monitoring systems (TCMs) are safety systems that ensure the smooth operation of vehicles. In recent years, TCMs have experienced rapid development in the automotive market. In addition to analyzing the basic functions of automotive tire pressure monitoring devices (TPMs) in detecting tire conditions and their basic signal transmission performance, accurate monitoring of the condition of each tire requires accurate display of the specific location of a tire, such as the front left (FL), front right (FR), rear right (RR), or rear left (RL), when the pressure or temperature of a particular tire is abnormal. Therefore, after installing a TCM, the installation location of the tire detection device must be determined. This process of identifying the location of the tire condition detection device is commonly referred to as "TCM system tire position learning." TCM system tire position learning is divided into passive learning and active learning. Passive learning involves tire position learning achieved through tools such as specialized diagnostic instruments. Active learning involves tire position learning performed by the TCM system using existing onboard devices without the need for additional auxiliary equipment. Compared to passive learning, which requires specialized personnel to learn the ID using dedicated diagnostic tools, active learning saves installation time and can autonomously learn the tire detection position without the need for specialized after-sales personnel or specialized diagnostic equipment. However, actual testing of the self-positioning algorithm revealed that it takes at least twenty minutes to complete self-positioning under typical driving conditions, resulting in low positioning efficiency for the tire detection device.

[0085] In order to solve the above problems, the embodiments of the present application propose a tire detection device positioning method, equipment, medium, program product and vehicle. The embodiments of the present application locate the tire detection device through the angle information of the vehicle's tire detection device and the gear tooth pulse data of the vehicle's wheels, which can improve the positioning efficiency of the tire detection device.

[0086] Specifically, the tire detection device positioning method of this application can be applied to a computer device, which can also be a vehicle or located on a vehicle. For example, the computer device can be a vehicle body controller. The following embodiments are described in detail using the vehicle body controller as an example of the execution entity of the tire detection device positioning method.

[0087] This application provides a tire detection device positioning method, please refer to Figure 1 The tire detection device positioning method provided in the embodiment of the present application includes steps S10 to S20, which are described in detail below.

[0088] S10, obtaining angle information of a tire detection device of a vehicle and gear tooth pulse data of a wheel of the vehicle;

[0089] In this embodiment, the tire detection device is a device used to detect tire status and ensure tire safety. The tire detection device can be a tire pressure sensor for detecting vehicle tire pressure, or a wheel temperature sensor for detecting vehicle tire pressure. The tire detection device is affected by the rotation of a wheel and rotates with the wheel. The tire detection device can be installed on the vehicle wheel, for example, at the valve core of the tire. During the self-positioning process of the tire detection device, angle information of the tire detection device can be periodically collected and transmitted to the vehicle body controller. This angle information represents the rotation of the tire detection device. Since the tire detection device rotates with the rotation of the wheel, the angle information of the tire detection device can also represent the rotation of the target wheel matched with the tire detection device.

[0090] In one embodiment, the angle information is generated based on the vertical acceleration of the tire detection device collected during a sampling period.

[0091] In this embodiment, the vertical accelerations of multiple tire detection devices can be collected during a sampling period. As the tire detection devices rotate with the rotation of the wheel, their vertical accelerations also change with the wheel's rotation. The vertical accelerations of the tire detection devices can reflect the rotation of both the tire detection devices and the target wheel they are paired with. During a single acceleration sampling process, if stability criteria are met, the relationship between the vertical acceleration and the rotational phase angle of the tire detection devices can be used to analyze the phase angle variation curve of the tire detection devices during the sampling period, thereby obtaining angular information about the tire detection devices during the sampling period.

[0092] In some embodiments, the tire detection device has an acceleration detection function, and its vertical acceleration can be directly collected by the tire detection device to obtain angle information. In other embodiments, the vertical acceleration of the tire detection device can be obtained by a vertical acceleration sensor associated with the tire detection device to obtain angle information. The vertical acceleration sensor associated with the tire detection device can be installed adjacent to the tire detection device and on the same wheel. The vertical acceleration collected by the vertical acceleration sensor can be used as the vertical acceleration of the tire detection device.

[0093] In this embodiment, wheel speed sensors can also be used to collect tooth pulse data from the vehicle's wheels. The wheel speed sensor, mounted on the hub of a particular wheel, detects the tooth pulse data from that wheel. Upon receiving the tooth pulse data, the wheel from which it originates can be determined, indicating that the location of the wheel speed sensor collecting the tooth pulse data is known. During self-positioning, the wheel speed sensor periodically collects tooth pulse values from the corresponding wheel and transmits these values to the vehicle body controller via the CAN line.

[0094] S20: Positioning the tire detection device according to the angle information and the gear tooth pulse data.

[0095] In this embodiment, the angle information can represent the rotation of the vehicle tire detection device, and the gear tooth pulse data can represent the rotation of the corresponding wheel. Based on the matching of the angle information and the gear tooth pulse data of the vehicle wheel, it can be determined whether the known wheel and its orientation on the vehicle respectively match the tire detection device and its orientation on the vehicle, so that the orientation of the tire detection device or the target wheel on which it is located can be located.

[0096] In the technical solution disclosed in this embodiment, angle information of a vehicle's tire detection device and gear tooth pulse data of the vehicle's wheels are obtained; the tire detection device is positioned based on the angle information and the gear tooth pulse data, which can quickly achieve self-positioning of the tire detection device, improve the positioning efficiency of the tire detection device, and at the same time improve the positioning accuracy, reducing the workload and cost of the tire detection device.

[0097] In one embodiment, positioning the tire detection device according to the angle information and the gear tooth pulse data includes:

[0098] Determining target tooth pulse values of the wheel corresponding to a plurality of reference phase angles based on the angle information and the tooth pulse data; wherein the reference phase angle is a specified rotational phase angle of the tire detection device, and the phase angle difference between adjacent reference phase angles is a preset phase angle difference value;

[0099] The tire detection device is positioned based on the target tooth pulse values of the wheel corresponding to multiple reference phase angles.

[0100] In this embodiment, based on the angle information, the target tooth pulse value of the wheel corresponding to the multiple reference phase angles of the specified tire detection device can be determined from the tooth pulse data, so that the relationship between the multiple target tooth pulse values and the matching between the multiple reference phase angles can be determined. When the two match, the matching between the tire detection device and the wheel corresponding to the tooth pulse data can be determined, thereby quickly realizing the positioning of the tire detection device.

[0101] In one embodiment, the phase angle difference between adjacent reference phase angles is a rotation phase angle change value of the tire detection device within one rotation cycle of the tire detection device.

