CN116858565A - Method, device, equipment and storage medium for testing vehicle deviation - Google Patents
Method, device, equipment and storage medium for testing vehicle deviation Download PDFInfo
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Abstract
本发明公开了一种车辆跑偏的测试方法、装置、设备及存储介质，其中该方法包括步骤：基于车辆的左驱动轮和右驱动轮的轮速信息，计算所述车辆的左侧车轮和右侧车轮行驶的距离；根据所述左侧车轮和车轮右侧车轮行驶的距离，判断车辆是否为直线行驶；当确定为直线行驶时，获取车辆直线行驶中任意两个前后时刻车辆横纵向坐标位置，并通过所述横纵向坐标位置，确定车辆跑偏量；通过所述车辆跑偏量，确定车辆是否跑偏。本申请能够提高车辆跑偏判断的准确性，从而有效的避免潜在的风险事故的发生，同时也极大的减少了跑偏问题排查的人力物力消耗。
The invention discloses a vehicle deviation testing method, device, equipment and storage medium. The method includes the steps of: based on the wheel speed information of the left and right driving wheels of the vehicle, calculate the left wheel and the right wheel of the vehicle. The distance traveled by the right wheel; based on the distance traveled by the left wheel and the right wheel, determine whether the vehicle is traveling in a straight line; when it is determined to be traveling in a straight line, obtain the vehicle's transverse and longitudinal coordinates at any two moments before and after the vehicle is traveling in a straight line position, and determine the vehicle deviation amount through the horizontal and vertical coordinate positions; determine whether the vehicle deviation is based on the vehicle deviation amount. This application can improve the accuracy of vehicle deviation judgment, thereby effectively avoiding the occurrence of potential risky accidents, and also greatly reducing the consumption of manpower and material resources for troubleshooting deviation problems.
Description
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a method, an apparatus, a device, and a storage medium for testing vehicle deviation.
Background
As an important transportation means essential for going out in modern life, consumers have higher and higher requirements on vehicle drivability along with the progress of science and technology. In the current automobile production process, due to the differences of production process assembly and the like, the problem that the automobile deviates to the left or right from the original running direction when the automobile runs straight at a certain speed often occurs, so that the automobile deviates to the left or right, namely, the automobile runs straight on a flat road surface, the steering wheel is kept still, and the automobile deviates to the left or right from the original straight running direction automatically.
When the vehicle is in a deviation state for a long time, the driver needs to continuously apply a hand force in the opposite direction on the steering wheel in order to keep the vehicle running straight, and the situation easily causes the problems of fatigue driving of the driver, increased tire wear, increased energy consumption, increased vehicle tire noise and the like. The reasons for causing the deviation phenomenon of the automobile are many, and the reasons such as the critical installation size deviation of the automobile, the incorrect four-wheel positioning parameters, the difference of tires, the road surface environment and the like can cause uneven stress on the two sides of the tires of the automobile, so that the deviation problem is generated.
The current vehicle deviation problem judging criterion is mainly used for judging the severity of the deviation problem by subjective evaluation of a professional tester driving a vehicle on a special test road in a straight line; the specific deviation amount is obtained by comparing the transverse distance position difference between the initial position and the final deviation position of the vehicle, but the deviation amount is calculated differently due to inconvenient operation and interference factors, so that the judgment of the deviation problem degree is affected. In addition, the existing vehicle deviation basically only depends on the skilled driving experience of a driver to carry out subjective qualitative judgment, and the problems of inaccurate judgment and difficult finding are existed.
Therefore, how to improve the vehicle deviation measurement judgment is a technical problem to be solved at present.
Disclosure of Invention
The application mainly aims to provide a vehicle deviation testing method, device, equipment and storage medium, which can improve the accuracy of vehicle deviation judgment, thereby effectively avoiding the occurrence of potential risk accidents and greatly reducing the consumption of manpower and material resources for checking the deviation problem.
In a first aspect, the present application provides a method for testing vehicle deviation, the method comprising the steps of:
calculating a distance traveled by left and right wheels of a vehicle based on wheel speed information of the left and right driving wheels of the vehicle;
judging whether the vehicle runs in a straight line or not according to the running distance between the left wheel and the right wheel;
when the vehicle is determined to be in straight running, acquiring the transverse and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight running of the vehicle, and determining the running deviation of the vehicle through the transverse and longitudinal coordinate positions;
and determining whether the vehicle is deviated or not according to the deviation amount of the vehicle.
