Sensor calibration method, apparatus, device, and vehicle

Abstract

This application discloses a sensor calibration method, apparatus, device, and vehicle. The method includes: acquiring the voltage output by a target steering angle sensor; based on the voltage output by the target steering angle sensor, acquiring the steering angles corresponding to two steering devices according to a steering angle voltage correspondence relationship; fitting a current steering angle correspondence relationship between the two steering devices based on the steering angles corresponding to the two steering devices; determining a target steering angle that meets the voltage calibration conditions based on the current steering angle correspondence relationship; determining the target voltage corresponding to the target steering angle according to the steering angle voltage correspondence relationship; and calibrating the steering angle voltage correspondence relationship of the steering angle sensors of the two steering devices according to the target voltage and a reference steering angle. According to the embodiments of this application, automated calibration of steering angle sensors can be achieved.

Description

Technical Field

[0001] This application belongs to the field of vehicle technology, and in particular relates to a sensor calibration method, apparatus, equipment and vehicle. Background Technology

[0002] With the development of intelligent vehicle technology and the advancement of Internet of Things technology, transportation is undergoing significant changes, and autonomous driving may become an important development direction for intelligent vehicles.

[0003] Accurate vehicle perception is crucial for ensuring the safety and reliability of autonomous driving technology. This perception is typically achieved through sensors, such as steering sensors that detect the vehicle's turning angle. However, during vehicle use, due to the material properties of sensors, permanent voltage drift is unavoidable. This affects sensor accuracy, leading to inaccurate vehicle perception and severely reducing the safety and reliability of autonomous driving.

[0004] Therefore, how to achieve sensor calibration to ensure the safety and reliability of autonomous driving is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] This application provides a sensor calibration method, apparatus, device, and vehicle that can achieve automated calibration of corner sensors.

[0006] In a first aspect, embodiments of this application provide a sensor calibration method, comprising: acquiring the voltage output of a target steering angle sensor, the target steering angle sensor including steering angle sensors of two steering devices connected and supported on the front axle of a vehicle; acquiring the steering angles corresponding to the two steering devices respectively according to a steering angle voltage correspondence relationship based on the voltage output of the target steering angle sensor, the steering angle voltage correspondence relationship being determined based on the electrical characteristics of the steering angle sensor; fitting a current steering angle correspondence relationship between the two steering devices according to the steering angles corresponding to the two steering devices respectively; determining a target steering angle that satisfies a voltage calibration condition based on the current steering angle correspondence relationship, the voltage calibration condition being determined based on a reference steering angle change rate, the reference steering angle change rate being the steering angle change rate of the steering angle correspondence relationship between the two steering devices at a reference steering angle before the target steering angle sensor shifts, the target steering angle including the steering angles corresponding to the two steering devices respectively; determining a target voltage corresponding to the target steering angle according to the steering angle voltage correspondence relationship; and calibrating the steering angle voltage correspondence relationship of the steering angle sensors of the two steering devices according to the target voltage and the reference steering angle.

[0007] In one embodiment, before determining the target angle that meets the voltage calibration conditions based on the current angle correspondence, the method further includes: determining the initial angle correspondence between the two steering devices before the target angle sensor voltage shift; determining the angle change rate at the reference angle in the initial angle correspondence as the reference angle change rate; and determining the target angle that meets the voltage calibration conditions based on the current angle correspondence, including: taking the angle in the current angle correspondence where the angle change rate is equal to the reference angle change rate as the target angle.

[0008] In one embodiment, the reference turning angle is a reference turning angle with a turning angle value of zero degrees; the step of calibrating the correspondence between the turning angle voltages of the respective turning angle sensors of the two steering devices according to the target voltage and the reference turning angle includes: calibrating the correspondence between the turning angle voltages of the respective turning angle sensors of the two steering devices according to the target voltage and the reference turning angle with a turning angle value of zero degrees.

[0009] In one embodiment, before acquiring the voltage output by the target steering angle sensor, the method further includes: in response to determining that the vehicle triggers steering angle sensor calibration conditions, acquiring a test voltage output by the target steering angle sensor, wherein the steering angle sensor calibration conditions include at least a reference detection steering angle; if it is determined that the test voltage does not meet voltage detection conditions, determining that the target steering angle sensor has experienced voltage drift, wherein the voltage detection conditions are determined based on the reference detection steering angle; acquiring the voltage output by the target steering angle sensor includes: if it is determined that the target steering angle sensor has experienced voltage drift, acquiring the voltage output by the target steering angle sensor during a target time period.

[0010] In one embodiment, before determining that the target angle sensor has experienced voltage drift when the voltage to be measured does not meet the voltage detection conditions, the method further includes: determining a reference voltage corresponding to the reference detection angle before the voltage shift based on the reference detection angle and the corresponding angle voltage relationship, and constructing the voltage detection conditions based on the reference voltage; determining that the target angle sensor has experienced voltage drift when the voltage to be measured does not meet the voltage detection conditions includes: determining that the target angle sensor has experienced voltage drift when the voltage to be measured does not meet the voltage detection conditions constructed based on the reference voltage.

[0011] In one embodiment, the voltage to be measured includes a first voltage to be measured and a second voltage to be measured output by the angle sensors corresponding to the two steering devices, respectively; determining that the target angle sensor has experienced voltage drift when it is determined that the voltage to be measured does not meet the voltage detection conditions based on the reference voltage includes: calculating a first voltage difference between the reference voltage and the first voltage to be measured; calculating a second voltage difference between the reference voltage and the second voltage to be measured; and determining that the target angle sensor has experienced voltage drift when it is determined that at least one of the first voltage difference and the second voltage difference is greater than or equal to a preset voltage threshold.

[0012] In one embodiment, after calibrating the correspondence between the angle voltages of the respective angle sensors of the two steering devices by using the target voltage as an updated reference voltage, the method further includes: storing the calibrated correspondence between the angle voltages.

[0013] Secondly, embodiments of this application provide a vehicle, including: The angle acquisition module includes angle sensors for each of the two steering devices, used to output voltage; The chassis controller is connected to the corner acquisition module and is used for the sensor calibration method in the first aspect or any embodiment of the first aspect, and outputs the corner angle according to the calibrated corner voltage correspondence. A driving controller, connected to the chassis controller, is used to output steering commands to the chassis controller based on the steering angle; A steering actuator, connected to the chassis controller, is used to control two steering devices on the front axle connection support of the vehicle to steer according to steering commands forwarded by the chassis controller.