[0102] In this embodiment, the phase angle difference between adjacent reference phase angles can be a preset phase angle difference. The preset phase angle difference can be the rotational phase angle change value of the tire detection device within one rotation cycle. The rotational phase angle change value within one rotation cycle can also be referred to as the unit phase angle change value of the tire detection device. The tire detection device rotates with the target wheel on which it is located. Therefore, the preset phase angle difference can be the angular change value per one vehicle rotation. Generally, the angular change value per one wheel rotation is 360°, so the unit phase angle change value can be 2π. This ensures that the rotational positions of the tire detection device corresponding to multiple reference phase angles are consistent. Correspondingly, if the tire detection device matches the wheel corresponding to the tooth pulse data, the wheel rotational positions represented by the target tooth pulse values for the wheels corresponding to the multiple reference phase angles obtained based on the tooth pulse data should also be consistent. Therefore, by analyzing the target tooth pulse values for the wheels corresponding to the multiple reference phase angles and evaluating whether the corresponding wheel rotational positions are consistent, the matching status of the tire detection device with the wheel corresponding to the tooth pulse data can be determined, thereby quickly achieving positioning of the tire detection device.

[0103] In one embodiment, determining target tooth pulse values of the wheel corresponding to a plurality of reference phase angles according to the angle information and the tooth pulse data includes:

[0104] Determining target tracing times corresponding to the multiple reference phase angles according to the angle information;

[0105] Target tooth pulse values of the wheels corresponding to the multiple reference phase angles are determined based on the tooth pulse data and the target retroactive times corresponding to the multiple reference phase angles.

[0106] In this embodiment, the interval time from a certain moment to a certain reference phase angle can be determined through the angle information, thereby obtaining the target tracing time corresponding to the certain reference phase angle. When multiple reference phase angles are specified, multiple target tracing times can be obtained.

[0107] It should be added that, in this implementation example, it is not necessary to calculate each specific reference phase angle. What is more important is to obtain multiple target tracing times. Each target tracing time actually corresponds to a reference phase angle, but there is no need to determine the correspondence between each target tracing time and each reference phase angle.

[0108] The target tracing time indicates the interval time at which the gear tooth pulse data needs to be traced at the current moment. For each target tracing time, the target gear tooth pulse data can be traced according to the target tracing time, and the target gear tooth pulse value of the wheel at the reference phase angle corresponding to the target tracing time can be determined, thereby obtaining the target gear tooth pulse values of the wheels corresponding to multiple reference phase angles. By analyzing the target gear tooth pulse values of the wheels corresponding to the multiple reference phase angles, it is determined whether the wheel rotation positions of the target gear tooth pulse values are consistent, and whether the corresponding wheels match the tire detection device, so that the tire detection device can be quickly positioned.

[0109] In one embodiment, determining the target tracing times corresponding to the multiple reference phase angles according to the angle information includes:

[0110] determining a rate of change of a phase angle of the tire detection device and an actual rotation phase angle of the tire detection device based on the angle information;

[0111] Target traceback times corresponding to the multiple reference phase angles are determined according to the actual rotation phase angle and the phase angle change rate.

[0112] In this embodiment, the phase angle change rate of the tire detection device and the actual rotation phase angle of at least one tire detection device can be determined based on the angle information. The actual rotation phase angle can be the rotation phase angle at the last sampling moment of the angle information. Based on the actual rotation phase angle and the phase angle change rate, target retroactive times corresponding to multiple reference phase angles can be calculated by extrapolating the actual rotation phase angle forward.

[0113] In some embodiments, the angle information may include multiple actual vertical accelerations collected by the tire detection device during the sampling period. The vehicle body controller can convert each actual vertical acceleration signal into an actual rotational phase angle based on the relationship between the vertical acceleration and the rotational phase angle. The phase angle change rate of the tire detection device can be determined based on the multiple actual rotational phase angles.

[0114] In some embodiments, after collecting multiple actual vertical acceleration signals, the tire detection device can determine the phase angle change rate of the tire detection device based on the multiple actual vertical acceleration signals, obtain angle information including the phase angle change rate of the tire detection device and at least one actual rotation phase angle of the tire detection device, and send the collected angle information to the vehicle body controller, so that the vehicle body controller can directly obtain the phase angle change rate and at least one actual rotation phase angle from the angle information.

[0115] In one embodiment, determining the target traceback times corresponding to the multiple reference phase angles based on the actual rotation phase angle and the phase angle change rate includes:

[0116] determining a rotation interval time from the plurality of reference phase angles to the actual rotation phase angle according to the actual rotation phase angle and the phase angle change rate;

[0117] The target tracing times corresponding to the multiple reference phase angles are determined according to the rotation interval time.

[0118] In this embodiment, based on the actual rotation phase angle and the phase angle change rate, the rotation interval time from multiple reference phase angles to the actual rotation phase angle can be determined, thereby determining the target tracing values corresponding to the multiple reference phase angles. The target tracing time is used to trace the wheel tooth pulse data and determine multiple target tooth pulse values corresponding to the multiple reference phase angles to quickly achieve positioning matching.

[0119] In one embodiment, determining the rotation interval time from the plurality of reference phase angles to the actual rotation phase angle according to the actual rotation phase angle and the phase angle change rate includes:

[0120] determining a phase angle difference between the actual rotation phase angle and at least one reference phase angle of the plurality of reference phase angles;

[0121] The rotation interval time from the plurality of reference phase angles to the actual rotation phase angle is determined according to the phase angle difference and the phase angle change rate.

[0122] The target tracing times corresponding to the multiple reference phase angles are determined according to the rotation interval time.

[0123] In some embodiments, it is necessary to determine the phase angle difference between the actual rotation phase angle and each of the multiple reference phase angles, and to determine the rotation interval time from each reference phase angle to the actual rotation phase angle in combination with the phase angle change rate to determine the target tracing time.

[0124] In this embodiment, it is not necessary to determine the specific value of each reference phase angle among the multiple reference phase angles. Instead, the specific value of at least one reference phase angle specified among the multiple reference phase angles is determined. The phase angle difference between the actual rotation phase angle and the at least one specified reference phase angle is determined based on the specific value of the at least one reference phase angle specified among the multiple reference phase angles. The rotation interval time from the at least one specified reference phase angle to the actual rotation phase angle can be calculated based on the phase angle change rate and the phase angle difference. The calculation formula is as follows:

[0125] t ref_init =(θ finial -θ ref ) / (2πf)

[0126] Among them, t ref_init Describes the rotation interval time between the actual rotation phase angle and a specified reference phase angle, θ finialDescribes the rotation phase angle at the last sampling moment, that is, the actual rotation phase angle, θ ref represents the reference phase angle, and f represents the frequency of phase angle change.

[0127] It should be noted that since the phase angle is periodic data, in some cases the actual rotation phase angle obtained is smaller than the reference phase angle within the current rotation cycle. In this case, the reference point of the previous rotation cycle can be used as a specified reference phase angle for calculation. The specific formula is as follows:

[0128] t ref_inint =(θ finial +2π-θ ref ) / (2πf)

[0129] like Figure 2 As shown, based on the rotation interval time, the unit phase angle change value determined based on the rotation period and the phase angle change frequency, and the specified number of multiple reference phase angles, the same rotation position within different rotation periods is extrapolated. In fact, the rotation interval time from the reference phase angle of the remaining uncertain specific value to the actual rotation phase angle can be obtained, thereby obtaining the rotation interval time from multiple reference phase angles to the actual rotation phase angle, so as to determine the target traceability time of multiple reference phase angles.

