Wheel abnormality detection method and device, vehicle, storage medium, program product

Abstract

The application provides a wheel abnormality detection method and device, a vehicle, a storage medium and a program product. The method comprises the following steps: acquiring a first sound signal of a wheel in a vehicle collected by a first acoustic sensor and a second sound signal of the wheel in the vehicle collected by a second acoustic sensor respectively during driving of the vehicle; the first acoustic sensor is arranged at a position deviated from a center point between front wheels and rear wheels on an inner side of the vehicle; the second acoustic sensor is arranged at a position deviated from the center point between the front wheels and the rear wheels on an outer side of the vehicle; the first acoustic sensor and the second acoustic sensor are symmetrical along a central axis of the vehicle; in the case that the first sound signal and the second sound signal both comprise pulse signals, determining whether the wheel is attached with foreign matter based on characteristics of the first sound signal and the second sound signal; determining an abnormal wheel from the wheels of the vehicle based on collection times of the two pulse signals; and in the case that the wheel is attached with foreign matter, determining the abnormal wheel as a target wheel attached with foreign matter.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to a wheel anomaly detection method and device, a vehicle, a storage medium, and a program product. Background Technology

[0002] During vehicle operation, tires inevitably run over foreign objects, resulting in objects adhering to the tire tread, becoming stuck in the tread, or even puncturing the tire. A puncture from a nail or other sharp object can cause a rapid drop in tire pressure, potentially leading to a tire blowout and threatening driving safety. If a stone or other object is embedded in the tire, and the vehicle is traveling at high speed, it may be flung out, potentially damaging vehicles behind. Therefore, it is crucial to detect and remove foreign objects as early as possible. Summary of the Invention

[0003] This application provides a wheel anomaly detection method and device, vehicle, storage medium, and computer program product, which are beneficial for accurately and quickly locating wheels with foreign objects attached, and for reducing hardware costs.

[0004] In a first aspect, embodiments of this application provide a wheel anomaly detection method, the method comprising: during vehicle operation, acquiring a first sound signal of a wheel in the vehicle collected by a first acoustic sensor and a second sound signal of a wheel in the vehicle collected by a second acoustic sensor; the first acoustic sensor is disposed at a position off-center between the front and rear wheels on the inner side of the vehicle; the second acoustic sensor is disposed at a position off-center between the front and rear wheels on the outer side of the vehicle, the first acoustic sensor and the second acoustic sensor being symmetrical along the vehicle's central axis; when the first sound signal includes a first pulse signal and the second sound signal includes a second pulse signal, determining whether a foreign object is attached to the wheel based on the characteristics of the first sound signal and the characteristics of the second sound signal; identifying an abnormal wheel from the wheels of the vehicle based on a first acquisition time of the first pulse signal and a second acquisition time of the second pulse signal; and identifying the abnormal wheel as the target wheel with the foreign object attached when the wheel is attached.

[0005] It is understood that in the wheel anomaly detection method provided in this application embodiment, two acoustic sensors, positioned symmetrically along the vehicle's central axis and located off-center between the front and rear wheels on both sides of the vehicle, collect a first sound signal and a second sound signal. If both the first and second sound signals include pulse signals, it is considered that a foreign object may be present on the wheel. Further, based on the characteristics of the first and second sound signals, it is determined whether a foreign object is attached to the wheel. Furthermore, based on the acquisition time of the first and second pulse signals, the abnormal wheel is identified. If a foreign object is attached to the wheel, the abnormal wheel is identified as the target wheel with the attached foreign object. In this way, it is not necessary to install an acoustic sensor on each wheel; only the acoustic signals collected by two acoustic sensors positioned symmetrically along the vehicle's central axis and located off-center between the front and rear wheels on both sides of the vehicle are needed to determine whether a foreign object is attached to the wheel, which helps reduce hardware costs. Moreover, it is possible to identify the target wheel with the attached foreign object by the acquisition time and characteristics of the sound signal, which is beneficial for accurately and quickly locating the wheel with the attached foreign object.

[0006] In some embodiments, determining abnormal wheels from the wheels of the vehicle based on the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal includes: determining candidate wheels from the wheels of the vehicle based on the order of the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal; and determining abnormal wheels from the candidate wheels based on the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal.

[0007] It is understood that in the wheel anomaly detection method provided in this application embodiment, since the two acoustic sensors are positioned symmetrically along the vehicle's central axis between the front and rear wheels on both sides of the vehicle, off-center, if the vehicle encounters a foreign object during driving, the pulse sound wave signal corresponding to the foreign object will arrive at the two acoustic sensors in different orders, thus performing a first screening. Because the two acoustic sensors are positioned off-center between the front and rear wheels on both sides of the vehicle, the time difference between the arrival of the pulse sound wave signal corresponding to the foreign object at the two acoustic sensors will also be different, thus performing a second screening. This is beneficial for determining the abnormal wheel based on the acquisition time of the two pulse signals, thereby accurately and quickly locating the wheel to which the foreign object is attached.

[0008] In some embodiments, determining whether the wheel is attached to a foreign object based on the characteristics of the first sound signal and the characteristics of the second sound signal further includes: acquiring a periodic wheel speed signal generated by the toothed ring of the abnormal wheel collected by a wheel speed sensor; determining that the wheel is attached to a foreign object when both the first sound signal and the second sound signal are related to the periodic wheel speed signal; and determining that the wheel is not attached to a foreign object when neither the first sound signal nor the second sound signal is related to the periodic wheel speed signal.

[0009] It is understood that in the wheel anomaly detection method provided in this application embodiment, if a foreign object is attached to the wheel, and the vehicle is in motion, the detected sound signal should be periodic due to the wheel's rotational motion. Therefore, if both the first and second sound signals are related to the periodic wheel speed signal, it is considered that a foreign object is attached to the wheel; otherwise, it is considered that no foreign object is attached to the wheel. This is beneficial for further distinguishing between cases where a foreign object is attached to the wheel and cases where no foreign object is attached to the wheel, thereby improving the accuracy of detection.

[0010] In some embodiments, the method further includes: in response to the vehicle stopping, determining a first phase difference between an initial positioning tooth signal and a first pulse signal in the periodic wheel speed signal; and / or determining a second phase difference between the initial positioning tooth signal and a second pulse signal in the periodic wheel speed signal; the initial positioning tooth signal being used to mark a starting position; and determining the position of the foreign object attached to the target wheel based on the first phase difference and the position of the initial positioning tooth, and / or the second phase difference and the position of the initial positioning tooth.

[0011] It is understood that in the wheel anomaly detection method provided in this application embodiment, when the vehicle is stopped, the phase difference between the pulse signal and the initial positioning tooth signal in the periodic wheel speed signal is determined; then, based on the phase difference and the position of the initial positioning tooth, the position of the foreign object attached to the target wheel is determined. This helps to determine the specific location of the foreign object on the target wheel, thereby helping the user to find and remove the foreign object.

[0012] In some embodiments, the method further includes: filtering the first sound signal to obtain a filtered first sound signal; filtering the second sound signal to obtain a filtered second sound signal; determining, based on the filtered first sound signal, that the first sound signal includes a first pulse signal; and determining, based on the filtered second sound signal, that the second sound signal includes a second pulse signal.

[0013] It is understood that in the wheel anomaly detection method provided in this application embodiment, the first sound signal and the second sound signal are filtered, and then the first sound signal is used to determine whether it includes a pulse signal, and the second sound signal is used to determine whether it includes a pulse signal. This helps to make the result of determining whether it includes a pulse signal more accurate, thereby more accurately locating the wheel with foreign objects attached.

[0014] In some embodiments, the method further includes: outputting prompt information to indicate to the user that a foreign object is attached to the target wheel and / or to indicate to the user the location of the foreign object attached to the target wheel; the prompt information includes: image information, voice information and / or text information.

[0015] It is understood that in the wheel anomaly detection method provided in this application embodiment, when a foreign object is attached to the wheel, a prompt message is output to remind the user that the wheel is attached to a foreign object, and / or, when the vehicle is stopped, the user is prompted with the specific location of the foreign object attached to the target wheel; thus, it is helpful for the user to find and remove the foreign object.