[0014] Thirdly, embodiments of this application provide a sensor calibration device, including: The first acquisition module is used to acquire the voltage output by the target steering angle sensor, which includes the steering angle sensors of the two steering devices connected and supported by the front axle of the vehicle. The second acquisition module is used to acquire the steering angles corresponding to the two steering devices respectively based on the voltage output by the target steering angle sensor and according to the steering angle voltage correspondence relationship, wherein the steering angle voltage correspondence relationship is determined based on the electrical characteristics of the steering angle sensor; The fitting module is used to fit the current steering angle correspondence between the two steering devices based on the steering angles corresponding to the two steering devices respectively. The first determining module is used to determine a target angle that meets the voltage calibration conditions based on the current angle correspondence. The voltage calibration conditions are determined based on the reference angle change rate. The reference angle change rate is the angle change rate of the angle correspondence between the two steering devices at the reference angle before the target angle sensor shifts. The target angle includes the angles corresponding to the two steering devices respectively. The second determining module is used to determine the target voltage corresponding to the target angle based on the angle voltage correspondence relationship; The calibration module is used to calibrate the correspondence between the angle voltages of the respective angle sensors of the two steering devices based on the target voltage and the reference angle.

[0015] Fourthly, embodiments of this application provide a sensor calibration device, the device including: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the sensor calibration method in the first aspect or any embodiment of the first aspect.

[0016] Fifthly, a computer-readable storage medium storing computer program instructions that, when executed by a processor, implement the sensor calibration method of the first aspect or any embodiment of the first aspect.

[0017] In a sixth aspect, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform a sensor calibration method as described in the first aspect or any embodiment of the first aspect.

[0018] The sensor calibration method, apparatus, device, and vehicle of this application embodiment can obtain the corresponding steering angles of two steering devices from the steering angle voltage correspondence relationship based on the voltage output of the target steering angle sensor. Then, based on the corresponding steering angles of the two steering devices, a current steering angle correspondence relationship between the two steering devices is fitted. Furthermore, based on the current steering angle correspondence relationship, a target steering angle that meets the voltage calibration conditions is determined. The target voltage corresponding to the target steering angle is determined according to the steering angle voltage correspondence relationship. Based on the target voltage and the reference steering angle, the steering angle voltage correspondence relationship of the steering angle sensors of the two steering devices is calibrated. That is, in this application embodiment, automatic calibration of the steering angle sensor is achieved, reducing reliance on manual operation, which can reduce labor costs and avoid the low accuracy problem caused by manual calibration. Furthermore, the automatic calibration process of the steering angle sensor can also avoid vehicle downtime, reducing the time cost caused by vehicle downtime and improving the overall energy efficiency of the vehicle. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic flowchart of a sensor calibration method provided in one embodiment of this application is shown; Figure 2 This application shows a schematic diagram of the architecture of a vehicle steering system according to one embodiment of the present application; Figure 3 A schematic diagram illustrating the correspondence of rotational voltages according to an embodiment of this application is shown; Figure 4 A schematic diagram showing the angle correspondence between two steering devices provided in one embodiment of this application is illustrated; Figure 5 A schematic flowchart of a sensor calibration method provided in one embodiment of this application is shown; Figure 6 A schematic flowchart of a sensor calibration method provided in one embodiment of this application is shown; Figure 7 A schematic diagram of the process for determining the voltage drift of a target rotation angle sensor according to an embodiment of this application is shown; Figure 8 A schematic flowchart of a sensor calibration method provided in one embodiment of this application is shown; Figure 9 An architectural diagram of a vehicle provided in one embodiment of this application is shown; Figure 10 This is a schematic diagram of the structure of a sensor calibration device provided in another embodiment of this application; Figure 11 This is a schematic diagram of the structure of a sensor calibration device provided in another embodiment of this application. Detailed Implementation

[0021] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0022] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0023] With the development of intelligent vehicle technology and the advancement of Internet of Things (IoT) technology, autonomous driving has become an important development direction for intelligent vehicles. Furthermore, autonomous driving technology integrates advanced technologies such as artificial intelligence, big data, cloud computing, and IoT, and can serve as a crucial component of transportation transformation, changing people's travel habits, improving traffic efficiency, reducing traffic accidents, and even redefining urban transportation infrastructure.

[0024] In autonomous driving technology, vehicle perception, decision-making, and control are core components ensuring safety and reliability during vehicle operation. The chassis control system directly impacts safety and stability during driving. Traditional mechanical chassis control systems rely on physical connections; for example, the steering wheel is mechanically connected to the wheels to control steering. However, the introduction of drive-by-wire technology breaks this limitation, replacing traditional mechanical connections with electronic signal control, making vehicle handling more flexible and precise. Drive-by-wire technology uses electronically transmitted signals to control steering, acceleration, and braking, providing autonomous vehicles with higher control precision and reduced redundancy, lowering system complexity and weight, and improving overall vehicle energy efficiency.

[0025] Furthermore, during the process of the chassis control system maneuvering the vehicle's steering, the accuracy of vehicle perception directly affects the precision of vehicle steering control. Generally, vehicle perception can be achieved through steering angle sensors. However, in vehicle use, due to the material properties of the sensors, permanent voltage drift inevitably occurs. This affects the sensor's accuracy, leading to inaccurate vehicle perception and severely reducing the safety and reliability of autonomous driving.

[0026] In related technologies, the detection accuracy of angle sensors can be improved through calibration. However, the calibration of angle sensors generally relies on traditional manual calibration methods. This typically requires technicians to perform a significant amount of manual work, including adjusting the angle sensor position and correcting angle errors, resulting in substantial labor costs and time constraints. Furthermore, the accuracy of the calibrated angle sensor remains relatively low.

[0027] To address the problems of the prior art, embodiments of this application provide a sensor calibration method, apparatus, device, and vehicle. The sensor calibration method provided in this application embodiment will be described first below.

[0028] Figure 1 A schematic flowchart of a sensor calibration method provided in one embodiment of this application is shown. Figure 1 As shown, the sensor calibration method includes the following steps: S110, Obtain the voltage output by the target angle sensor.