[0130] In some embodiments, the specific values of all reference phase angles in a plurality of reference phase angles can also be determined to determine the phase angle difference between the actual rotation phase angle and each reference phase angle in the plurality of reference phase angles. Combined with the phase angle change rate, the rotation interval time between the actual rotation phase angle and each reference phase angle can be determined. In this way, there is no need to forwardly calculate based on the above-mentioned unit phase angle change value and the number of specified multiple reference phase angles. The rotation interval time from the multiple reference phase angles to the actual rotation phase angle can also be obtained to determine the target traceability time of the multiple reference phase angles.

[0131] In one embodiment, determining the target tracing times corresponding to the multiple reference phase angles according to the rotation interval time includes:

[0132] The target tracing times corresponding to the multiple reference phase angles are determined according to the reception delay time of the angle information and the rotation interval time.

[0133] In this embodiment, after the angle information of the tire detection device is collected, it needs to be sent to the vehicle body controller. There is a reception delay time of the angle information between the actual rotation phase angle and the start time of tracing. The tracing range of the gear tooth pulse data actually includes the reception delay time of the angle information and the rotation interval time from the actual rotation phase angle to the reference phase angle. Multiple target tracing times can be determined based on the reception delay time and the rotation interval times corresponding to multiple reference phase angles.

[0134] In this embodiment, different angular velocity information transmission methods affect the angle information reception delay time, but the angle information reception delay time generally includes the communication channel delay for transmitting the angular velocity information, and the communication channel may refer to the communication channel between the tire detection device and the vehicle body controller.

[0135] In one embodiment, obtaining angle information of a tire detection device of a vehicle and tooth pulse data of a wheel of the vehicle includes:

[0136] Acquiring the angle information through a signal frame received through a communication channel;

[0137] The tire detection device sends multiple signal frames in a time-sharing manner through the communication channel, and the multiple signal frames are generated based on the angle information collected by the tire detection device.

[0138] In this embodiment, a tire detection device is mounted on a vehicle wheel and establishes a communication channel with a vehicle body controller. The tire detection device can collect angle information of the tire detection device through its own functions or its associated acceleration sensor, generate multiple signal frames based on the collected angle information, and then transmit these multiple signal frames in a time-sharing manner through the communication channel with the vehicle body controller. The vehicle body controller can receive at least one signal frame from the multiple signal frames transmitted by the tire detection device through the communication channel and obtain the angle information of the tire detection device based on the at least one signal frame received from the tire detection device.

[0139] In this embodiment, the tire detection device sends multiple signal frames to the vehicle body controller through the communication channel, which can ensure the delivery rate of the angle information. In some embodiments, there are multiple tire detection devices on the vehicle, and sending multiple signal frames can also avoid co-frequency interference between the multiple tire detection devices, thereby improving the delivery accuracy of the angle information.

[0140] In one embodiment, obtaining the angle information based on the signal frame includes:

[0141] When at least two signal frames are received through the communication within a preset time period, and both of the at least two signal frames include the identifier of the tire detection device, determining a target signal frame closest to the initial signal frame from the at least two signal frames;

[0142] The angle information is obtained from the target signal frame.

[0143] In this embodiment, when the tire detection device collects angle information, it generates multiple signal frames based on the collected angle information. Each signal frame may include the angle information and an identifier of the tire detection device. The tire detection device identifier indicates that the multiple signal frames are generated based on the angle information collected by the same tire detection device. Adding the tire detection device identifier to the signal frame can also prevent co-frequency interference between multiple tire detection devices, thereby improving the accuracy of angle information delivery.

[0144] In some embodiments, a signal frame is received through communication, and the tire detection device that sent the signal frame can be determined from the identifier of the tire detection device included in the signal frame, and the angle information obtained in the signal frame is determined to be the angle information of the tire detection device.

[0145] In this embodiment, since the tire detection device transmits multiple signal frames in a time-sharing manner via a communication channel, and the vehicle may also include multiple tire detection devices, multiple signal frames may also be transmitted in a time-sharing manner to the vehicle body controller via their corresponding communication channels. At the vehicle body controller, at least two signal frames may be received within a preset time period. If at least two signal frames are received within the preset time period, and these at least two signal frames include the same tire detection device identifier, a target signal frame is determined from these at least two signal frames, which is the first signal frame of the tire detection device corresponding to the identifier of the tire detection device and is closest to the target signal frame. The first signal frame is the first signal frame among the multiple signal frames transmitted by the tire detection device. Angle information is obtained from the target signal frame, and angle information closest to the original frame can be retained as much as possible, thereby improving the accuracy of the angle information.

[0146] In some embodiments, since the angle information can be collected periodically, the preset time period can be the preset time period corresponding to the period of the angle information before the latest signal frame in at least two signal frames is received, thereby screening the target signal frame within the appropriate time period and improving the accuracy of the target signal frame.

[0147] In some embodiments, each signal frame also includes the interval time between the signal frame and the initial signal frame. For each signal frame, when the body controller receives the signal frame, it obtains the identifier of the tire detection device in the signal frame, and filters all signal frames received by the body controller within a preset time period according to the identifier of the tire detection device. If there are other signal frames with the same identifier as the tire detection device, the interval time between the initial signal frame and the signal frame and the other signal frames is compared, and the signal frame closest to the initial signal frame is determined from the signal frame and the other signal frames to retain the angle information closest to the original frame.

[0148] In one embodiment, the receiving delay time includes:

[0149] The transmission delay of the target signal frame in the communication channel and the interval time between the target signal frame and the first signal frame.

[0150] In this embodiment, based on the above-mentioned transmission method of angle information, the reception delay time of the angle information includes the transmission delay of the target signal frame in the communication channel, and the interval time between the target signal frame and the first signal frame. The interval time can be the interval time between the target signal frame recorded in the target signal frame used to obtain the angle information and the first signal frame. The transmission delay can be the transmission delay of the target signal frame recorded in the target signal frame used to obtain the angle information. The transmission delay is also the transmission delay of the communication channel between the tire detection device that sends the target signal frame and the vehicle body controller, so that an accurate target tracing time can be obtained.

[0151] In one embodiment, the communication channel includes a wireless transmission channel.

[0152] In this embodiment, the communication channel between the tire detection device and the vehicle body controller can be a wireless communication channel, and the transmission delay of the target signal frame can be the wireless transmission delay of the wireless transmission channel between the tire detection device and the vehicle body controller. By wirelessly transmitting the angle information collected by the tire detection device in the form of signal frames to the vehicle body controller, communication between the tire detection device and the vehicle body controller is not affected by the rotation of the tire detection device, allowing for safe self-positioning of the tire detection device.

[0153] In some embodiments, for each reference phase angle, the target retrospective time of the reference phase angle may be calculated as follows:

[0154] t delay_n =t ref_n +t bit +t bl

[0155] Among them, t delay_n Indicates the target tracing time of the nth reference phase angle, t bit Indicates the time interval between the first signal frame and the acquisition of angle information, t bl Indicates the transmission delay of the communication channel. ref_n The reference phase angle is adjusted based on the interval time, that is, a set of angle information can be extracted to obtain multiple t ref_n , the target tracing time corresponding to multiple reference phase angles can be calculated.