[0016] Secondly, embodiments of this application provide a wheel anomaly detection device, comprising: an acquisition module configured to acquire, during vehicle operation, a first acoustic signal from a wheel in the vehicle collected by a first acoustic sensor and a second acoustic signal from a wheel in the vehicle collected by a second acoustic sensor; the first acoustic sensor is disposed at a position off-center between the front and rear wheels on the inner side of the vehicle; the second acoustic sensor is disposed at a position off-center between the front and rear wheels on the outer side of the vehicle, the first acoustic sensor and the second acoustic sensor being symmetrical along the vehicle's central axis; a first determination module configured to determine whether a foreign object is attached to the wheel based on the characteristics of the first acoustic signal and the characteristics of the second acoustic signal when the first acoustic signal includes a first pulse signal and the second acoustic signal includes a second pulse signal; a second determination module configured to determine an abnormal wheel from the wheels of the vehicle based on a first acquisition time of the first pulse signal and a second acquisition time of the second pulse signal; and a third determination module configured to determine the abnormal wheel as a target wheel with a foreign object attached when the wheel is attached to a foreign object.

[0017] Thirdly, embodiments of this application provide a vehicle, including: wheels, a first acoustic sensor, a second acoustic sensor, a memory, and a vehicle controller; the memory stores a computer program that can run on the vehicle controller, and when the vehicle controller executes the program, it implements the wheel anomaly detection method described in the first aspect.

[0018] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a vehicle controller, implements the wheel anomaly detection method described in the first aspect.

[0019] Fifthly, embodiments of this application provide a computer program product, including a computer program or instructions, which, when executed by a vehicle controller, implements the wheel anomaly detection method described in the first aspect. Attached Figure Description

[0020] Figure 1 A schematic diagram of the implementation process of a wheel anomaly detection method provided in this application embodiment. Figure 1 ; Figure 2 A schematic diagram of the implementation process of a wheel anomaly detection method provided in this application embodiment. Figure 2 ; Figure 3 This application provides a schematic diagram of a process for determining whether a wheel is attached to a foreign object. Figure 4 This is a schematic diagram of the structure of a tire foreign object monitoring and positioning system provided in an embodiment of this application; Figure 5 A schematic diagram illustrating the implementation process of a tire foreign object detection and positioning method provided in this application embodiment; Figure 6 This is a schematic diagram of signal collection for a tire foreign object monitoring and positioning system provided in an embodiment of this application; Figure 7 A schematic diagram of the radar positioning principle of a tire foreign object monitoring and positioning system provided in this application embodiment; Figure 8 A wheel speed signal acquisition and positioning diagram of a tire foreign object monitoring and positioning system provided in this application embodiment; Figure 9 A schematic diagram illustrating the signal correlation judgment principle of a tire foreign object monitoring and positioning system provided in this application embodiment; Figure 10 This application provides a display status diagram of a tire foreign object monitoring and positioning system according to an embodiment of the present application. Figure 11 This is a schematic diagram of a wheel anomaly detection device provided in an embodiment of this application; Figure 12 This is a structural schematic diagram of a vehicle provided in an embodiment of this application.

[0021] Among them, 1-wheel, 11-left front wheel, 12-right front wheel, 121-right front wheel tire, 13-right rear wheel, 14-left rear wheel, 2-gear ring, 21-left front wheel gear ring, 22-right front wheel gear ring, 221-right front wheel gear ring initial positioning tooth (a), 222-right front wheel gear ring positioning teeth (b, c…q, r), 23-right rear wheel gear ring, 24-left rear wheel gear ring, 3-wheel speed sensor, 31-left front wheel speed sensor, 32-right front wheel speed sensor, 33-right rear wheel speed sensor Sensors, 34-Left rear wheel speed sensor, 4-Microphone, 41-Left side microphone, 42-Right side microphone, 5-Signal transmission line, 51-Rear wheel speed sensor signal transmission line, 52-Left side microphone signal transmission line, 53-Front wheel speed sensor signal transmission line, 54-Display device signal transmission line, 55-Right side microphone signal transmission line, 56-Power input transmission line, 6-Display device, 61-Tire profile, 62-Foreign object indication area, 621- Current foreign object location indication area, 622 - Current no foreign object location indication (corresponding to positioning tooth x, x∈(ar)), 623 - Current no foreign object location indication (corresponding to positioning tooth x+1), 63 - Wheel rotation direction indication, 631 - Left wheel rotates to the left, 632 - Right wheel rotates to the right, 64 - Wheel where foreign object is located indication, 641 - Foreign object on the left wheel indication, 642 - Foreign object on the right wheel indication, 7 - System power input terminal, 8 - Monitoring and positioning system controller, 9 - Road, 9 1-Hard road surface, 92-Foreign object, A-Left front tire contact point with road surface, B-Right front tire contact point with road surface, C-Left rear tire contact point with road surface, D-Right rear tire contact point with road surface, E-Position of left microphone, F-Position of right microphone, E1 equivalent point on AF, E2 equivalent point on CF, R1-Equivalent radius of AE, R2-Equivalent radius of CE, t1-Time difference of sound wave propagating from point A to points E and F, t2-Time difference of sound wave propagating from point C to points E and F. Detailed Implementation

[0022] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described below in conjunction with the accompanying drawings. The embodiments described below are only some embodiments of this application, not all embodiments. Therefore, the described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] In the following description, references to “some embodiments” or “other embodiments” describe a subset of all possible embodiments. However, it is understood that “some embodiments” or “other embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0025] In the following description, the terms "first" and "second" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first" and "second" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0027] With the increasing prevalence of vehicles, people are driving more frequently, and almost all vehicles will encounter situations where their tires are punctured by nails or foreign objects. Usually, nails or sharp objects on the ground are lying flat, not vertical, so when a tire runs over them, the sharp part changes direction. Initially, they will embed themselves in the tire surface, but with continued driving and repeated running over, the nail or sharp object will eventually become completely embedded in the tire, causing a leak or even a blowout. On the other hand, when vehicles drive on gravel roads, stones can become embedded in the tire treads. As the wheels rotate at high speeds, these stones can be flung out and damage vehicles behind. If a stone hits the windshield of a following vehicle, it can shatter the windshield, potentially leading to a high-speed accident. If stones or nails are detected and removed early on when they adhere to the tire surface, the risk of tire punctures or damage to following vehicles can be greatly reduced, thus significantly improving driving safety.

[0028] In a related technology, a tire foreign object detection device is provided. This device installs a sound collection unit on each wheel, and a control unit compares the signals collected from the four sound collection units to determine whether any wheel has a foreign object. This technology involves a large number of parts, making installation difficult in practical applications. Furthermore, the installation location is on the inside of the wheel arch, and rainwater, mud, and other debris kicked up by the wheel during rain or snow can damage the sound collection units, leading to a high failure rate and high maintenance costs.

[0029] In another related technology, a smart alarm device for foreign object puncture in automobile tires is provided. This device can promptly detect whether a metal or glass object has punctured the tire and notify the driver via an alarm, allowing for timely remedial action and providing enhanced safety for travel. However, this technology has a complex structure and requires numerous components, including a detection module installed on the bottom of the vehicle body, corresponding to the number and location of the tires. This detection module includes a line laser sensor and an eddy current sensor, both with a detection width no less than the width of the tire tread. Therefore, this device is difficult to install and has high costs.

[0030] In another related technology, a foreign object detection system and method for automobile tires is provided. The tire includes a tread layer, a crown layer, and a carcass layer. A first stress sensor module is disposed on the crown layer, and a second stress sensor module is disposed on the carcass layer. The first stress sensor module is used to detect a first stress value experienced by the crown layer of the tire and send the first stress value to a processor. The second stress sensor module is used to detect a second stress value experienced by the carcass layer and send the second stress value to the processor. The processor is used to receive the first stress value and the second stress value and determine whether a foreign object is embedded in the tire based on the first stress value and the second stress value. This detection system and method require specially made tires, and each tire contains stress sensors for the crown layer and the carcass layer, which increases the tire cost. Furthermore, foreign object embedding may cause sensor damage.

[0031] In view of this, this application provides a method for detecting wheel anomalies. Figure 1 A schematic diagram of the implementation process of a wheel anomaly detection method provided in this application embodiment. Figure 1 ,like Figure 1 As shown, the method includes steps 101 to 104: Step 101: During the vehicle's operation, the first acoustic signal of the vehicle's wheels collected by the first acoustic sensor and the second acoustic signal of the vehicle's wheels collected by the second acoustic sensor are acquired respectively. The first acoustic sensor is located at a position off-center between the front and rear wheels on the inner side of the vehicle. The second acoustic sensor is located at a position off-center between the front and rear wheels on the outer side of the vehicle. The first and second acoustic sensors are symmetrical along the vehicle's central axis. Step 102: If the first sound signal includes a first pulse signal and the second sound signal includes a second pulse signal, determine whether the wheel is attached to a foreign object based on the characteristics of the first sound signal and the characteristics of the second sound signal. Step 103: Based on the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal, identify the abnormal wheel from the vehicle's wheels; Step 104: If a foreign object is attached to a wheel, the abnormal wheel is identified as the target wheel with the foreign object attached.