[0029] S120. Based on the voltage output by the target angle sensor, obtain the angles corresponding to the two steering devices according to the angle voltage correspondence.

[0030] S130. Fit the current steering angle correspondence between the two steering devices based on the steering angles corresponding to the two steering devices respectively.

[0031] S140. Based on the current rotation angle correspondence, determine the target rotation angle that meets the voltage calibration conditions.

[0032] S150. Determine the target voltage corresponding to the target angle based on the relationship between the angle voltages.

[0033] S160. Based on the target voltage and the reference steering angle, calibrate the corresponding relationship between the steering angle sensors of the two steering devices.

[0034] In some embodiments, in S110, the voltage output of the target steering angle sensor can be acquired. The target steering angle sensor includes the steering angle sensors of each of the two steering devices connected to the front axle of the vehicle.

[0035] In one example, Figure 2 A schematic diagram of the architecture of a vehicle steering system provided in one embodiment of this application is shown, as follows: Figure 2As shown, the vehicle steering system 200 includes four steering devices: a left front wheel 1, a right front wheel 2, a left rear wheel 5, and a right rear wheel 6. The left front wheel 1 and right front wheel 2 are connected and supported via the front axle 3; the left rear wheel 5 and right rear wheel 6 are connected and supported via the rear axle 7. Furthermore, to ensure the stability of the vehicle's steering, the steering centers of the left front wheel 1 and right front wheel 2 are the same and located on the extension line of the rear axle. The vehicle steering system also includes a steering trapezoidal structure 4, which is connected to the left front wheel 1 and right front wheel 2 to constrain the turning angles of the left front wheel 1 and right front wheel 2. Additionally, a steering angle sensor can be deployed in each of the left front wheel 1 and right front wheel 2 to determine the turning angle of the left front wheel. And the cornering angle of the right front wheel .

[0036] For example, the angle sensors deployed in the two steering systems may have the same specifications, or the angle sensors deployed in the two steering systems may have different specifications.

[0037] In one example, a first steering sensor may be deployed in the left front wheel and a second steering sensor may be deployed in the right front wheel, and the first and second steering sensors may be of the same specification.

[0038] For example, the target sensor can output a voltage based on the sensed turning angle. Furthermore, the voltage output by the target steering sensor can be multiple voltages within a preset time period.

[0039] In some embodiments, in step S120, the steering angles corresponding to the two steering devices can be obtained based on the voltage output by the target steering angle sensor and according to the steering angle voltage correspondence. The steering angle voltage correspondence is determined based on the electrical characteristics of the steering angle sensor.

[0040] The electrical characteristics of an angle sensor can include the linear variation of its output voltage with the angle of rotation. In one example, a technician can set the corresponding relationship between the angle voltages based on the sensor's electrical characteristics. Figure 3 A schematic diagram illustrating the correspondence between rotational voltages according to an embodiment of this application is shown. For example... Figure 3 As shown, technicians can set the corresponding relationship between the steering angle voltage as indicated by curve 10, where the voltage output by the steering angle sensor increases linearly with the steering angle. Curve 10 passes through points (-47.5, 0.5), (0, 2.5), and (47.5, 4.5), which represent the following: when the steering angle sensor output voltage is 0.5 volts (V), the steering angle is -47.5 degrees (°), (-47.5° represents 47.5° opposite to the specified positive direction); when the steering angle sensor output voltage is 4.5V, the steering angle is 47.5°; and when the output voltage is 2.5V, the steering angle is 0°.

[0041] For example, a voltage that matches the voltage output by the target angle sensor can be determined from the angle voltage relationship, and the corresponding angle can be used as the angle of the steering device.

[0042] For example, the voltage output by the target steering angle sensor may include the output voltage of each steering sensor deployed in both steering units. Furthermore, the steering angle corresponding to each of the two steering units can be determined based on the voltages output by the two steering sensors. In one example, the steering angle of the left front wheel can be determined from a steering angle voltage correspondence based on the voltage output of the first steering sensor deployed in the left front wheel. Similarly, the steering angle of the right front wheel can be determined from a steering angle voltage correspondence based on the voltage output of the second steering sensor deployed in the right front wheel.

[0043] In some embodiments, in S130, the current steering angle correspondence between the two steering devices can be fitted based on the steering angles corresponding to the two steering devices respectively.

[0044] For example, the current angle correspondence between two steering devices can be fitted based on multiple pairs of steering angles corresponding to the two steering devices within a preset time period. In one example, the fitted current angle correspondence between the two steering devices can be as follows: Figure 4 As shown in curve 20, it can be understood that the shift in the angle correspondence between the two steering devices is caused by voltage drift in at least one of the target angle sensors. Figure 4 This diagram illustrates the angular correspondence between two steering devices provided in one embodiment of this application. The relationship between the left wheel angle and the right wheel angle in curve 20 can be characterized as follows: .

[0045] In some embodiments, in S140, a target steering angle that satisfies the voltage calibration conditions can be determined based on the current steering angle correspondence. The voltage calibration conditions are determined based on a reference steering angle change rate, and the reference steering angle change rate is the rate of change of the steering angle correspondence between the two steering devices at the reference steering angle before the target steering angle sensor shifts.

[0046] For example, the target steering angle includes the steering angles corresponding to the two steering devices respectively. For instance, the target steering angle corresponding to the left front wheel could be... The target turning angle corresponding to the right front wheel can be .

[0047] For example, the target angle can be determined from the current angle correspondence that satisfies the voltage calibration conditions.

[0048] In one example, the angle change rate corresponding to each angle can be determined. From multiple angle change rates, the angle change rate that matches the reference angle change rate is determined, and the angle corresponding to this angle change rate is taken as the target angle.

[0049] For example, the reference steering angle can be preset by technicians according to different needs, wherein the reference steering angle can be any steering angle value within the safe steering angle range corresponding to the two steering structures.

[0050] In some embodiments, in S150, the target voltage corresponding to the target angle can be determined according to the angle voltage correspondence.

[0051] For example, the target voltage corresponding to each target angle can be determined based on the correspondence between angle voltages.

[0052] In one example, the target steering angle of the left front wheel can be determined from the steering angle voltage correspondence. Corresponding target voltage And the target turning angle of the right front wheel. Corresponding target voltage .