[0156] In one embodiment, the method further comprises:

[0157] When a stability check success flag of the angle information is detected, the tire detection device is positioned according to the angle information and the gear tooth pulse data.

[0158] In this embodiment, after the tire detection device collects angle information, it verifies whether the collected angle information meets the stability standard. It then associates the stability standard verification result of the angle information with the signal frame generated based on the collected angle information and transmits it. If the angle information meets the stability standard, the corresponding stability standard verification result includes a stability success flag for the angle information. When the body controller obtains angle information from the received signal frame, it can obtain the stability standard verification result corresponding to the angle information from the signal frame and check whether the verification result includes the stability success flag for the angle information.

[0159] In this embodiment, when the stability test success flag of the angle information is detected, it indicates that the angle information meets the stability standard, and the subsequent steps of determining the target tooth pulse values of the wheels corresponding to multiple reference phase angles based on the angle information and the tooth pulse data can be executed to ensure the accuracy of the target tooth pulse values of the wheels corresponding to the multiple reference phase angles traced back, thereby improving positioning accuracy and efficiency.

[0160] Based on the above embodiment, in one embodiment, the signal frame sent by the tire detection device may include angle information collected by the tire detection device during a certain sampling period. The angle information includes the actual rotation phase angle at the last sampling moment of the sampling period, the phase angle change frequency, the verification result of the stability standard of the angle information, the interval time between the signal frame and the initial signal frame, the transmission delay of the signal frame in the communication channel, and the identification of the tire detection device. The information required for each step can be quickly obtained from the above signal frame, thereby improving positioning efficiency.

[0161] For better understanding, the following is explained with specific examples. Figure 3 The positioning system shown in the figure consists of a tire, a tire pressure sensor, a wheel speed sensor, a wireless receiving module, and a vehicle body controller. The tire pressure sensor, installed at the tire valve core, is the tire detection device that requires positioning. During the self-positioning process, the tire pressure sensor periodically collects angle information, verifies whether the collected angle information meets stability standards, and finally generates multiple signal frames based on the angle information. These signal frames are then wirelessly transmitted to the wireless receiving module fixed to the vehicle body.

[0162] The wheel speed sensor is installed on the wheel hub. During the self-positioning process, it will periodically collect the gear tooth pulse data of the corresponding wheel and send the collected gear tooth pulse data of the wheel to the body controller through the CAN line.

[0163] The wireless receiving module can receive the wireless signal frame from the tire pressure sensor during the self-positioning process, perform signal processing on it, and send the processed signal frame to the body controller through the CAN line.

[0164] The body controller continuously receives the signal frames forwarded by the wireless receiving module and the tooth pulse data of the corresponding wheels sent by the wheel speed sensors of the four wheels of the vehicle. It can be understood that since the tire pressure sensor is installed on the wheel and communicates with the body controller through wireless transmission, the body controller cannot determine during initialization which wheel the tire pressure detected by the tire pressure sensor it receives is from. The tire detection device positioning method provided in this embodiment can perform orientation matching on the four tire pressure sensors in the positioning system and determine the target wheels where each tire pressure sensor is located, so as to facilitate subsequent tire pressure detection of the four wheels.

[0165] like Figure 4 As shown, due to the wireless transmission characteristics of all four tire pressure sensors in the positioning system, only one tire pressure sensor signal frame can be transmitted to the body controller via the wireless receiving module at any given time. Furthermore, the acquisition of angle information requires a certain period. Generally, the total frame interval of one set of angle information is less than the interval between two sets of angle information. Based on these characteristics, the body controller compares the received signal frame with all signal frames received within at most one angle information sampling cycle to verify whether the tire detection device identifiers of the information frames are identical. If there is at least one signal frame with the same identifier, it is not the target signal frame closest to the first received signal frame. If they are all different, the signal frame is the first received signal frame.

[0166] In one embodiment, the method further comprises:

[0167] The tooth pulse data is normalized according to a unit tooth pulse value of the wheel in a rotation period, and based on the normalized tooth pulse data, the tire detection device is positioned according to the angle information and the tooth pulse data.

[0168] In this embodiment, if Figure 5 As shown, the detected wheel tooth pulse value is a value that increases continuously as the wheel rotates. The accuracy of the wheel rotation angle calculated from the actual rotation phase angle to the specified reference phase angle is low. In order to truly feedback the wheel rotation angle, the tooth pulse data is normalized according to the unit tooth pulse value of the wheel within one rotation cycle, so that the normalized tooth pulse data can accurately represent the wheel rotation angle. Based on the normalized tooth pulse data, the tire detection device is positioned according to the angle information and the tooth pulse data, which can improve the positioning efficiency.

[0169] In this embodiment, the rotation phase angle is an absolute value, representing the angle the tire detection device has rotated from a certain initial position. As the tire detection device rotates, the rotation phase angle increases. The rotation phase angle is a relative value, representing the angular difference in rotational motion relative to a reference point at a specific moment. As the wheel rotates, the rotation angle generally changes periodically within a range of 0-360°.

[0170] In this embodiment, through normalization processing, a corresponding relationship is established between the gear tooth pulse data and the rotation angle of the wheel in the rotation cycle. The gear tooth pulse data can be used to determine the rotation status of the wheel, which facilitates subsequent processing of the gear tooth pulse data and improves positioning efficiency.

[0171] In one embodiment, normalizing the tooth pulse data according to the unit tooth pulse value of the wheel in a rotation period includes:

[0172] The gear tooth pulse data is normalized according to the unit gear tooth pulse value of the wheel in the rotation period and the driving gear of the vehicle.

[0173] In this embodiment, different vehicle gear positions result in different wheel rotation angles, but the tooth pulse value also increases. In this embodiment, the wheel gear position during the self-positioning process can be either forward or reverse. During the normalization of the tooth pulse data based on the unit tooth pulse value during the wheel rotation cycle, the normalization process can also be corrected based on the vehicle gear position to improve the accuracy of the normalization process.

[0174] In some embodiments, the tooth pulse data of the vehicle's wheels may include multiple actual tooth pulse values collected by a wheel speed sensor within a sampling period. For each actual tooth pulse value, the actual tooth pulse value is processed according to the unit tooth pulse value of the rotation period (generally 96), the vehicle's travel gear, and the timestamp of collecting the actual tooth pulse value to obtain a normalized actual tooth pulse value, as shown in the following formula:

[0175] Counter ABS_per =rem(ΔCounter ABS *gear+Counter ABS_per(t-1) , 96)

[0176] Among them, Counter ABS_per Indicates the normalized actual tooth pulse value, ΔCounter ABSIndicates the change value of the gear pulse value in each sampling period. Gear indicates the travel gear. When the travel gear is the forward gear, gear is 1. When the travel gear is the reverse gear, gear is -1. Counter ABS_per(t-1) It represents the normalized tooth pulse value of the previous cycle, and rem represents the remainder operation.