[0032] It is understood that in the wheel anomaly detection method provided in this application embodiment, two acoustic sensors, positioned symmetrically along the vehicle's central axis and located off-center between the front and rear wheels on both sides of the vehicle, collect a first sound signal and a second sound signal. If both the first and second sound signals include pulse signals, it is considered that a foreign object may be present on the wheel. Further, based on the characteristics of the first and second sound signals, it is determined whether a foreign object is attached to the wheel. Furthermore, based on the acquisition time of the first and second pulse signals, the abnormal wheel is identified. If a foreign object is attached to the wheel, the abnormal wheel is identified as the target wheel with the attached foreign object. In this way, it is not necessary to install an acoustic sensor on each wheel; only the acoustic signals collected by two acoustic sensors positioned symmetrically along the vehicle's central axis and located off-center between the front and rear wheels on both sides of the vehicle are needed to determine whether a foreign object is attached to the wheel, which helps reduce hardware costs. Moreover, it is possible to identify the target wheel with the attached foreign object by the acquisition time and characteristics of the sound signal, which is beneficial for accurately and quickly locating the wheel with the attached foreign object.

[0033] The following sections will describe further optional implementation methods for each of the above steps, as well as related terms.

[0034] In step 101, during the vehicle's operation, a first acoustic signal from the wheels of the vehicle collected by a first acoustic sensor and a second acoustic signal from the wheels of the vehicle collected by a second acoustic sensor are acquired. The first acoustic sensor is positioned at a location off-center between the front and rear wheels on the inner side of the vehicle. The second acoustic sensor is positioned at a location off-center between the front and rear wheels on the outer side of the vehicle. The first acoustic sensor and the second acoustic sensor are symmetrical about the vehicle's central axis.

[0035] It should be understood that the first acoustic sensor and the second acoustic sensor are not limited in the embodiments of this application. In some embodiments, both the first acoustic sensor and the second acoustic sensor are sound pickup sensors. Further, in some embodiments, the sound pickup sensor includes, but is not limited to, one of the following: dynamic microphone, condenser microphone, electret microphone, ribbon microphone, microelectromechanical system microphone, and piezoelectric microphone.

[0036] In this embodiment, the first sound signal and the second sound signal are not limited. In some embodiments, the first sound signal and the second sound signal include the sound signals of all wheels in the vehicle. Further, in some embodiments, the method further includes preprocessing the first sound signal and the second sound signal.

[0037] It should be understood that the vehicle centerline is not limited in this embodiment. The vehicle centerline is the straight line formed by the midpoint of the line connecting the contact points of the left and right wheels of the front axle and the midpoint of the line connecting the contact points of the left and right wheels of the rear axle. The vehicle centerline runs from the front to the rear of the vehicle, dividing the vehicle symmetrically. Ideally, the vehicle centerline coincides with the center line of the vehicle's central symmetry plane.

[0038] In some embodiments, Figure 2 A schematic diagram of the implementation process of a wheel anomaly detection method provided in this application embodiment. Figure 2 ,like Figure 2 As shown, the method further includes steps 201 to 204: Step 201: Filter the first sound signal to obtain the filtered first sound signal; Step 202: Filter the second sound signal to obtain the filtered second sound signal; Step 203: Based on the filtered first sound signal, determine that the first sound signal includes a first pulse signal; Step 204: Based on the filtered second sound signal, determine that the second sound signal includes a second pulse signal.

[0039] It is understood that in the wheel anomaly detection method provided in this application embodiment, the first sound signal and the second sound signal are filtered, and then the first sound signal is used to determine whether it includes a pulse signal, and the second sound signal is used to determine whether it includes a pulse signal. This helps to make the result of determining whether it includes a pulse signal more accurate, thereby more accurately locating the wheel with foreign objects attached.

[0040] It should be understood that, in this embodiment, filtering the first and second audio signals is to remove background noise from them. It should also be understood that the filtering method is not limited in this embodiment. In some embodiments, the filtering method includes: spectral subtraction, Wiener filtering, noise gating, median filtering, etc.

[0041] In some embodiments, filtering the first sound signal to obtain a filtered first sound signal includes: filtering the first sound signal by spectral subtraction to obtain a filtered first sound signal. In some embodiments, filtering the second sound signal to obtain a filtered second sound signal includes: filtering the second sound signal by spectral subtraction to obtain a filtered second sound signal.

[0042] In step 102, if the first sound signal includes a first pulse signal and the second sound signal includes a second pulse signal, it is determined whether the wheel is attached to a foreign object based on the characteristics of the first sound signal and the characteristics of the second sound signal.

[0043] It should be understood that in the embodiments of this application, when the first sound signal includes a first pulse signal and the second sound signal includes a second pulse signal, it is considered that the wheel may be attached to a foreign object; therefore, based on the characteristics of the first sound signal and the characteristics of the second sound signal, it is further determined whether the wheel is attached to a foreign object.

[0044] In this embodiment, the characteristics of the sound signal are not limited. In some embodiments, the characteristics of the sound signal include one or more of time-domain characteristics, frequency-domain characteristics, and time-frequency-domain characteristics. Further, in some embodiments, the time-domain characteristics include periodicity and / or amplitude abrupt changes, etc. In some embodiments, the frequency-domain characteristics include one or more of fundamental frequency component prominence, high-frequency energy increase, and modulation phenomena, etc. In some embodiments, the time-frequency-domain characteristics include short-time energy spikes and / or periodic vertical lines in the Mel spectrum.

[0045] It should be understood that, in the embodiments of this application, the specific implementation method for determining the features of the first sound signal and the features of the second sound signal is not limited. In some embodiments, the sound signal is processed by one or more of the following: spectrum analysis, Fourier transform, wavelet transform, and Mel-frequency cepstral coefficients, to obtain the features of the sound signal. In some embodiments, the sound signal is periodically detected to obtain the periodic features of the sound signal.

[0046] In some embodiments, Figure 3 This application provides a schematic diagram of a process for determining whether a wheel is attached to a foreign object, as illustrated in the embodiments of this application. Figure 3 As shown, determining whether the wheel is attached to a foreign object based on the characteristics of the first sound signal and the characteristics of the second sound signal further includes the following steps 301 to 303: Step 301: Obtain the periodic wheel speed signal generated by the toothed ring of the abnormal wheel collected by the wheel speed sensor; Step 302: If both the first sound signal and the second sound signal are related to the periodic wheel speed signal, determine that there is a foreign object attached to the wheel; Step 303: If neither the first sound signal nor the second sound signal is related to the periodic wheel speed signal, it is determined that the wheel is not attached to any foreign object.

[0047] It is understood that in the wheel anomaly detection method provided in this application embodiment, if a foreign object is attached to the wheel, and the vehicle is in motion, the detected sound signal should be periodic due to the wheel's rotational motion. Therefore, if both the first and second sound signals are related to the periodic wheel speed signal, it is considered that a foreign object is attached to the wheel; otherwise, it is considered that no foreign object is attached to the wheel. This is beneficial for further distinguishing between cases where a foreign object is attached to the wheel and cases where no foreign object is attached to the wheel, thereby improving the accuracy of detection.

[0048] In some embodiments, the method further includes: aligning and overlapping the first sound signal with the periodic wheel speed signal; determining that the first sound signal is related to the periodic wheel speed signal when the first sound signal overlaps with the periodic wheel speed signal; and determining that the first sound signal is not related to the periodic wheel speed signal when the first sound signal does not overlap with the periodic wheel speed signal.

[0049] In some embodiments, the method further includes: aligning and overlapping the second sound signal with the periodic wheel speed signal; determining that the second sound signal is related to the periodic wheel speed signal when the second sound signal overlaps with the periodic wheel speed signal; and determining that the second sound signal is not related to the periodic wheel speed signal when the second sound signal does not overlap with the periodic wheel speed signal.