[0053] In some embodiments, in S160, the correspondence between the angle voltages of the respective angle sensors of the two steering devices can be calibrated based on the target voltage and the reference angle.

[0054] In one example, the target voltage can be determined based on the first steering angle sensor in the left front wheel. And using a reference steering angle, the steering angle voltage correspondence of the first steering angle sensor is calibrated to obtain the calibrated target steering angle sensor. And / or, the target voltage corresponding to the second steering angle sensor in the right front wheel can be used as a reference. And with reference rotation angle, the rotation angle voltage correspondence of the first rotation angle sensor is calibrated, thereby obtaining the calibrated rotation angle sensor.

[0055] It is understandable that since the electrical characteristics of the angle sensor remain unchanged, that is, the characteristic that the voltage output by the angle sensor changes linearly with the angle remains unchanged, the correspondence between the angle voltage and the target voltage can be corrected by using the target voltage and the reference angle.

[0056] In one example, the target voltage and reference angle can be adjusted as follows: Figure 3 The diagram illustrates the relationship between the angle voltage and the reference angle. For example, by keeping the slope of curve 10 constant, the intercept of curve 20 can be adjusted using the target voltage and the reference angle. Alternatively, curve 10 can be shifted so that the shifted curve passes through the point corresponding to the target voltage and the reference angle.

[0057] In some optional embodiments, the reference steering angle can be set to zero degrees. The corresponding relationship between the steering angle sensors of the two steering devices is calibrated based on the target voltage and the reference steering angle with a value of zero degrees.

[0058] In this embodiment of the application, by setting the reference rotation angle value to zero degrees, the voltage offset value when the rotation angle sensor experiences zero-point offset can be quickly determined, reducing the amount of calculation and improving the calibration efficiency of the rotation angle sensor.

[0059] For example, the steering angles of the two steering devices can be obtained from the steering angle voltage correspondence based on the voltage output of the target steering angle sensor. Then, based on the steering angles of the two steering devices, a current steering angle correspondence is fitted between them. Furthermore, based on the current steering angle correspondence, a target steering angle that meets the voltage calibration conditions is determined. The target voltage corresponding to the target steering angle is determined according to the steering angle voltage correspondence. Based on the target voltage and the reference steering angle, the steering angle voltage correspondence of the steering angle sensors of the two steering devices is calibrated. That is, in this embodiment, automatic calibration of the steering angle sensor is achieved, reducing reliance on manual operation, thus reducing labor costs and avoiding the low accuracy problems caused by manual calibration. Furthermore, the automated calibration of the steering angle sensor can also avoid vehicle downtime, reducing the time costs caused by vehicle downtime and improving the overall energy efficiency of the vehicle.

[0060] Furthermore, in order to improve calibration accuracy, as another implementation of this application, this application also provides another implementation of the sensor calibration method, as detailed in the following embodiments.

[0061] Figure 5 A schematic flowchart of a sensor calibration method provided in one embodiment of this application is shown. Figure 5 As shown, the sensor calibration method includes the following steps: S510: Obtain the voltage output by the target angle sensor.

[0062] S520: Based on the voltage output by the target angle sensor, obtain the angles corresponding to the two steering devices according to the angle voltage correspondence.

[0063] S530. Based on the steering angles corresponding to the two steering devices respectively, fit the current steering angle correspondence between the two steering devices.

[0064] S540. Determine the initial steering angle correspondence between the two steering devices before the target steering angle sensor voltage offset.

[0065] S550, Determine the initial rotation angle correspondence. The rotation angle change rate at the reference rotation angle is the reference rotation angle change rate.

[0066] S560. The angle whose angle change rate is equal to the reference angle change rate in the current angle correspondence relationship shall be taken as the target angle.

[0067] S570. Determine the target voltage corresponding to the target angle based on the relationship between the angle voltages.

[0068] S580. Based on the target voltage and the reference steering angle, calibrate the corresponding relationship between the steering angle sensors of the two steering devices.

[0069] For example, steps S510-S530 are the same as steps S110-S130, and steps S570-S580 are the same as steps S150-S160, which will not be described in detail here.

[0070] In some embodiments, in S540, the initial steering angle correspondence between the two steering devices can be determined before the target steering angle sensor voltage shifts.

[0071] For example, the steering angle of the two steering devices is limited before the target steering angle sensor experiences a voltage shift. Figure 2 The steering trapezoidal structure 4 is shown. For example, due to the limitation of the steering trapezoidal structure 4, the corresponding turning angles of the left front wheel 1 and the right front wheel 2 have a fixed relationship, namely the Ackermann turning angle relationship. At this time, the initial turning angle relationship between the left front wheel 1 and the right front wheel 2 satisfies the following formula (1):

[0072] Where L is the wheelbase and d is the track width. For the right wheel's turning angle, This refers to the left wheel's turning angle. Furthermore, the initial turning angle correspondence can be as follows: Figure 4 As shown in curve 30, the relationship between the left wheel angle and the right wheel angle in curve 30 can be characterized as follows: .

[0073] Furthermore, in some embodiments, in S550, the rate of change of the initial rotation angle correspondence at the reference rotation angle can be determined as the rate of change of the reference rotation angle.

[0074] For example, the rate of change of the initial rotation angle at the reference rotation angle can be calculated, and the rate of change of the rotation angle corresponding to the reference rotation angle can be used as the reference rotation angle rate of change. In this case, the reference rotation angle rate of change can be characterized as... .

[0075] In one example, the reference angle can be any angle in the initial angle correspondence. For example, the reference angle can be set as... At this point, the rate of change of the reference rotation angle can be characterized as Alternatively, you can set the reference angle to... At this point, the rate of change of the reference rotation angle can be characterized as .

[0076] In some embodiments, in S560, the angle whose angle change rate is equal to the reference angle change rate in the current angle correspondence can be taken as the target angle.

[0077] In one example, the angle whose rate of change equals the reference rate of change can be determined from the current angle correspondence, and the angle corresponding to this rate of change can be used as the target angle. For example, such as Figure 4 As shown, the rate of change of steering angle corresponding to point 11 in curve 30 can be used as the reference rate of change of steering angle. Furthermore, if the rate of change of steering angle at point 12 in curve 20 is determined to be equal to the reference rate of change of steering angle, then the steering angle of the left front wheel corresponding to point 12 can be used as the reference rate of change of steering angle. and the right front wheel corner As the target corner.