[0177] The normalized actual tooth pulse value and the wheel rotation angle establish a clear corresponding relationship and can be converted to each other. The conversion formula is:

[0178] θ ABS =2π*Counter ABS_per / 96

[0179] After the target tooth pulse value of the wheel is determined, the corresponding rotation angle of the wheel can also be determined based on the conversion formula.

[0180] In one embodiment, determining the target tooth pulse values of the wheels corresponding to the multiple reference phase angles based on the tooth pulse data and the target tracing times corresponding to the multiple reference phase angles includes:

[0181] The target gear tooth pulse value is determined according to the target acquisition time of the actual rotation phase angle, the target tracing time and the gear tooth pulse data.

[0182] In this embodiment, there are actually multiple target tracing times corresponding to multiple reference phase angles, with each target tracing time corresponding to a reference phase angle. For each target tracing time, the target tracing time for the reference phase angle corresponding to the target tracing time can be determined based on the target acquisition time of the actual rotation phase angle and the target tracing time. This target tracing time is the theoretical moment when the tire testing device rotates to this reference phase angle. The wheel tooth pulse value at the target tracing time is then determined based on the wheel pulse data and used as the target tooth pulse value for the wheel corresponding to the reference phase angle. The target tooth pulse values for the wheels corresponding to the multiple reference phase angles can be derived from the multiple target tracing times.

[0183] In some embodiments, the tooth pulse data may include a tooth pulse value at at least one sampling moment, and the tooth pulse value at the sampling moment matching the target tracing moment may be directly determined from the tooth pulse data as the target tooth pulse value of the wheel corresponding to a reference phase angle.

[0184] In one embodiment, determining the target gear tooth pulse value according to the target acquisition time of the actual rotation phase angle, the target tracing time, and the gear tooth pulse data includes:

[0185] Determine a reference gear tooth pulse value at a reference time according to the gear tooth pulse data;

[0186] The target tooth pulse value of the wheel corresponding to the reference phase angle is determined according to the target collection time, the target tracing time, the reference time and the reference tooth pulse value.

[0187] In this embodiment, a reference tooth pulse value at a reference time is determined based on the tooth pulse data. For each target tracing time, a target tracing time corresponding to a reference phase angle is determined based on the target acquisition time and the target tracing time. The reference tooth pulse value is traced back based on the interval between the target tracing time and the reference time. The tooth pulse value of the wheel corresponding to the target tracing time is determined and used as the target tooth pulse value for the wheel corresponding to the reference phase angle, thereby tracing back to the accurate target tooth pulse value.

[0188] In one embodiment, determining the target gear tooth pulse value according to the target acquisition time, the target tracing time, the reference time, and the reference gear tooth pulse value includes:

[0189] Determining a retrospective pulse change value according to the target acquisition time, the target retrospective time, the reference time, and the tooth pulse change rate of the reference tooth pulse value;

[0190] The target tooth pulse value is determined according to the retrospective pulse change value and the reference tooth pulse value.

[0191] In this embodiment, a target tracing time for a reference phase angle is determined based on the target acquisition time and target tracing time of the actual rotational phase angle. A tracing pulse change value is determined based on the interval between the target tracing time and the reference time, as well as the tooth pulse change rate of the reference tooth pulse value. The tooth pulse change rate of the reference tooth pulse value is also the tooth pulse change rate of the wheel at the reference time and can be determined based on the tooth pulse value information corresponding to the reference time in the tooth pulse data. The tracing pulse change value is the wheel change value obtained by tracing the reference tooth pulse value back to the target tracing time. The tooth pulse value calculated based on the tracing pulse change value and the reference tooth pulse value is the target tooth pulse value of the wheel corresponding to the reference phase angle being traced. Tracing based on the tooth pulse change rate of the reference tooth pulse value can improve tracing accuracy.

[0192] In some embodiments, the gear tooth pulse data may include a gear tooth pulse value at at least one moment, and information related to the gear tooth pulse value at that moment. A moment can be selected from the gear tooth pulse data as a reference moment, and the reference gear tooth pulse value at that reference moment and the gear tooth pulse change rate of the reference gear tooth pulse value at that reference moment can be obtained to perform the above-mentioned calculations.

[0193] In some embodiments, the wheel speed sensor periodically collects the tooth pulse value of the wheel and sends it to the body controller. The body controller updates the tooth pulse data of the wheel based on the latest received tooth pulse value. The reference time can be the time when the latest tooth pulse value is received in the tooth pulse data. The reference tooth pulse value is the latest received tooth pulse value. The reference tooth pulse change rate is the tooth pulse change rate of the wheel at the moment when the latest tooth pulse value is received, so as to perform the above calculations.

[0194] In one embodiment, determining a reference tooth pulse value at a reference time according to the tooth pulse data includes:

[0195] Determine the target tracing cycle number according to the target tracing time and the sampling period corresponding to the gear tooth pulse data;

[0196] The reference gear tooth pulse value is determined according to the target tracing cycle number and the gear tooth pulse data.

[0197] In this embodiment, if Figure 6 As shown, starting from the moment of receiving the latest gear tooth pulse data, the target tracing time is traced forward. Since tracing can be based on the sampling period corresponding to the sampled gear tooth pulse data, the reference gear tooth pulse value at a reference time close to the target tracing time is retrieved based on the sampling period corresponding to the gear tooth pulse data. The formula is as follows:

[0198] time=round(t delay_n / t sample )

[0199] Among them, t sample It is the sampling period corresponding to the sampled gear tooth pulse data. The sampling period can also be the system sampling period. Time represents the target tracing period number to be retrieved. Round represents rounding. The normalized gear tooth pulse data is preliminarily retrieved according to the target tracing period number, and a reference gear tooth pulse value can be traced back.

[0200] Retrieve the timestamp of the reference tooth pulse value to determine the reference time. Then, correct the reference tooth pulse value according to the target acquisition time, reference time, and target tracing time of the actual rotation phase angle to obtain the actual historical tracing value to be retrieved. The specific formula is as follows:

[0201] rate ABS_ref =ΔCounter ABS_ref / Δt ABS_ref

[0202] Couter ABS_hs =Counter ABS_ref -(t rf -tdelay_n -t ABS_ref )*rate ABS_ref

[0203] Among them, Counter ABS_ref Indicates the reference tooth pulse value, t ABS_ref Indicates the timestamp corresponding to the reference tooth pulse value, that is, the reference time, rate ABS_ref Indicates the tooth pulse change rate of the reference tooth pulse value, ΔCOunter ABS_ref It can be the difference between the reference tooth pulse value and the previous tooth pulse value, Δt ABS_ref Can be ΔCounter ABS_ref The corresponding difference interval time, t rf Indicates the target acquisition time of the actual rotation phase angle, Counter ABS_hs Indicates the target tooth pulse value actually traced back.

[0204] In this embodiment, the characteristic of the sampling period corresponding to the gear tooth pulse data is utilized to first retrieve a reference gear tooth pulse value at a reference time close to the target tracing time based on the sampling period number, thereby improving tracing efficiency and accuracy.