[0050] It should be understood that in this embodiment, the wheel speed sensor is installed near the wheel and works in conjunction with a gear ring that rotates synchronously with the wheel. The gear ring has a fixed number of teeth (e.g., 48 teeth, 88 teeth, etc.), and the sensor outputs a pulse signal each time it passes a tooth. In this embodiment, the periodic wheel speed signal is not limited. The periodic wheel speed signal can be in sine wave form or square wave form.

[0051] In this embodiment of the application, the statement that the wheels were not attached to foreign objects can be understood as the vehicle passing through the search strip, or the foreign object being a road surface object.

[0052] In step 103, based on the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal, abnormal wheels are identified from the wheels of the vehicle.

[0053] In some embodiments, determining abnormal wheels from the wheels of the vehicle based on the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal includes: determining candidate wheels from the wheels of the vehicle based on the order of the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal; and determining abnormal wheels from the candidate wheels based on the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal.

[0054] It is understood that in the wheel anomaly detection method provided in this application embodiment, since the two acoustic sensors are positioned symmetrically along the vehicle's central axis between the front and rear wheels on both sides of the vehicle, off-center, if the vehicle encounters a foreign object during driving, the pulse sound wave signal corresponding to the foreign object will arrive at the two acoustic sensors in different orders, thus performing a first screening. Because the two acoustic sensors are positioned off-center between the front and rear wheels on both sides of the vehicle, the time difference between the arrival of the pulse sound wave signal corresponding to the foreign object at the two acoustic sensors will also be different, thus performing a second screening. This is beneficial for determining the abnormal wheel based on the acquisition time of the two pulse signals, thereby accurately and quickly locating the wheel to which the foreign object is attached.

[0055] In some embodiments, if the first acoustic sensor is located on the right side of the vehicle near the front wheel, and the second acoustic sensor is located on the left side of the vehicle near the front wheel, the acquisition time of the first pulse signal is earlier than the acquisition time of the second pulse signal; based on the order of the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal, candidate wheels are determined from the wheels of the vehicle, including the right front wheel or the right rear wheel; if the time when the signal corresponding to the right front wheel reaches the first acoustic sensor and the time when it reaches the second acoustic sensor is a first time difference, and the time when the signal corresponding to the right rear wheel reaches the first acoustic sensor and the time when it reaches the second acoustic sensor is a second time difference; based on the relationship between the time difference of the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the first time difference and the second time difference, an abnormal wheel is determined from the right front wheel or the right rear wheel.

[0056] Furthermore, in some embodiments, based on the relationship between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the first time difference and the second time difference, the abnormal wheel is determined from the right front wheel or the right rear wheel, including: if the error between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the first time difference is less than a first threshold, the abnormal wheel is determined to be the right front wheel; if the error between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the second time difference is less than a second threshold, the abnormal wheel is determined to be the right rear wheel.

[0057] In some embodiments, if the first acoustic sensor is located on the right side of the vehicle near the front wheel, and the second acoustic sensor is located on the left side of the vehicle near the front wheel, the acquisition time of the first pulse signal is later than the acquisition time of the second pulse signal; based on the order of the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal, candidate wheels are determined from the wheels of the vehicle, including: the left front wheel or the left rear wheel; if the time difference between the arrival time of the signal corresponding to the left front wheel at the first acoustic sensor and the arrival time at the second acoustic sensor is a third time difference, and the time difference between the arrival time of the signal corresponding to the left rear wheel at the first acoustic sensor and the arrival time at the second acoustic sensor is a fourth time difference; based on the relationship between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the third and fourth time differences, abnormal wheels are determined from the left front wheel or the left rear wheel.

[0058] Furthermore, in some embodiments, based on the relationship between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the third and fourth time differences, an abnormal wheel is determined from the left front wheel or the left rear wheel, including: if the error between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the third time difference is less than a third threshold, the abnormal wheel is determined to be the left front wheel; if the error between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the fourth time difference is less than a fourth threshold, the abnormal wheel is determined to be the left rear wheel.

[0059] In some embodiments, if the first acoustic sensor is located on the right side of the vehicle near the rear wheel, and the second acoustic sensor is located on the left side of the vehicle near the rear wheel, the acquisition time of the first pulse signal is earlier than the acquisition time of the second pulse signal; based on the order of the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal, candidate wheels are determined from the wheels of the vehicle, including: the right front wheel or the right rear wheel; if the time difference between the arrival time of the signal corresponding to the right front wheel at the first acoustic sensor and the arrival time at the second acoustic sensor is a fifth time difference, and the time difference between the arrival time of the signal corresponding to the right rear wheel at the first acoustic sensor and the arrival time at the second acoustic sensor is a sixth time difference; based on the relationship between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the fifth and sixth time differences, an abnormal wheel is determined from the right front wheel or the right rear wheel.

[0060] Furthermore, in some embodiments, based on the relationship between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the fifth and sixth time differences, an abnormal wheel is determined from the right front wheel or the right rear wheel, including: if the error between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the fifth time difference is less than a fifth threshold, the abnormal wheel is determined to be the right front wheel; if the error between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the sixth time difference is less than a sixth threshold, the abnormal wheel is determined to be the right rear wheel.

[0061] In some embodiments, if the first acoustic sensor is located on the right side of the vehicle near the rear wheel, and the second acoustic sensor is located on the left side of the vehicle near the rear wheel, the acquisition time of the first pulse signal is later than the acquisition time of the second pulse signal; based on the order of the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal, candidate wheels are determined from the wheels of the vehicle, including: the left front wheel or the left rear wheel; if the time difference between the arrival time of the signal corresponding to the left front wheel at the first acoustic sensor and the arrival time at the second acoustic sensor is a seventh time difference, and the time difference between the arrival time of the signal corresponding to the left rear wheel at the first acoustic sensor and the arrival time at the second acoustic sensor is an eighth time difference; based on the relationship between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the seventh and eighth time differences, abnormal wheels are determined from the left front wheel or the left rear wheel.

[0062] Furthermore, in some embodiments, based on the relationship between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the seventh and eighth time differences, an abnormal wheel is determined from the left front wheel or the left rear wheel, including: if the error between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the seventh time difference is less than a seventh threshold, the abnormal wheel is determined to be the left front wheel; if the error between the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal and the eighth time difference is less than an eighth threshold, the abnormal wheel is determined to be the left rear wheel.

[0063] It should be understood that, in this embodiment, the first time difference to the eighth time difference are not limited. In some embodiments, the first time difference to the seventh time difference can be determined based on the specific location where the sound sensor is set. In this embodiment, the first threshold to the eighth threshold are not limited. In some embodiments, the first threshold to the eighth threshold are determined based on the specific location where the sound sensor is set and the accuracy of signal acquisition.

[0064] In step 104, if the wheel is attached to a foreign object, the abnormal wheel is identified as the target wheel with the foreign object attached.

[0065] In some embodiments, the method further includes: in response to the vehicle stopping, determining a first phase difference between an initial positioning tooth signal and a first pulse signal in the periodic wheel speed signal; and / or determining a second phase difference between the initial positioning tooth signal and a second pulse signal in the periodic wheel speed signal; the initial positioning tooth signal being used to mark a starting position; and determining the position of the foreign object attached to the target wheel based on the first phase difference and the position of the initial positioning tooth, and / or the second phase difference and the position of the initial positioning tooth.

[0066] It is understood that in the wheel anomaly detection method provided in this application embodiment, when the vehicle is stopped, the phase difference between the pulse signal and the initial positioning tooth signal in the periodic wheel speed signal is determined; then, based on the phase difference and the position of the initial positioning tooth, the position of the foreign object attached to the target wheel is determined. This helps to determine the specific location of the foreign object on the target wheel, thereby helping the user to find and remove the foreign object.

[0067] In some embodiments, determining the first phase difference between the initial positioning tooth signal and the first pulse signal in the periodic wheel speed signal includes: aligning the periodic wheel speed signal with the first sound signal, and then determining the time difference between the initial positioning tooth signal in the periodic wheel speed signal and the first pulse signal in the first sound signal; and determining the first phase difference between the initial positioning tooth signal and the first pulse signal in the periodic wheel speed signal based on the time difference between the initial positioning tooth signal and the first pulse signal.

[0068] In some embodiments, determining the second phase difference between the initial positioning tooth signal and the second pulse signal in the periodic wheel speed signal includes: aligning the periodic wheel speed signal with the second sound signal, and then determining the time difference between the initial positioning tooth signal in the periodic wheel speed signal and the second pulse signal in the second sound signal; and determining the second phase difference between the initial positioning tooth signal and the second pulse signal in the periodic wheel speed signal based on the time difference between the initial positioning tooth signal and the second pulse signal.