[0078] In this embodiment, by determining the initial angle correspondence between the two steering devices before the target angle sensor voltage shifts, and setting the angle change rate of the initial angle correspondence at the reference angle as the reference angle change rate, the voltage calibration conditions constructed in this way conform to the physical structural characteristics of the angle sensor, thereby ensuring the calibration accuracy of the sensor.

[0079] Furthermore, in order to achieve real-time dynamic angle sensor calibration, as another implementation of this application, this application also provides another implementation of the sensor calibration method, as detailed in the following embodiments.

[0080] Figure 6 A schematic flowchart of a sensor calibration method provided in one embodiment of this application is shown. Figure 6 As shown, before acquiring the voltage output by the target angle sensor, the sensor calibration method also includes the following steps: S610. In response to determining the vehicle triggering angle sensor calibration conditions, the target angle sensor output voltage is acquired, wherein the angle sensor calibration conditions include at least a reference detection angle.

[0081] S620. If it is determined that the voltage to be measured does not meet the voltage detection conditions, it is determined that the target angle sensor has experienced voltage drift, and the voltage detection conditions are determined based on the reference detection angle.

[0082] In some embodiments, in S610, in response to determining the vehicle triggering steering angle sensor calibration conditions, the voltage to be measured output by the target steering angle sensor can be acquired, and the steering angle sensor calibration conditions include at least a reference detection steering angle.

[0083] For example, the steering angle sensor calibration conditions can characterize the vehicle's driving state, wherein the steering angle sensor calibration conditions include at least a reference detection steering angle for the steering state. In one example, the reference detection steering angle can be preset according to different needs of the technician. For example, the technician can set the steering angle to 0 degrees, that is, when it is determined that the vehicle's steering wheel has returned to center, the calibration of the target steering angle sensor can be triggered; or, the steering angle can be set to +5°, that is, when the vehicle's steering wheel is deflected 5° to the left (assuming left is the positive direction), the calibration of the target steering angle sensor can be triggered.

[0084] Furthermore, to avoid frequent calibration of the target steering angle sensor, the steering angle sensor calibration conditions may also include one or more other vehicle status information, such as vehicle speed information and / or duration information. In one example, the steering angle sensor calibration conditions could be: the vehicle steering wheel is straightened, the vehicle speed is greater than or equal to 5 km / h, and the duration is greater than or equal to 10 seconds. Alternatively, the steering angle sensor calibration conditions could be: the vehicle steering wheel is turned 5 degrees to the left, the vehicle speed is greater than or equal to 10 km / h, and the duration is greater than or equal to 3 seconds.

[0085] When the vehicle triggers the steering angle sensor calibration conditions, calibration of the target steering angle sensor can be initiated. This can be understood as follows: the chassis controller can acquire the vehicle's driving status and determine whether the vehicle has triggered the steering angle sensor calibration conditions, thus deciding whether to perform steering angle sensor calibration. Alternatively, the driving controller can acquire the vehicle's actual driving status and, upon determining that the vehicle has triggered the steering angle sensor calibration conditions, send a corresponding trigger signal to the chassis controller, causing the chassis controller to calibrate the target sensor.

[0086] In some embodiments, in S620, if it is determined that the voltage to be measured does not meet the voltage detection conditions, it can be determined that the target angle sensor has experienced voltage drift.

[0087] For example, voltage detection conditions can be constructed based on a reference detection angle. It is understood that the voltage detection conditions can be used to characterize the degree of voltage deviation at the reference detection angle; that is, when it is determined that the voltage to be measured deviates significantly at the reference detection angle, it can be determined that the target angle sensor has experienced voltage deviation; when it is determined that the voltage to be measured deviates slightly at the reference detection angle, it can be determined that the target angle sensor has not experienced voltage deviation.

[0088] Furthermore, if it is determined that the target angle sensor has experienced voltage drift, the voltage output by the target angle sensor during the target time period can be obtained, and the target angle sensor can be calibrated based on the output voltage.

[0089] The length and location of the target time period can be preset by technicians. In one example, after determining that the target corner sensor has experienced voltage drift, the output voltage of the target corner sensor during the target time period can be acquired for voltage calibration. This allows the voltage used for target corner sensor calibration to better reflect the current voltage deviation of the corner sensor, resulting in higher accuracy of the calibrated target corner sensor. In another example, the output voltage of the target sensor can be stored in real time, and after determining that the target corner sensor has experienced voltage drift, the output voltage of the target corner sensor during the target time period can be acquired from the stored voltage for voltage calibration.

[0090] In some optional embodiments, before determining that the target angle sensor has experienced voltage drift when it is determined that the voltage to be measured does not meet the voltage detection conditions, a reference voltage corresponding to the reference detection angle before the voltage shift can be determined from the angle voltage correspondence based on the reference detection angle, and voltage detection conditions can be constructed based on the reference voltage. Furthermore, it can be determined that the target angle sensor has experienced voltage drift when it is determined that the voltage to be measured does not meet the voltage detection conditions constructed based on the reference voltage.

[0091] For example, the reference voltage corresponding to the reference detection angle can be determined from the correspondence of the angle voltage before the voltage shift occurs, and the reference voltage component voltage detection conditions can be determined according to the reference voltage component voltage detection conditions.

[0092] In one example, it can be seen from Figure 3 In curve 10, the reference voltage corresponding to the reference detection angle is determined.

[0093] Furthermore, if it is determined that the voltage to be measured does not meet the voltage detection conditions based on the reference voltage, it can be determined that the target angle sensor has experienced voltage drift.

[0094] For example, if it is determined that the voltage to be measured is not equal to the reference voltage, it can be determined that the target angle sensor has experienced voltage drift.

[0095] In some alternative embodiments, the voltage to be measured includes a first voltage to be measured and a second voltage to be measured output by the angle sensors corresponding to the two steering devices, respectively. Figure 7 This illustration shows a flowchart of a process for determining the voltage drift of a target rotation angle sensor according to an embodiment of this application. Figure 7 As shown, determining the voltage drift of the target angle sensor includes the following steps S710-S730: S710. Calculate the first voltage difference between the reference voltage and the first voltage to be measured.

[0096] For example, the reference voltage represents the voltage value corresponding to the reference detection angle before the voltage shift occurs. The voltage value corresponding to the reference detection angle in the angle voltage correspondence can be used as the reference voltage.