[0205] In some embodiments, the target acquisition time is the last sampling time of the angle information, and the last sampling time is determined based on the timestamp of the angle information.

[0206] In this embodiment, the rotation phase angle collected by the tire testing device at the last sampling moment can be used as the actual rotation phase angle for tracing. The tire testing device completes sampling and generates angle information at the last sampling moment, and adds a timestamp to the angle information to indicate the time when the angle information was generated. The rotation phase angle of the tire testing device at the last sampling moment can be obtained based on the angle information and used as the actual rotation phase angle. In this way, the target collection moment corresponding to the actual rotation phase angle is the last sampling moment of the angle information, and the last sampling moment can be accurately determined based on the timestamp of the angle information.

[0207] In this way, the rotation phase angle of the tire detection device at the last sampling moment can be directly obtained from the angle information as the actual rotation phase angle, and the target acquisition moment of the actual rotation phase angle can be accurately obtained by determining the last sampling moment with the timestamp of the angle information, which can improve the accuracy and robustness of subsequent tracing and further improve the positioning accuracy.

[0208] In one embodiment, positioning the tire detection device based on target tooth pulse values of the wheel corresponding to a plurality of reference phase angles includes:

[0209] determining the rotation angles of the wheel corresponding to the multiple reference phase angles according to the target tooth pulse values of the wheel corresponding to the multiple reference phase angles;

[0210] The tire detection device is positioned according to the rotation angles of the wheel corresponding to the multiple reference phase angles.

[0211] In this embodiment, the wheel tooth pulse data is traced based on multiple reference phase angles to obtain target wheel tooth pulse values corresponding to multiple reference phase angles. For a wheel, it has target wheel tooth pulse values corresponding to multiple reference phase angles, that is, it also has at least two target wheel tooth pulse values. These target wheel tooth pulse values can be converted into the rotation angle of the wheel to obtain the rotation angles of the wheel corresponding to multiple reference phase angles. There is a rotation angle of the wheel corresponding to one reference phase angle, and at least two rotation angles of the wheel are obtained. These rotation angles can be used as sample data of the wheel during the positioning process, and are used for matching the tire detection device with the wheel to realize positioning of the tire detection device.

[0212] In one embodiment, positioning the tire detection device according to the rotation angles of the wheels corresponding to the multiple reference phase angles includes:

[0213] determining a discrete degree of samples corresponding to the wheel according to the rotation angles of the wheel corresponding to the multiple reference phase angles;

[0214] The tire detection device is positioned according to the discrete degree of the samples corresponding to the wheel.

[0215] In this embodiment, the wheel has a plurality of rotation angles corresponding to reference phase angles. Since the phase angle difference between adjacent reference phase angles is a preset phase angle difference, if the wheel matches the tire detection device, then theoretically, the rotation angles of the wheel corresponding to the plurality of reference phase angles should be the same. Therefore, the rotation angles of the wheel corresponding to the plurality of reference phase angles can be used as sample data of the wheel, and the sample discreteness of these sample data can be calculated to obtain the sample discreteness corresponding to the wheel. The sample discreteness can characterize the matching degree between the tire detection device and the wheel. The smaller the sample discreteness, the closer the corresponding rotation angles under the plurality of reference phase angles, and the more closely the tire detection device matches the wheel, thereby achieving the positioning of the tire detection device.

[0216] In some embodiments, when the sample discreteness is less than a preset discreteness, the wheel corresponding to the sample discreteness matches the tire detection device, and this wheel can be determined as the target wheel matching the tire detection device, thereby achieving self-positioning of the tire detection device.

[0217] In one embodiment, determining the sample discreteness corresponding to the wheel according to the rotation angles of the wheel corresponding to the multiple reference phase angles includes:

[0218] An angular standard deviation of the rotation angle of the wheel corresponding to the multiple reference phase angles is determined to determine a degree of sample dispersion corresponding to the wheel.

[0219] In this embodiment, the wheel sample data is the rotation angle of the wheel corresponding to multiple reference phase angles. For the angle samples, the angle standard deviation can be used to accurately analyze the sample dispersion of the wheel. The formula is as follows:

[0220]

[0221] Among them, R str represents the angle standard deviation, and n represents the number of samples. In this embodiment, it can be the reference phase angle, the target tooth pulse value, or the number of rotation angles. Generally, a smaller angle standard deviation means smaller sample dispersion, while a larger angle standard deviation means greater sample dispersion. In this embodiment, the angle standard deviation of the wheel rotation angle corresponding to multiple reference phase angles can be used as the wheel sample dispersion.

[0222] In one embodiment, the vehicle includes at least two wheels, and positioning the tire detection device according to the discreteness of samples corresponding to the wheels includes:

[0223] According to the discrete degrees of the samples corresponding to the at least two wheels, a target wheel matching the tire detection device is determined from the at least two wheels to locate the tire detection device.

[0224] In this embodiment, the wheels include at least two wheels. For each wheel, the wheel speed pulse data detected by the corresponding wheel speed sensor and the angle information of the tire detection device can be used to determine the rotation angle of the wheel at multiple reference phase angles, which serves as sample data for the wheel. For the vehicle's tire detection device, sample data for at least two wheels can be found. The sample data for each wheel can be used to calculate the sample discreteness of each wheel. Thus, for the tire detection device, the sample discreteness of at least two wheels can be obtained. By comparing the sample discreteness corresponding to the at least two wheels, a target wheel that matches the tire detection device can be determined from these wheels. The rotation of the tire detection device is affected by the target wheel, which is generally the wheel on which the tire detection device is located or a wheel aligned with the tire detection device. The installation position of the tire detection device can be determined based on the target wheel, thereby achieving positioning of the tire detection device.

[0225] In one embodiment, determining a target wheel that matches the tire detection device from the at least two wheels based on the discreteness of samples corresponding to the at least two wheels includes:

[0226] The wheel with the smallest sample discreteness among the at least two wheels is determined as the target wheel.

[0227] In this embodiment, by comparing the sample discreteness of at least two wheels of the vehicle, the wheel with the smallest sample discreteness among the at least two wheels is determined, and the wheel with the smallest sample discreteness is determined as the target wheel matching the tire detection device.

[0228] In one embodiment, determining the wheel with the smallest sample discreteness among the at least two wheels as the target wheel includes:

[0229] When the difference in sample discreteness between the wheel with the smallest sample discreteness and the other wheels among the at least two wheels is greater than a preset threshold, the wheel with the smallest sample discreteness among the at least two wheels is determined as the target wheel.

[0230] In this embodiment, after determining the wheel with the smallest sample discreteness, the corresponding wheel with the second smallest sample discreteness among at least two wheels is determined, and the sample discreteness difference between the wheel with the smallest sample discreteness and the wheel with the second smallest sample discreteness is calculated. If the sample discreteness difference is greater than a preset threshold, it can be determined that the sample discreteness differences between the wheel with the smallest sample discreteness and the other wheels among the at least two wheels are all greater than the preset threshold. It can be further determined that the wheel with the smallest sample discreteness meets the matching requirements, and the wheel with the smallest sample discreteness can be determined as the target wheel, thereby further improving the positioning accuracy.