[0069] It should be understood that, in the embodiments of this application, since the position of the initial positioning teeth is known, the specific position of the foreign object on the target wheel can be determined based on the first phase difference and / or the second phase difference.

[0070] Furthermore, in some embodiments, the method further includes: determining a first position of the foreign object on the target wheel based on the first phase difference and the position of the initial positioning tooth; determining a second position of the positioning tooth signal corresponding to the current parking position of the vehicle; and adjusting the relative position of the first position with respect to the ground by adjusting the second position based on the relative relationship between the second position and the first position.

[0071] It is understood that, in this embodiment of the application, taking the current parking position of the vehicle into account is beneficial to indirectly adjust the phase position of the foreign object relative to the ground by adjusting the current parking position of the vehicle, thereby making it easier for the user to find and remove the foreign object, and avoiding the foreign object being in a position that is difficult to find or remove (e.g., being pressed on the ground).

[0072] It should be understood that the current parking position of the vehicle is not limited in this embodiment. In some embodiments, the current parking position can be understood as the position where the target wheel of the vehicle is in contact with the ground.

[0073] In some embodiments, the method further includes: outputting prompt information to indicate to the user that a foreign object is attached to the target wheel and / or to indicate to the user the location of the foreign object attached to the target wheel; the prompt information includes: image information, voice information and / or text information.

[0074] It is understood that in the wheel anomaly detection method provided in this application embodiment, when a foreign object is attached to the wheel, a prompt message is output to remind the user that the wheel is attached to a foreign object, and / or, when the vehicle is stopped, the user is prompted with the specific location of the foreign object attached to the target wheel; thus, it is helpful for the user to find and remove the foreign object.

[0075] In some embodiments, the output of a prompt message to inform the user that a foreign object is attached to the target wheel and / or to inform the user of the location of the foreign object attached to the target wheel includes: outputting a prompt message to inform the user that a foreign object is attached to the target wheel when it is determined that a foreign object is attached to the wheel; and / or, outputting a prompt message to inform the user of the location of the foreign object attached to the target wheel when the vehicle has stopped and the location of the foreign object attached to the target wheel has been determined.

[0076] In some embodiments, the output prompt information includes one or more of the following: prompting the user via voice broadcast that the target wheel has a foreign object attached and / or prompting the user to indicate the location of the foreign object attached to the target wheel; prompting the user via image display that the target wheel has a foreign object attached and / or prompting the user to indicate the location of the foreign object attached to the target wheel; prompting the user via text display that the target wheel has a foreign object attached and / or prompting the user to indicate the location of the foreign object attached to the target wheel.

[0077] The following describes an exemplary application of the embodiments of this application in a real-world application scenario.

[0078] In this application embodiment, a complete method and system for real-time monitoring of tire foreign object clamping or intrusion, wheel positioning, and accurate indication of a specific location of a wheel with foreign object clamping or intrusion when the vehicle is parked (i.e., an example of a wheel abnormality detection method) is provided. This method greatly facilitates the driver (i.e., an example of a user) to check the tire condition and helps the driver to repair in time to avoid accidents or reduce economic losses, thus ensuring driving safety. The method provided in this application embodiment solves the following problems: (1) Related tire monitoring systems can only monitor tire pressure. When the tire pressure is too low, the tire has been punctured and must be repaired, which cannot avoid economic losses; (2) Related tire monitoring systems cannot monitor clamped foreign objects and nails that have been punctured but have not leaked air. When driving at high speed, foreign objects clamped in the tire will pose a threat to vehicles behind, and in severe cases, may cause traffic accidents; (3) Although related technologies can identify tire foreign objects, they are complex in structure, inconvenient in actual application and maintenance, and cannot accurately locate the location of foreign objects. They are not user-friendly to the driver and require the driver to spend time finding the location of foreign objects. The tire foreign object monitoring and positioning system provided in this application embodiment can monitor and accurately locate the location of foreign objects in real time, completely making up for the shortcomings of related monitoring technologies, greatly improving monitoring efficiency and driving safety, and has a very broad prospect for promotion and application.

[0079] In some embodiments, the tire foreign object detection and positioning system comprises a wheel, a toothed ring, a wheel speed sensor, a microphone, a signal transmission line, a display device, a system power input terminal, a monitoring and positioning system controller (i.e., an example of a vehicle controller), a road surface, and a foreign object. When a foreign object is attached to the tire of a vehicle during driving, it will generate a periodic pulse sound wave signal due to friction with the road surface. The microphone (i.e., an example of a first acoustic sensor or a second acoustic sensor) detects this sound wave signal (i.e., an example of a first sound signal or a second sound signal) and transmits it to the monitoring and positioning system controller through the signal transmission line. The controller filters out background noise from the sound wave signal and determines which wheel the pulse sound wave signal comes from by collecting the time difference of the sound wave signal from the left / right microphones. Simultaneously, the wheel speed sensor of the corresponding wheel collects the periodic wheel speed square wave signal on the toothed ring and transmits it to the monitoring and positioning system controller via a signal transmission line. The monitoring and positioning system controller superimposes the pulse sound wave signal with the periodic wheel speed square wave signal of the corresponding wheel and determines whether there is a strong correlation between the two signals. If there is no strong correlation, it is determined to be a non-tire foreign object, and no warning is given. If there is a strong correlation, it is determined to be a tire foreign object. When the monitoring and positioning system controller determines that there is a foreign object attached to the tire, it transmits the result to the display device via the signal transmission line. The display device alerts the driver to a specific foreign object on the left or right wheel through sound and images. When the driver stops the vehicle to check the wheels, the monitoring and positioning system controller calculates the exact location of the foreign object on the tire circumference using the square wave signal from the wheel speed sensor on the wheel with the foreign object attached and transmits this information to the display device to accurately indicate the location of the foreign object on the wheel in the current parking state. This facilitates the driver's search and timely removal, preventing tire punctures or endangering following vehicles.

[0080] In some embodiments, the gear ring can be mounted on a wheel hub unit and rotate synchronously with the wheel. The gear ring can be shared with the wheel speed sensor gear ring of the vehicle braking system. Positioning teeth are evenly distributed around the circumference of the gear ring, and there is an initial positioning tooth. This initial positioning tooth differs from the other positioning tooth structures in height, width, or spacing, and is used to mark the initial positioning reference.

[0081] In some embodiments, the wheel speed sensor is the same as the wheel speed sensor of the vehicle braking system. After acquiring the square wave signal of the gear ring, the wheel speed sensor can transmit it to the monitoring and positioning system controller through a signal transmission line or a controller area network (CAN) for analysis, judgment or positioning.

[0082] In some embodiments, the microphones are installed symmetrically on the left and right sides of the vehicle, near the exterior of the vehicle body at the front or rear wheel end. This facilitates the reception of noise signals from the friction between the four wheels and the road surface, and transmits the sound wave signals to the monitoring and positioning system controller via a signal transmission line. The monitoring and positioning system controller filters out background noise and then monitors for pulse sound wave signals. When the monitoring and positioning system controller detects a pulse signal, it performs radar positioning to determine which wheel emitted the pulse sound wave signal. Simultaneously, it superimposes and compares the pulse sound wave signal with the wheel speed sensor signal of that wheel to determine if it is a foreign object in the tire.

[0083] In some embodiments, the signal transmission line is used to connect the monitoring and positioning system controller with the wheel speed sensor, microphone, display device and power input device, serving as a carrier for signal input and output. Alternatively, a CAN line can be used to improve system integration and simplify the structure to achieve full vehicle signal information interaction and sharing.

[0084] In some embodiments, the display device can be set up independently or integrated into the instrument panel or central control screen. This display device can indicate the presence of foreign objects on a designated wheel via sound or images during driving, and clearly show the specific location of the foreign object attached to the wheel circumference when the vehicle is stopped, facilitating the driver's location and removal.

[0085] In some embodiments, the vehicle power supply at the system power input terminal provides energy support for the tire foreign object monitoring and positioning system.

[0086] In some embodiments, the monitoring and positioning system controller is installed inside the vehicle and has the ability to receive, process, analyze, and send indication signals. The controller filters the friction noise signals between the four wheels and the road surface collected by the microphones to determine if a periodic pulse sound wave signal exists. If a periodic pulse sound wave signal is present, the controller determines whether the sound source originates from the left or right wheel by comparing the order of signal acquisition by the left and right microphones, and then determines whether the periodic pulse sound wave signal originates from the front or rear wheel by the time difference t1 or t2 between the received signals from the two microphones. This allows the system to pinpoint which wheel the specific pulse sound wave signal originates from. The tire foreign object monitoring and positioning system has real-time monitoring capabilities for both metallic and non-metallic foreign objects.