[0097] For example, the reference voltage may include the reference voltage corresponding to each steering angle sensor in the two steering devices. For instance, the reference voltage corresponding to the first sensor deployed in the left wheel could be... The reference voltage corresponding to the second sensor deployed in the right wheel can be .

[0098] Furthermore, the difference between the reference voltage corresponding to the angle sensor of the same steering device and the first voltage to be measured can be calculated to obtain the first voltage difference. For example, the difference between the reference voltage of the angle sensor deployed in the left wheel and the first voltage to be measured can be calculated to obtain the first voltage difference.

[0099] S720. Calculate the second voltage difference between the reference voltage and the second voltage to be measured.

[0100] For example, a second voltage difference can be calculated between the reference voltage of the other steering angle sensor among the two steering sensors and the second voltage to be measured. For instance, the difference between the reference voltage of the steering angle sensor deployed in the right wheel and the second voltage to be measured can be calculated to obtain the second voltage difference.

[0101] S730. If at least one of the first voltage difference and the second voltage difference is greater than or equal to a preset voltage threshold, it is determined that the target angle sensor has experienced voltage drift.

[0102] For example, if either the first voltage difference or the second voltage difference is greater than a preset voltage threshold, it can be determined that the target angle sensor has experienced voltage drift. Alternatively, if both the first voltage difference and the second voltage difference are greater than the preset voltage threshold, it can be determined that the target angle sensor has experienced voltage drift.

[0103] For example, the preset voltage threshold can be predetermined by a technician according to different needs. Furthermore, the two angle sensors can correspond to different preset voltage thresholds.

[0104] In one example, after determining the vehicle's steering angle sensor calibration conditions, the voltage value of the first steering angle sensor deployed in the left wheel can be obtained. And the voltage value output by the second steering angle sensor deployed in the right wheel. And determine the reference voltage corresponding to the left wheel based on the calibration conditions of the steering angle sensor. and the reference voltage corresponding to the right wheel Furthermore, determine whether the voltage output by the first sensor and the reference voltage corresponding to the left wheel satisfy the following formula (2), and whether the voltage output by the second sensor and the reference voltage corresponding to the right wheel satisfy the following formula (3). If either of these conditions is not met, it can be determined that the target sensor has experienced voltage drift.

[0105] In this embodiment, by comparing the relationship between the difference between the voltage to be measured and the reference voltage and a preset voltage threshold, it is determined that the target sensor is malfunctioning when the voltage to be measured fluctuates significantly compared to the reference voltage, thereby providing a more accurate and reasonable basis for judging voltage deviation.

[0106] Furthermore, in this embodiment, by determining the reference voltage corresponding to the reference detection angle before voltage deviation from the voltage correspondence relationship based on the reference detection angle, and then constructing voltage detection conditions based on the reference voltage, accurate sensor voltage detection is achieved.

[0107] For example, after determining the vehicle's trigger angle sensor calibration conditions, the target angle sensor's output voltage can be acquired. If the target voltage does not meet the voltage detection conditions, voltage drift in the target angle sensor is determined. If voltage drift is determined, the sensor's output voltage is acquired for voltage calibration. It is understood that in this embodiment, voltage drift in the target sensor can be determined in real time, enabling real-time and dynamic calibration. This avoids vehicle downtime during manual calibration, reduces downtime costs, and improves overall vehicle energy efficiency.

[0108] For example, the calibrated steering angle voltage correspondence can be stored. This allows for the accurate determination of the vehicle's steering angle based on the calibrated correspondence.

[0109] In one example, the calibrated angle voltage correspondence can be stored in an electrically erasable programmable read-only memory (EEPROM).

[0110] For example, the following is combined with Figure 8 The following examples illustrate the sensor calibration method.

[0111] Figure 8 A schematic flowchart of a sensor calibration method provided in one embodiment of this application is shown, as follows: Figure 8As shown, in step S801, if the vehicle triggers an abnormality monitoring condition, the voltage output by the steering angle sensor can be obtained. Further, in S802, based on the voltage output by the steering angle sensor, it is determined whether the steering angle sensor is abnormal. If it is determined that the steering angle sensor is abnormal, S803 can be executed to determine the steering angle corresponding to the voltage, and a current steering angle correspondence is constructed based on the steering angle. In one example, the current steering angle correspondence is as follows: Figure 4 As shown in curve 20, the current steering angle correspondence between the left wheel and the right wheel satisfies... .

[0112] Further, execute S804 to calculate the zero bias voltage.

[0113] For example, zero bias voltage can characterize the voltage value actually measured at the output port of the angle sensor when it is at a specified zero point position (i.e., when the rotation angle is 0°).

[0114] In one example, the rotation angle correspondence of the rotation sensor under normal conditions can be extracted from the EEPROM, such as... Figure 4 As shown in curve 30, the normal steering angle correspondence between the left wheel steering angle and the right wheel steering angle satisfies the following conditions. This can be determined in curve 30. The slope of the tangent line at the point Furthermore, we can find the relationship between curve 20 and... Find the points corresponding to lines with equal slopes, and determine the left wheel turning angle corresponding to those points. The right wheel's turning angle is Furthermore, based on the corresponding relationship of the rotational voltage shown in Figure 2, the following can be determined: The corresponding target voltage is , The corresponding target voltage is .

[0115] In one example, the voltage can be calculated using the following formulas (4) and (5). as well as :

[0116] in, For function The inverse operation, It can be used to characterize the rotation angle correspondence of the rotation angle sensor under normal conditions.

[0117] Furthermore, S805 is executed to correct the rotation angle correspondence based on the zero bias voltage.

[0118] In one example, it can be based on And at a 0° turning angle, correct the corresponding turning angle voltage relationship of the turning angle sensor in the left wheel, and, based on... And at a 0° turn angle, correct the corresponding angle voltage relationship of the angle sensor in the right wheel.

[0119] For example, if it is determined that there is no abnormality in the angle sensor, S806 can be executed to obtain the historical angle voltage correspondence.

[0120] Furthermore, in S807, the vehicle's turning angle can be determined based on the obtained turning angle correspondence.

[0121] Based on the sensor calibration method provided in the above embodiments, this application also provides a specific implementation of a vehicle. Please refer to the following example.