[0231] In one example, if Figure 3 The positioning system shown includes four tire pressure sensors and four wheel speed sensors. After completing the data collection process, for each tire pressure sensor, sample data of the four wheels corresponding to the tire pressure sensor can be obtained, that is, the rotation angles of the wheels corresponding to multiple reference phase angles, such as Figure 7 As shown, by calculating the sample discreteness of each wheel, the left front wheel with the smallest sample discreteness is selected. When it is determined that the sample discreteness between the left front wheel with the smallest sample discreteness and the sample discreteness of other wheels is less than a preset threshold, the left front wheel is determined as the target wheel of the tire detection device, and the left front position is the position of the tire detection device.

[0232] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0233] Accordingly, the embodiment of the present application also provides a computer device, such as Figure 8 As shown, Figure 8 Schematic diagram of the structure of a computer device provided in an embodiment of the present application. The computer device 1100 also includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. Those skilled in the art will understand that the computer device structure shown in the figure does not constitute a limitation of the computer device, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0234] The processor 1101 is the control center of the computer device 1100. It uses various interfaces and lines to connect the various parts of the entire computer device 1100. By running or loading software programs and / or units stored in the memory 1102 and calling data stored in the memory 1102, it executes various functions of the computer device 1100 and processes data, thereby monitoring the computer device 1100 as a whole. The processor 1101 can be a processor (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0235] In the embodiment of the present application, the processor 1101 in the computer device 1100 loads instructions corresponding to one or more application processes into the memory 1102 according to the following steps, and the processor 1101 runs the application stored in the memory 1102 to implement various functions, such as:

[0236] Obtaining angle information of a tire detection device of a vehicle and tooth pulse data of a wheel of the vehicle;

[0237] The tire detection device is positioned according to the angle information and the gear tooth pulse data.

[0238] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0239] Optional, such as Figure 8As shown, the computer device 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. Among them, the processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107 respectively. Those skilled in the art will understand that Figure 8 The computer device structure shown in the figure does not constitute a limitation to the computer device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0240] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the computer device, and these graphical user interfaces can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. The touch panel can be used to collect the user's touch operation on or near it (such as the user uses any suitable object or accessory such as a finger, a stylus, etc. on the touch panel or near the touch panel) and generate corresponding operation instructions, and the operation instructions execute the corresponding program. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction, detects the signal caused by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into touch point coordinates, and then sends it to the processor 1101, and can receive commands sent by the processor 1101 and execute them. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event. The processor 1101 then provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present invention, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize input and output functions. That is, the touch display screen 1103 can also be used as part of the input unit 1106 to realize the input function.

[0241] The radio frequency circuit 1104 may be used to transmit and receive radio frequency signals, thereby establishing wireless communication with network medical devices or other computer devices through wireless communication, and transmitting and receiving signals between the network medical devices or other computer devices.

[0242] Audio circuit 1105 can be used to provide an audio interface between the user and the computer device through a speaker and microphone. Audio circuit 1105 can convert received audio data into electrical signals and transmit them to the speaker, which then converts them into sound signals for output. Conversely, the microphone converts collected sound signals into electrical signals, which are then received by audio circuit 1105 and converted into audio data. The audio data is then output to processor 1101 for processing, and then transmitted via RF circuit 1104 to, for example, another computer device. Alternatively, the audio data can be output to memory 1102 for further processing. Audio circuit 1105 may also include an earphone jack to provide communication between external headphones and the computer device.

[0243] The input unit 1106 may be configured to receive input digital, character information, or user feature information (such as fingerprint, iris, or facial information), and to generate keyboard, mouse, joystick, optical, or trackball signal input related to user settings and function control.

[0244] Power supply 1107 is used to supply power to various components of computer device 1100. Optionally, power supply 1107 can be logically connected to processor 1101 via a power management device, thereby enabling the power management device to manage charging, discharging, and power consumption. Power supply 1107 can also include one or more DC or AC power supplies, a recharging device, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0245] although Figure 8 Not shown in the figure, the computer device 1100 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be repeated here.

[0246] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0247] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0248] To this end, an embodiment of the present application provides a computer-readable storage medium storing a plurality of computer programs. The computer programs can be loaded by a processor to execute any tire detection device positioning method provided in the embodiments of the present application. The computer program can execute the following steps of the tire detection device positioning method:

[0249] Obtaining angle information of a tire detection device of a vehicle and tooth pulse data of a wheel of the vehicle;

[0250] The tire detection device is positioned according to the angle information and the gear tooth pulse data.

[0251] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0252] The computer-readable storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0253] Since the computer-readable storage medium can implement the computer program that can be beneficially stored in any tire detection device positioning method provided in the embodiments of the present application, and can execute any tire detection device positioning method provided in the embodiments of the present application, the effects are detailed in the previous embodiments and will not be repeated here.

[0254] The present invention also provides a computer program product that can be loaded by a processor to execute any tire detection device positioning method provided in the present invention. The specific implementation of each operation of the tire detection device positioning method can be found in the previous embodiments and will not be repeated here.

[0255] Since the computer program can execute any tire detection device positioning method provided in the embodiments of the present application, and can achieve the beneficial effects that can be achieved by any tire detection device positioning method provided in the embodiments of the present application, its beneficial effects are detailed in the previous embodiments and will not be repeated here.

[0256] An embodiment of the present application also provides a vehicle, which includes any of the above electronic devices, computer equipment, computer-readable storage media, computer program products, or executes any of the above methods.

[0257] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0258] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0259] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0260] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A tire detection device positioning method, characterized in that: The method comprises: Obtaining angle information of a tire detection device of a vehicle and tooth pulse data of a wheel of the vehicle; The tire detection device is positioned according to the angle information and the gear tooth pulse data.

2. The method according to claim 1, wherein Positioning the tire detection device according to the angle information and the gear tooth pulse data includes: Determine target tooth pulse values of the wheel corresponding to a plurality of reference phase angles according to the angle information and the tooth pulse data; wherein the reference phase angle is a designated rotation phase angle of the tire detection device; The tire detection device is positioned based on the target tooth pulse values of the wheel corresponding to the multiple reference phase angles.

3. The method according to claim 2, wherein The phase angle difference between adjacent reference phase angles is a rotation phase angle change value of the tire detection device within one rotation cycle of the tire detection device.

4. The method according to claim 2, wherein Determining target tooth pulse values of the wheel corresponding to a plurality of reference phase angles according to the angle information and the tooth pulse data includes: Determining target tracing times corresponding to the multiple reference phase angles according to the angle information; Target tooth pulse values of the wheels corresponding to the multiple reference phase angles are determined based on the tooth pulse data and the target retroactive times corresponding to the multiple reference phase angles.

5. The method according to claim 4, wherein The determining, according to the angle information, target tracing times corresponding to the multiple reference phase angles includes: determining a rate of change of a phase angle of the tire detection device and an actual rotation phase angle of the tire detection device based on the angle information; Target traceback times corresponding to the multiple reference phase angles are determined according to the actual rotation phase angle and the phase angle change rate.