[0087] In some embodiments, the monitoring and positioning system controller calculates the real-time position of the foreign object on the tire circumference by using the phase difference between the initial positioning tooth square wave signal and the pulse sound wave signal of the wheel speed sensor on the wheel with the foreign object attached, and the position of the current positioning tooth square wave signal corresponding to the vehicle's parking position.

[0088] In some embodiments, the tire foreign object detection and positioning system monitors the specific wheel to which a foreign object is attached by using the acquisition time of two microphones on the left and right sides and the principle of radar positioning, without having to install a sound sensor on each wheel, thus reducing costs.

[0089] In some embodiments, the tire foreign object monitoring and positioning system can mark the wheel rotation cycle by the initial positioning tooth of the tooth ring, and determine the specific location of the foreign object attached to the wheel in real time by the phase difference and the position of the square wave signal of the current positioning tooth, so as to facilitate the driver to find and remove the foreign object when the vehicle is parked.

[0090] It is understood that, in this embodiment, the tire foreign object monitoring and positioning system has a simple structure, low cost, good stability, and strong adaptability. The system operates stably and reliably, unaffected by factors such as vehicle turning, braking, tire slippage, or the material of the foreign object. As long as the foreign object is hard and may damage the tire or threaten following vehicles, the system can monitor it in real time, detect it promptly, issue a rapid warning, and lock its location when the vehicle stops. This allows the driver to quickly detect and remove the foreign object, avoiding economic losses from tire punctures and accidents caused by stones trapped between the tire wheels at high speeds, significantly improving driving safety.

[0091] By employing the aforementioned tire foreign object detection and positioning system, the level of vehicle intelligence can be greatly improved. This system upgrades the passive tire pressure monitoring system to an active tire protection system. This system solves the long-standing problem of drivers not realizing their tires have been punctured by nails. Currently widely used tire pressure monitoring systems only issue an alarm when a tire is punctured and the air pressure leaks to a certain level, at which point the problem can only be solved by tire repair. The tire foreign object detection and positioning system described in this application has an active protection function, accurately detecting nails in the early stages of a tire puncture, reducing the probability of tire punctures. It also has high sensitivity in detecting stones trapped in the tire. This device has broad application prospects and can be widely used to reduce driving risks and improve driving safety.

[0092] Figure 4 This is a schematic diagram of the structure of a tire foreign object detection and positioning system provided in an embodiment of this application, as shown below. Figure 4As shown, wheel 1 includes a left front wheel 11, a right front wheel 12, a right rear wheel 13, and a left rear wheel 14. Wheel 1 is equipped with tires and mounted on a hub unit, rotating synchronously with the gear ring 2. Gear ring 2 includes a left front wheel gear ring 21, a right front wheel gear ring 22, a right rear wheel gear ring 23, and a left rear wheel gear ring 24. Gear ring 2 has positioning teeth that physically interact with wheel speed sensors 3. When wheel 1 rotates, gear ring 2 rotates synchronously. Due to the Hall effect, a square wave signal (an example of a periodic wheel speed signal) can be obtained from the wheel speed sensors 3. Wheel speed sensors 3 include a left front wheel speed sensor 31, a right front wheel speed sensor 32, a right rear wheel speed sensor 33, and a left rear wheel speed sensor 34. The wheel speed sensors 3 transmit the obtained wheel speed square wave signal to the monitoring and positioning system controller 8 for processing via the rear wheel speed sensor signal transmission line 51 and the front wheel speed sensor signal transmission line 53 in the signal transmission line 5. The microphone 4 includes two sound sensors: a left microphone 41 and a right microphone 42. These two sensors are symmetrically positioned on the exterior of the vehicle body, near either the front or rear wheel. The microphone 4 monitors the friction noise signal generated between the wheel 1 and the road, and transmits it to the monitoring and positioning system controller 8 for filtering, analysis, and processing via the left microphone signal transmission line 52 and the right microphone signal transmission line 55 in the signal transmission line 5. The signal transmission line 5 acts as a neural transmission system, connecting the wheel speed sensor 3, the microphone 4, the display device 6, the system power input terminal 7, and the monitoring and positioning system controller 8. The signal transmission line 5 comprises six transmission lines: the rear wheel speed sensor signal transmission line 51, the left microphone signal transmission line 52, the front wheel speed sensor signal transmission line 53, the display device signal transmission line 54, the right microphone signal transmission line 55, and the power input transmission line 56. The left microphone signal transmission line 52 and the right microphone signal transmission line 55 transmit the friction noise signal generated between the wheel 1 and the road to the monitoring and positioning system controller 8. The monitoring and positioning system controller 8 superimposes and analyzes the wheel speed square wave signals transmitted from the rear wheel speed sensor signal transmission line 51 and the front wheel speed sensor signal transmission line 53, and transmits the analysis results to the display device 6 through the display device signal transmission line 54 to provide feedback to the driver in the form of sound and images. The entire tire foreign object monitoring and positioning system is powered by the system power input terminal 7, which provides power input to the monitoring and positioning system controller 8 and the entire system through the power input transmission line 56.

[0093] Figure 5 This application provides a schematic flowchart of a tire foreign object detection and positioning method, which includes the following steps 501 to 511: Step 501: Collect sound signals; Among them, sound signals are collected while the vehicle is in motion; Step 502: Filter background noise; Step 503: Determine if it is a pulse signal; if yes, proceed to step 504; otherwise, proceed to step 510. Step 504, radar positioning; Step 505: Obtain wheel speed signal; Step 506: Superimpose the signal with the wheel speed of that wheel; Step 507: Determine if the pulse signal and wheel speed signal are strongly correlated; if so, proceed to step 508; otherwise, proceed to step 511. Step 508: Confirm foreign object; Step 509, voice display reminder Step 510, no abnormalities found; Step 511, non-tire foreign object.

[0094] In some embodiments, the method further includes: when the vehicle is in a stationary state, the monitoring and positioning system controller calculates the real-time position of the foreign object on the tire circumference by using the phase difference between the initial positioning tooth square wave signal and the pulse sound wave signal of the wheel speed sensor on the wheel with the foreign object attached, and the position of the current positioning tooth square wave signal corresponding to the vehicle's parking position.

[0095] like Figure 5As shown, the tire foreign object detection and positioning method includes: during vehicle operation, the left-side microphone 41 and right-side microphone 42, installed at symmetrical positions on the left and right sides of the vehicle body, monitor the sound signal of friction noise generated between the wheel 1 and the road in real time, and transmit it to the monitoring and positioning system controller 8 for filtering and analysis through the left microphone signal transmission line 52 and the right microphone signal transmission line 55 in the signal transmission line 5. When there is no pulse sound wave signal in the sound signal, the system judges that there is no abnormality. When a pulse sound wave signal is detected in the sound signal, the monitoring and positioning system controller 8 will use the left-side microphone 41 and the right-side microphone 42 to receive the sound wave signal and determine which wheel the pulse sound wave signal comes from based on the order and time difference. Taking the right front wheel 12 as an example, after the monitoring and positioning system controller 8 locks the right front wheel 12 and emits a pulse sound wave signal through radar positioning, it will superimpose the pulse sound wave signal with the square wave signal of the right front wheel gear ring 22 sensed by the right front wheel speed sensor 32. The right front wheel gear ring 22 changes its initial position and rotation period through the initial positioning tooth mark on its circumference. When the pulsed sound wave signal emitted by the right front wheel 12 is not periodically correlated with the square wave signal sensed by the right front wheel speed sensor 32, the monitoring and positioning system controller 8 determines that it is not a foreign object attached to the tire, and the system does not issue a warning. However, when the pulsed sound wave signal emitted by the right front wheel 12 is strongly correlated with the square wave signal sensed by the right front wheel speed sensor 32, that is, when the pulsed sound wave signal periodically overlaps with the square wave signal of a certain gear positioning tooth, the monitoring and positioning system controller 8 determines that there is a foreign object attached to the right front wheel tire 121 of the right front wheel 12. After the monitoring and positioning system controller 8 determines that there is a foreign object attached to the right front wheel 12, it transmits the result to the display device 6 through the display device signal transmission line 54. The display device 6 then alerts the driver that there is a foreign object attached to the right front wheel 12 through sound and images. When the driver receives the prompt and stops to check, once the vehicle is stationary, the monitoring and positioning system controller 8 will calculate the specific position of the foreign object on the right front wheel 12 on the circumference of the right front wheel 12 by using the phase difference between the right front wheel circumference positioning tooth signal corresponding to the pulse sound wave signal and the right front wheel circumference positioning tooth signal corresponding to the current parking position. This information is then transmitted to the foreign object indication area on the display device 6 via the display device signal transmission line 54, thus accurately indicating the location of the foreign object. This makes it easier for the driver to check and remove the object, greatly improving the vehicle safety system's ability to detect abnormalities.