[0122] Figure 9 An architectural diagram of a vehicle according to an embodiment of this application is shown. Figure 9 As shown, vehicle 900 includes: The angle acquisition module 901 includes angle sensors for each of the two steering devices, used to output voltage; The chassis controller 902 is connected to the angle acquisition module and is used for the sensor calibration method of any of the above embodiments, and outputs the angle according to the calibrated angle voltage correspondence.

[0123] The driving controller 903 is connected to the chassis controller and is used to output steering commands to the chassis controller according to the steering angle.

[0124] Steering actuator 904, connected to chassis controller, is used to control the two steering devices on the front axle connection support of the vehicle to steer according to the steering commands forwarded by chassis controller.

[0125] Furthermore, based on the sensor calibration method provided in the above embodiments, this application also provides specific implementation methods of the sensor calibration device. Please refer to the following embodiments.

[0126] First see Figure 10 The sensor calibration device provided in this application includes the following modules: The first acquisition module 1001 is used to acquire the voltage output by the target steering angle sensor, which includes the steering angle sensors of the two steering devices connected to the front axle of the vehicle.

[0127] The second acquisition module 1002 is used to acquire the steering angles corresponding to the two steering devices respectively based on the voltage output by the target steering angle sensor and according to the steering angle voltage correspondence relationship, wherein the steering angle voltage correspondence relationship is determined based on the electrical characteristics of the steering angle sensor.

[0128] The fitting module 1003 is used to fit the current steering angle correspondence between the two steering devices based on the steering angles corresponding to the two steering devices respectively.

[0129] The first determining module 1004 is used to determine the target angle that meets the voltage calibration conditions based on the current angle correspondence. The voltage calibration conditions are determined based on the reference angle change rate. The reference angle change rate is the angle change rate of the angle correspondence between the two steering devices before the target angle sensor shifts at the reference angle. The target angle includes the angles corresponding to the two steering devices respectively.

[0130] The second determining module 1005 is used to determine the target voltage corresponding to the target angle based on the angle voltage correspondence relationship.

[0131] The calibration module 1006 is used to calibrate the correspondence between the angle voltages of the respective angle sensors of the two steering devices based on the target voltage and the reference angle.

[0132] As one implementation of this application, before determining the target angle that meets the voltage calibration conditions based on the current angle correspondence, the device further includes a third determining module, used to determine the initial angle correspondence between the two steering devices before the target angle sensor voltage shifts; determine the angle change rate at the reference angle in the initial angle correspondence as the reference angle change rate; the first determining module 1004 determines the target angle that meets the voltage calibration conditions based on the current angle correspondence in the following manner: the angle in the current angle correspondence where the angle change rate is equal to the reference angle change rate is taken as the target angle.

[0133] As one implementation of this application, the reference angle is a reference angle with a value of zero degrees; the calibration module 1006 calibrates the correspondence between the angle voltages of the angle sensors of the two steering devices according to the target voltage and the reference angle in the following manner: the correspondence between the angle voltages of the angle sensors of the two steering devices is calibrated according to the target voltage and the reference angle with a value of zero degrees.

[0134] As one implementation of this application, before acquiring the voltage output by the target angle sensor, the device further includes a detection module, used to acquire the voltage to be measured output by the target angle sensor in response to determining that the vehicle triggers the angle sensor calibration conditions, wherein the angle sensor calibration conditions include at least a reference detection angle; if it is determined that the voltage to be measured does not meet the voltage detection conditions, it is determined that the target angle sensor has experienced voltage drift, wherein the voltage detection conditions are determined based on the reference detection angle; the first acquisition module 1001 acquires the voltage output by the target angle sensor in the following manner: if it is determined that the target angle sensor has experienced voltage drift, it acquires the voltage output by the target angle sensor during the target time period.

[0135] As one implementation of this application, before determining that the target angle sensor has experienced voltage drift when the voltage to be measured does not meet the voltage detection conditions, the detection module is further configured to determine the reference voltage corresponding to the reference detection angle before the voltage shift, based on the reference detection angle and the corresponding relationship between the angle voltages, and to construct voltage detection conditions based on the reference voltage. The detection module determines that the target angle sensor has experienced voltage drift when the voltage to be measured does not meet the voltage detection conditions in the following way: when the voltage to be measured does not meet the voltage detection conditions constructed based on the reference voltage, the target angle sensor is determined to have experienced voltage drift.

[0136] As one implementation of this application, the voltage to be measured includes a first voltage to be measured and a second voltage to be measured output by the angle sensors corresponding to the two steering devices, respectively; the detection module determines that the target angle sensor has experienced voltage drift when it is determined that the voltage to be measured does not meet the voltage detection conditions based on the reference voltage: calculates a first voltage difference between the reference voltage and the first voltage to be measured; calculates a second voltage difference between the reference voltage and the second voltage to be measured; and determines that the target angle sensor has experienced voltage drift when at least one of the first voltage difference and the second voltage difference is greater than or equal to a preset voltage threshold.

[0137] As one implementation of this application, after calibrating the correspondence between the angle voltages of the respective angle sensors of the two steering devices by using the target voltage as the updated reference voltage, the device also includes a storage module for storing the calibrated correspondence between the angle voltages.

[0138] Figure 11 A schematic diagram of the sensor calibration device provided in an embodiment of this application is shown.

[0139] The sensor calibration device may include a processor 1101 and a memory 1102 storing computer program instructions.

[0140] Specifically, the processor 1101 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0141] Memory 1102 may include mass storage for data or instructions. For example, and not limitingly, memory 1102 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 1102 may include removable or non-removable (or fixed) media. Where appropriate, memory 1102 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 1102 is non-volatile solid-state memory.

[0142] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0143] The processor 1101 reads and executes computer program instructions stored in the memory 1102 to implement any of the sensor calibration methods in the above embodiments.

[0144] In one example, the sensor calibration device may also include a communication interface 1103 and a bus 1110. For example, Figure 11 As shown, the processor 1101, memory 1102, and communication interface 1103 are connected through bus 1110 and complete communication with each other.

[0145] The communication interface 1103 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0146] Bus 1110 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 1110 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0147] This sensor calibration device can perform the sensor calibration method described in this application embodiment based on the voltage output by the target angle sensor, thereby achieving a combination of... Figure 1 and Figure 10 The method for calibrating sensors.