6. The method according to claim 5, wherein The determining, based on the actual rotation phase angle and the phase angle change rate, target traceback times corresponding to the multiple reference phase angles includes: determining a rotation interval time from the plurality of reference phase angles to the actual rotation phase angle according to the actual rotation phase angle and the phase angle change rate; The target tracing times corresponding to the multiple reference phase angles are determined according to the rotation interval time.

7. The method according to claim 6, characterized in that The step of determining the rotation intervals from the plurality of reference phase angles to the actual rotation phase angle according to the actual rotation phase angle and the phase angle change rate comprises: determining a phase angle difference between the actual rotation phase angle and at least one reference phase angle of the plurality of reference phase angles; The rotation interval time from the plurality of reference phase angles to the actual rotation phase angle is determined according to the phase angle difference and the phase angle change rate.

8. The method according to claim 6, wherein The method further comprises: The target tracing times corresponding to the multiple reference phase angles are determined according to the reception delay time of the angle information and the rotation interval time.

9. The method according to claim 8, wherein The step of obtaining angle information of a tire detection device of a vehicle and tooth pulse data of a wheel of the vehicle includes: Acquiring the angle information through a signal frame received through a communication channel; The tire detection device sends multiple signal frames in a time-sharing manner through the communication channel, and the multiple signal frames are generated based on the angle information collected by the tire detection device.

10. The method according to claim 9, wherein The obtaining of the angle information by the signal frame received through the communication channel comprises: When at least two signal frames are received through the communication within a preset time period, and both of the at least two signal frames include the identifier of the tire detection device, determining a target signal frame closest to the initial signal frame from the at least two signal frames; The angle information is obtained from the target signal frame.

11. The method according to claim 10, wherein The receiving delay time includes: The transmission delay of the target signal frame and the interval time between the target signal frame and the first signal frame.

12. The method according to claim 9, wherein The communication channel includes a wireless transmission channel.

13. The method according to claim 5, wherein Determining target tooth pulse values of the wheels corresponding to the multiple reference phase angles based on the tooth pulse data and the target tracing times corresponding to the multiple reference phase angles includes: The target gear tooth pulse value is determined according to the target acquisition time of the actual rotation phase angle, the target tracing time and the gear tooth pulse data.

14. The method according to claim 13, wherein The determining the target gear tooth pulse value according to the target acquisition time of the actual rotation phase angle, the target tracing time and the gear tooth pulse data includes: Determine a reference gear tooth pulse value at a reference time according to the gear tooth pulse data; The target gear tooth pulse value is determined according to the target collection time, the target tracing time, the reference time and the reference gear tooth pulse value.

15. The method according to claim 14, wherein The determining the target gear tooth pulse value according to the target acquisition time, the target tracing time, the reference time, and the reference gear tooth pulse value includes: Determining a retrospective pulse change value according to the target acquisition time, the target retrospective time, the reference time, and the tooth pulse change rate of the reference tooth pulse value; The target tooth pulse value is determined according to the retrospective pulse change value and the reference tooth pulse value.

16. The method according to claim 14, wherein The step of determining a reference tooth pulse value at a reference time according to the tooth pulse data includes: Determine the target tracing cycle number according to the target tracing time and the sampling period corresponding to the gear tooth pulse data; The reference gear tooth pulse value is determined according to the target tracing cycle number and the gear tooth pulse data.

17. The method according to claim 14, wherein The target acquisition time is the last sampling time of the angle information, and the last sampling time is determined based on the timestamp of the angle information.

18. The method according to claim 2, wherein Positioning the tire detection device based on the target tooth pulse values of the wheels corresponding to the multiple reference phase angles includes: determining the rotation angles of the wheel corresponding to the multiple reference phase angles according to the target tooth pulse values of the wheel corresponding to the multiple reference phase angles; The tire detection device is positioned according to the rotation angles of the wheel corresponding to the multiple reference phase angles.

19. The method according to claim 18, wherein Positioning the tire detection device according to the rotation angles of the wheels corresponding to the multiple reference phase angles includes: determining a discrete degree of samples corresponding to the wheel according to the rotation angles of the wheel corresponding to the multiple reference phase angles; The tire detection device is positioned according to the discrete degree of the samples corresponding to the wheel.

20. The method according to claim 19, wherein The step of determining the discreteness of the samples corresponding to the wheels according to the rotation angles of the wheels corresponding to the multiple reference phase angles includes: An angular standard deviation of the rotation angle of the wheel corresponding to the multiple reference phase angles is determined to determine a degree of sample dispersion corresponding to the wheel.

21. The method according to claim 20, wherein The vehicle includes at least two wheels, and positioning the tire detection device according to the discreteness of samples corresponding to the wheels includes: According to the discrete degrees of the samples corresponding to the at least two wheels, a target wheel matching the tire detection device is determined from the at least two wheels to locate the tire detection device.

22. The method according to claim 21, wherein The step of determining a target wheel that matches the tire detection device from the at least two wheels based on the discreteness of the samples corresponding to the at least two wheels includes: The wheel with the smallest sample discreteness among the at least two wheels is determined as the target wheel.

23. The method according to claim 22, wherein The step of determining the wheel having the smallest sample discreteness among the at least two wheels as the target wheel includes: When the difference in sample discreteness between the wheel with the smallest sample discreteness and the other wheels among the at least two wheels is greater than a preset threshold, the wheel with the smallest sample discreteness among the at least two wheels is determined as the target wheel.

24. The method according to any one of claims 1 to 23, wherein The angle information is generated based on the vertical acceleration of the tire detection device collected during a sampling period.

25. The method according to any one of claims 1 to 23, wherein The method further comprises: When a stability check success flag of the angle information is detected, the tire detection device is positioned according to the angle information and the gear tooth pulse data.

26. The method according to any one of claims 1 to 23, wherein The method further comprises: The tooth pulse data is normalized according to a unit tooth pulse value of the wheel in a rotation period, and based on the normalized tooth pulse data, the tire detection device is positioned according to the angle information and the tooth pulse data.

27. The method according to claim 26, wherein The normalizing process of the tooth pulse data according to the unit tooth pulse value of the wheel in the rotation period includes: The gear tooth pulse data is normalized according to the unit gear tooth pulse value of the wheel in the rotation period and the driving gear of the vehicle.

28. A computer device, characterized in that: The method comprises a processor connected to a memory, wherein the memory stores a computer program, and the processor is configured to run the computer program in the memory to execute the tire detection device positioning method according to any one of claims 1 to 27.

29. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the tire detection device positioning method according to any one of claims 1 to 27 is implemented.

30. A computer program product, characterized in that The method comprises a computer program, wherein the computer program is executed by a processor to implement the tire detection device positioning method according to any one of claims 1 to 27.

31. A vehicle, characterized in that: The vehicle executes the tire detection device positioning method according to any one of claims 1 to 27, or includes the computer device according to claim 28.

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