[0096] Figure 6 This is a schematic diagram of signal collection for a tire foreign object detection and positioning system provided in an embodiment of this application, as shown below. Figure 6As shown, taking the right front wheel 12 and the right-side microphone 42 as an example, the right-side microphone 42 is installed on the outside of the right side of the vehicle body, close to the front or rear wheel. The installation position of the right-side microphone 42 needs to consider waterproofing and impact resistance. When the right front wheel 12 rotates, the right front wheel tire 121 rubs against the road 9, generating friction noise. The right-side microphone 42 receives the surrounding environment and the friction noise generated by the friction between the right front wheel tire 121 and the road 9, converts it into a friction noise signal, and transmits it to the monitoring and positioning system controller 8 through the right microphone signal transmission line 55. When there is a foreign object 92 on the hard road surface 91, if the right front wheel tire 121 runs over the foreign object 92 and it becomes attached, when the position of the right front wheel tire 121 with the attached foreign object 92 comes into contact with the hard road surface 91 again, it will emit a pulse sound wave of the foreign object 92 hitting the hard road surface 91. This pulse sound wave signal is collected by the right-side microphone 42 and transmitted to the monitoring and positioning system controller 8 for analysis and further radar positioning.

[0097] Figure 7 This application provides a schematic diagram of the radar positioning principle of a tire foreign object monitoring and positioning system, as shown in the embodiments of this application. Figure 7 As shown, points A, B, C, and D are the contact points between the left front wheel 11, right front wheel 12, left rear wheel 14, and right rear wheel 13 and the hard road surface 91, respectively. Points E and F are the receiving points of the left-side microphone 41 and the right-side microphone 42. E1 is the equivalent point of E on AF, that is, the intersection of the sphere with AE as the radius and A as the center; E2 is the equivalent point of E on CF, that is, the intersection of the sphere with CE as the radius and C as the center. When a foreign object is attached to the left wheel, taking point A or B as an example, when a pulse sound wave signal appears at point A, the sound wave signal will first be transmitted to point E, and then to point F. Since points E / F are closer to the front or rear wheel side, the time difference between the sound wave signal from point A and point C and the time difference between ... This allows us to determine which point (A, B, C, or D) the sound wave signal originates from, thus achieving the effect of acoustic radar positioning.

[0098] Figure 8 A wheel speed signal acquisition and positioning diagram of a tire foreign object monitoring and positioning system provided in this application embodiment, such as... Figure 8As shown, taking the right front wheel as an example, the right front wheel ring gear 22 has evenly distributed right front wheel ring gear positioning teeth 222 (b, c...q, r), among which one right front wheel ring gear initial positioning tooth 221(a) has a different height or width than the other positioning teeth, used to mark the rotation cycle of wheel 1. The right front wheel speed sensor 32 is in clearance fit with the right front wheel ring gear 22. When the right front wheel ring gear 22 rotates with the wheel, the right front wheel speed sensor 32 will sense a square wave signal. Within one cycle, the square wave signal of the right front wheel ring gear initial positioning tooth 221(a) will be different from the other signals, which is convenient for cycle analysis. Alternatively, the position can be calculated by fixing the number of teeth per cycle and using a square wave quantity algorithm.

[0099] Figure 9 A schematic diagram of the signal correlation judgment principle of a tire foreign object detection and positioning system provided in this application embodiment is shown below. Figure 9 As shown, assuming the right-side microphone 42 detects a pulsed sound wave signal at a certain moment, the positioning tooth on the right front wheel ring 22 sensed by the right front wheel speed sensor 32 is at point a, the initial position of the square wave signal. When the right front wheel rotates one revolution and returns to point a, the pulsed sound wave signal can still be detected, and the periodic high overlap indicates a foreign object on the tire. If the period of the pulsed sound wave signal does not highly overlap with the signal of a certain positioning tooth on the ring, it can be determined that it is a speed bump or road surface foreign object, not a hard foreign object attached to the tire. In this case, the tire foreign object detection and positioning system will not issue a warning.

[0100] Figure 10 This application provides a display status diagram of a tire foreign object monitoring and positioning system, as shown in the embodiment of the present application. Figure 10 As shown, when the system determines that a foreign object is attached to the tire, it transmits the result to the display device 6 via the display device signal transmission line. The display device 6 then alerts the driver through sound and images. During driving, the system first determines the specific location of the wheel with the foreign object attached and displays the specific wheel location in the wheel indicator 64 on the display interface. At the same time, the wheel rotation direction indicator 63 illuminates to indicate the wheel rotation direction. When the driver stops to check, the vehicle is stationary. At this time, the foreign object indicator area 62 outside the tire contour 61 displays the specific location of the foreign object on the tire. The foreign object indicator area 62 is a foreign object position indicator with the same number of teeth as the gear ring positioning teeth. If there is no abnormality or the foreign object position indicator does not display during driving, there is currently no foreign object position indicator 622. When there is a foreign object and the vehicle stops, the monitoring and positioning system controller 8 calculates the specific location of the foreign object on the wheel circumference by using the phase difference between the signal of the gear ring positioning tooth (one of the ARs) corresponding to the pulse sound wave signal and the signal of the wheel gear ring positioning tooth (one of the ARs) corresponding to the current parking position, and indicates it on the current foreign object position indicator area 621.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application, and all such modifications or substitutions should be covered within the protection scope of this application.

[0102] It should be noted that although the steps of the method in this application are described in a specific order in the accompanying drawings, this does not require or imply that these steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps; or steps from different embodiments may be combined into a new technical solution. Based on the foregoing embodiments, this application provides an apparatus comprising the included modules and the units included in each module, which can be implemented by a vehicle controller; of course, it can also be implemented by specific logic circuits; in implementation, the vehicle controller can be an AI acceleration engine (such as an NPU), a graphics processing unit (GPU), a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field-programmable gate array (FPGA), etc.

[0103] Figure 11 This is a schematic diagram of a wheel anomaly detection device provided in an embodiment of this application, as shown below. Figure 11 As shown, the wheel anomaly detection device 110 includes: an acquisition module 1101, a first determination module 1102, a second determination module 1103, and a third determination module 1104; wherein, The acquisition module 1101 is configured to acquire, during vehicle operation, a first sound signal from the wheels of the vehicle collected by a first acoustic sensor and a second sound signal from the wheels of the vehicle collected by a second acoustic sensor; the first acoustic sensor is located at a position off-center between the front and rear wheels on the inner side of the vehicle; the second acoustic sensor is located at a position off-center between the front and rear wheels on the outer side of the vehicle, and the first acoustic sensor and the second acoustic sensor are symmetrical along the vehicle's central axis; The first determining module 1102 is configured to determine whether the wheel is attached to a foreign object based on the characteristics of the first sound signal and the characteristics of the second sound signal when the first sound signal includes a first pulse signal and the second sound signal includes a second pulse signal. The second determining module 1103 is configured to determine abnormal wheels from the wheels of the vehicle based on the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal. The third determining module 1104 is configured to determine the abnormal wheel as the target wheel with the foreign object attached when the wheel is attached to the foreign object.

[0104] In some embodiments, the second determining module 1103 is further configured to determine candidate wheels from the wheels of the vehicle based on the order of the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal; and to determine abnormal wheels from the candidate wheels based on the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal.

[0105] In some embodiments, the first determining module 1102 is further configured to acquire the periodic wheel speed signal generated by the toothed ring of the abnormal wheel collected by the wheel speed sensor; determine that the wheel is attached to a foreign object when both the first sound signal and the second sound signal are related to the periodic wheel speed signal; and determine that the wheel is not attached to a foreign object when neither the first sound signal nor the second sound signal is related to the periodic wheel speed signal.