[0148] Furthermore, in conjunction with the sensor calibration methods described in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the sensor calibration methods described in the above embodiments.

[0149] This application also provides a computer program product, including a computer program that, when executed, implements any of the sensor calibration methods described in the above embodiments.

[0150] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0151] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0152] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0153] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0154] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A sensor calibration method, characterized in that, include: The voltage output of the target steering angle sensor is obtained, wherein the target steering angle sensor includes the steering angle sensors of the two steering devices connected and supported by the front axle of the vehicle; Based on the voltage output by the target angle sensor, the angles corresponding to the two steering devices are obtained according to the angle voltage correspondence relationship, which is determined based on the electrical characteristics of the angle sensor. Based on the steering angles corresponding to the two steering devices respectively, fit the current steering angle correspondence between the two steering devices; Based on the current steering angle correspondence, a target steering angle that meets the voltage calibration conditions is determined. The voltage calibration conditions are determined based on the reference steering angle change rate. The reference steering angle change rate is the rate of change of the steering angle correspondence between the two steering devices at the reference steering angle before the target steering angle sensor shifts. The target steering angle includes the steering angles corresponding to the two steering devices respectively. Based on the aforementioned angle voltage correspondence, determine the target voltage corresponding to the target angle; The correspondence between the angle voltages of the respective angle sensors of the two steering devices is calibrated based on the target voltage and the reference angle.

2. The method according to claim 1, characterized in that, Before determining the target rotation angle that satisfies the voltage calibration conditions based on the current rotation angle correspondence, the method further includes: Before determining the target angle sensor voltage offset, the initial angle correspondence between the two steering devices is established; The rate of change of the initial rotation angle correspondence at the reference rotation angle is determined to be the rate of change of the reference rotation angle. Based on the current rotation angle correspondence, the target rotation angle that meets the voltage calibration conditions is determined, including: The angle whose rate of change in the current angle correspondence is equal to the rate of change in the reference angle is taken as the target angle.

3. The method according to claim 1, characterized in that, The reference angle is a reference angle with a value of zero degrees; The step of calibrating the correspondence between the angle voltages of the respective angle sensors of the two steering devices based on the target voltage and the reference angle includes: Based on the target voltage and the reference angle with a turning angle value of zero degrees, the corresponding relationship between the turning angle sensors of the two steering devices is calibrated.

4. The method according to claim 1, characterized in that, Before acquiring the voltage output by the target angle sensor, the method further includes: In response to determining the vehicle triggering steering angle sensor calibration conditions, the voltage to be measured output by the target steering angle sensor is acquired, wherein the steering angle sensor calibration conditions include at least a reference detection steering angle; If it is determined that the voltage to be measured does not meet the voltage detection conditions, it is determined that the target angle sensor has experienced voltage drift, and the voltage detection conditions are determined based on the reference detection angle; The process of acquiring the voltage output by the target angle sensor includes: If it is determined that the target angle sensor has experienced voltage drift, the voltage output by the target angle sensor during the target time period is obtained.

5. The method according to claim 4, characterized in that, Before determining that the target angle sensor has experienced voltage drift when the voltage to be measured does not meet the voltage detection conditions, the method further includes: Based on the reference detection angle, the reference voltage corresponding to the reference detection angle before the voltage shift is determined from the voltage correspondence of the angle, and the voltage detection conditions are constructed based on the reference voltage; The step of determining that the target angle sensor has experienced voltage drift when it is determined that the voltage to be measured does not meet the voltage detection conditions includes: If the voltage to be measured does not meet the voltage detection conditions constructed based on the reference voltage, it is determined that the target angle sensor has experienced voltage drift.

6. The method according to claim 5, characterized in that, The voltage to be measured includes the first voltage to be measured and the second voltage to be measured output by the angle sensors corresponding to the two steering devices, respectively. The step of determining that the target angle sensor has experienced voltage drift when it is determined that the voltage to be measured does not meet the voltage detection conditions constructed based on the reference voltage includes: Calculate the first voltage difference between the reference voltage and the first voltage to be measured; Calculate the second voltage difference between the reference voltage and the second voltage to be measured; If at least one of the first voltage difference and the second voltage difference is greater than or equal to a preset voltage threshold, it is determined that the target angle sensor has experienced voltage drift.

7. The method according to claim 1, characterized in that, After using the target voltage as an updated reference voltage to calibrate the correspondence between the angle voltages of the respective angle sensors of the two steering devices, the method further includes: Store the calibrated correspondence of the rotation angle voltage.

8. A vehicle, characterized in that, include: The angle acquisition module includes angle sensors for each of the two steering devices, used to output voltage; A chassis controller, connected to the corner acquisition module, is used to execute the sensor calibration method according to any one of claims 1-7, and output the corner angle according to the calibrated corner voltage correspondence. A driving controller, connected to the chassis controller, is used to output steering commands to the chassis controller based on the steering angle; A steering actuator, connected to the chassis controller, is used to control two steering devices on the front axle connection support of the vehicle to steer according to steering commands forwarded by the chassis controller.

9. A sensor calibration device, characterized in that, include: The first acquisition module is used to acquire the voltage output by the target steering angle sensor, which includes the steering angle sensors of the two steering devices connected and supported by the front axle of the vehicle. The second acquisition module is used to acquire the steering angles corresponding to the two steering devices respectively based on the voltage output by the target steering angle sensor and according to the steering angle voltage correspondence relationship, wherein the steering angle voltage correspondence relationship is determined based on the electrical characteristics of the steering angle sensor; The fitting module is used to fit the current steering angle correspondence between the two steering devices based on the steering angles corresponding to the two steering devices respectively. The first determining module is used to determine a target angle that meets the voltage calibration conditions based on the current angle correspondence. The voltage calibration conditions are determined based on the reference angle change rate. The reference angle change rate is the angle change rate of the angle correspondence between the two steering devices at the reference angle before the target angle sensor shifts. The target angle includes the angles corresponding to the two steering devices respectively. The second determining module is used to determine the target voltage corresponding to the target angle based on the angle voltage correspondence relationship; The calibration module is used to calibrate the correspondence between the angle voltages of the respective angle sensors of the two steering devices based on the target voltage and the reference angle.

10. A sensor calibration device, characterized in that, The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the sensor calibration method as described in any one of claims 1-7.

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