[0106] In some embodiments, the wheel anomaly detection device 110 further includes: a position determination module; the position determination module is configured to, in response to the vehicle stopping, determine a first phase difference between an initial positioning tooth signal and a first pulse signal in the periodic wheel speed signal; and / or determine a second phase difference between the initial positioning tooth signal and a second pulse signal in the periodic wheel speed signal; the initial positioning tooth signal is used to mark a starting position; and the position of the foreign object attached to the target wheel is determined based on the first phase difference and the position of the initial positioning tooth, and / or the second phase difference and the position of the initial positioning tooth.

[0107] In some embodiments, the wheel anomaly detection device 1120 further includes: a filtering module; the filtering module is configured to filter the first sound signal to obtain a filtered first sound signal; filter the second sound signal to obtain a filtered second sound signal; determine, based on the filtered first sound signal, that the first sound signal includes a first pulse signal; and determine, based on the filtered second sound signal, that the second sound signal includes a second pulse signal.

[0108] In some embodiments, the wheel anomaly detection device 110 further includes: an output module; the output module is configured to output prompt information to prompt the user that the target wheel has a foreign object attached and / or to prompt the user that the foreign object is attached to the target wheel; the prompt information includes: image information, voice information and / or text information.

[0109] The descriptions of the above device embodiments are similar to those of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0110] It should be noted that the module division in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, exist as separate physical units, or have two or more units integrated into one unit. The integrated units can be implemented in hardware, as software functional units, or a combination of software and hardware.

[0111] It should be noted that, in the embodiments of this application, if the above methods are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause the vehicle to execute all or part of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0112] This application provides a vehicle, Figure 12 This application provides a schematic diagram of the structure of a vehicle, as shown in the embodiment of the present application. Figure 12 As shown, the vehicle 120 includes wheels 1201, a first acoustic sensor 1202, a second acoustic sensor 1203, a memory 1204, and a vehicle controller 1205. The memory 1204 stores a computer program that can run on the vehicle controller 1205. When the vehicle controller 1205 executes the program, it implements the steps in the method provided in the above embodiments.

[0113] It should be noted that the memory 1204 is configured to store instructions and applications executable by the vehicle controller 1205, and can also cache data to be processed or already processed in the vehicle controller 1205 and various modules in the vehicle 120 (e.g., image data, audio data, voice communication data and video communication data), which can be implemented by flash memory or random access memory (RAM).

[0114] In some embodiments, the vehicle 120 also includes wheel speed sensors and a gear ring.

[0115] In some embodiments, the 120 vehicles also include an instrument panel and / or a vehicle infotainment system.

[0116] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a vehicle controller, implements the steps of the method provided in the above embodiments.

[0117] This application provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps in the method provided in the above-described method embodiments.

[0118] It should be noted that the descriptions of the storage medium and vehicle embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium and vehicle embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0119] It should be understood that the phrases "one embodiment," "an embodiment," or "some embodiments" mentioned throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment," "in one embodiment," or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The descriptions of the various embodiments above tend to emphasize the differences between the various embodiments; their similarities or commonalities can be referred to mutually, and for the sake of brevity, they will not be repeated here.

[0120] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three kinds of relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0121] It should be noted that, in this document, 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 vehicle. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or vehicle that includes that element.

[0122] In the several embodiments provided in this application, it should be understood that the disclosed vehicles and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between vehicles or modules can be electrical, mechanical, or other forms.

[0123] The modules described above as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules. They may be located in one place or distributed across multiple network units. Some or all of the modules may be selected to achieve the purpose of this embodiment according to actual needs.

[0124] In addition, each functional module in the various embodiments of this application can be integrated into one processing unit, or each module can be a separate unit, or two or more modules can be integrated into one unit; the integrated modules can be implemented in hardware or in the form of hardware plus software functional units.

[0125] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0126] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium.

[0127] Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause the vehicle to execute all or part of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0128] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined to obtain new method embodiments without conflict. Similarly, the features disclosed in the several product embodiments provided in this application can be arbitrarily combined to obtain new product embodiments without conflict.

[0129] The features disclosed in the several methods or vehicle embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or vehicle embodiments.

[0130] The above are merely embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for detecting wheel anomalies, characterized in that, The method includes: During vehicle operation, a first acoustic signal from the wheels of the vehicle collected by a first acoustic sensor and a second acoustic signal from the wheels of the vehicle collected by a second acoustic sensor are acquired. The first acoustic sensor is located at a position off-center between the front and rear wheels on the inner side of the vehicle. The second acoustic sensor is located at a position off-center between the front and rear wheels on the outer side of the vehicle. The first acoustic sensor and the second acoustic sensor are symmetrical along the vehicle's central axis. When the first sound signal includes a first pulse signal and the second sound signal includes a second pulse signal, it is determined whether the wheel is attached to a foreign object based on the characteristics of the first sound signal and the characteristics of the second sound signal; Based on the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal, abnormal wheels are identified from the wheels of the vehicle. In the case where a foreign object is attached to the wheel, the abnormal wheel is identified as the target wheel with the foreign object attached.

2. The wheel anomaly detection method according to claim 1, characterized in that, The step of identifying abnormal wheels from the wheels of the vehicle based on the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal includes: Candidate wheels are determined from the wheels of the vehicle based on the order of the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal. Based on the time difference between the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal, abnormal wheels are identified from the candidate wheels.

3. The wheel anomaly detection method according to claim 1, characterized in that, The method of determining whether the wheel is attached to a foreign object based on the characteristics of the first sound signal and the characteristics of the second sound signal further includes: Acquire the periodic wheel speed signal generated by the toothed ring of the abnormal wheel, collected by the wheel speed sensor; When both the first sound signal and the second sound signal are related to the periodic wheel speed signal, it is determined that there is a foreign object attached to the wheel; If neither the first sound signal nor the second sound signal is related to the periodic wheel speed signal, it is determined that the wheel is not attached to any foreign object.

4. The wheel anomaly detection method according to claim 3, characterized in that, The method further includes: In response to the vehicle stopping, a first phase difference between the initial positioning tooth signal and the first pulse signal in the periodic wheel speed signal is determined; and / or, a second phase difference between the initial positioning tooth signal and the second pulse signal in the periodic wheel speed signal is determined; the initial positioning tooth signal is used to mark the starting position; The position of the foreign object attached to the target wheel is determined based on the first phase difference and the position of the initial positioning tooth, and / or the second phase difference and the position of the initial positioning tooth.

5. The wheel anomaly detection method according to any one of claims 1 to 4, characterized in that, The method further includes: The first sound signal is filtered to obtain the filtered first sound signal; The second sound signal is filtered to obtain a filtered second sound signal; Based on the filtered first sound signal, it is determined that the first sound signal includes a first pulse signal; Based on the filtered second sound signal, it is determined that the second sound signal includes a second pulse signal.

6. The wheel anomaly detection method according to claim 4, characterized in that, The method further includes: Output a prompt message to inform the user that a foreign object is attached to the target wheel and / or to indicate the location of the foreign object attached to the target wheel; the prompt message includes: image information, voice information and / or text information.

7. A wheel anomaly detection device, characterized in that, The device includes: The acquisition module is configured to acquire, during vehicle operation, a first acoustic signal from the wheels of the vehicle collected by a first acoustic sensor and a second acoustic signal from the wheels of the vehicle collected by a second acoustic sensor; the first acoustic sensor is located at a position off-center between the front and rear wheels on the inner side of the vehicle; the second acoustic sensor is located at a position off-center between the front and rear wheels on the outer side of the vehicle, and the first acoustic sensor and the second acoustic sensor are symmetrical along the vehicle's central axis; The first determining module is configured to determine whether a foreign object is attached to the wheel based on the characteristics of the first sound signal and the characteristics of the second sound signal when the first sound signal includes a first pulse signal and the second sound signal includes a second pulse signal. The second determining module is configured to determine abnormal wheels from the wheels of the vehicle based on the first acquisition time of the first pulse signal and the second acquisition time of the second pulse signal. The third determining module is configured to determine the abnormal wheel as the target wheel with the foreign object attached when the wheel is attached to the foreign object.

8. A vehicle, characterized in that, The vehicle includes: wheels, a first acoustic sensor, a second acoustic sensor, a memory, and a vehicle controller; the memory stores a computer program that can run on the vehicle controller, and when the vehicle controller executes the program, it implements the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the vehicle controller, it implements the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by the vehicle controller, they implement the method described in any one of claims 1 to 6.

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