With reference to the first aspect, as an optional implementation manner, a rolling radius of a left tire and a right tire of the vehicle is determined according to an axle load and a tire model of the vehicle;
the distance travelled by the left wheel and the distance travelled by the right wheel of the vehicle are calculated by the wheel speeds of the left and right driving wheels of the vehicle, respectively, in combination with the rolling radii of the left and right tires.
With reference to the first aspect, as an alternative implementation manner, rolling radii of the left tire and the right tire of the vehicle are calculated according to a formula r= (h+b)/sin α, where h is a height distance from a wheel center to the ground, b is a wheel tire distance, and α is a wheel inclination angle;
according to the formula: s=n×r, the distance travelled by the left wheel and the distance travelled by the right wheel are calculated, where n is the vehicle wheel speed.
With reference to the first aspect, as an optional implementation manner, a difference value between a distance travelled by a left wheel and a distance travelled by a right wheel of the vehicle is calculated;
comparing the difference value with a set threshold value, and judging that the vehicle is in a straight running state when the difference value is smaller than the set threshold value;
and when the difference value is larger than the set threshold value, judging that the vehicle is in a non-straight running state.
With reference to the first aspect, as an optional implementation manner, when the vehicle is determined to be in a non-straight running state, the steering wheel angle is slowly adjusted according to the set wheel speed threshold value until the steering wheel angle and the vehicle speed are maintained after the vehicle is determined to be in a straight running state, so that the vehicle maintains the straight running state.
With reference to the first aspect, as an optional implementation manner, a lateral coordinate position and a longitudinal coordinate position of the vehicle at any two front and rear moments in the straight running of the vehicle are obtained according to a satellite positioning system installed on the vehicle;
determining a longitudinal running distance and a transverse position difference of the vehicle through transverse coordinate positions and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight running process of the vehicle;
and determining the vehicle running deviation according to the longitudinal running distance and the transverse position difference of the vehicle.
With reference to the first aspect, as an optional implementation manner, the vehicle deviation amount is compared with a set threshold value for measuring the vehicle deviation index,
when the vehicle deviation amount is larger than a set threshold value for measuring the vehicle deviation index, judging the vehicle deviation;
and when the vehicle deviation amount is smaller than a set threshold value for measuring the vehicle deviation index, judging that the vehicle is not deviated.
In a second aspect, the present application provides a vehicle deviation testing device, the device comprising:
a calculation module for calculating a distance traveled by left and right wheels of a vehicle based on wheel speed information of the left and right drive wheels of the vehicle;
the judging module is used for judging whether the vehicle runs in a straight line according to the running distance between the left wheel and the right wheel;
the determining module is used for acquiring the transverse and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight running of the vehicle when the straight running is determined, and determining the running deviation of the vehicle according to the transverse and longitudinal coordinate positions;
and determining whether the vehicle is deviated or not according to the deviation amount of the vehicle.
In a third aspect, the present application also provides an electronic device, including: a processor; a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method of any of the first aspects.
In a fourth aspect, the present application also provides a computer readable storage medium storing computer program instructions which, when executed by a computer, cause the computer to perform the method of any one of the first aspects.
The application provides a vehicle deviation testing method, device, equipment and storage medium, wherein the method comprises the following steps: calculating a distance traveled by left and right wheels of a vehicle based on wheel speed information of the left and right driving wheels of the vehicle; judging whether the vehicle runs in a straight line or not according to the running distance between the left wheel and the right wheel; when the vehicle is determined to be in straight running, acquiring the transverse and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight running of the vehicle, and determining the running deviation of the vehicle through the transverse and longitudinal coordinate positions; and determining whether the vehicle is deviated or not according to the deviation amount of the vehicle. The method and the device can improve the accuracy of vehicle deviation judgment, thereby effectively avoiding potential risk accidents, and greatly reducing the manpower and material resource consumption of deviation problem investigation.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
FIG. 1 is a flow chart of a method for testing vehicle deviation provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of a vehicle deviation testing device according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an electronic device according to an embodiment of the present application;
fig. 4 is a schematic diagram of a computer readable program medium according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities.
The embodiment of the application provides a vehicle deviation testing method, device, equipment and storage medium, which can improve the accuracy of vehicle deviation judgment, thereby effectively avoiding the occurrence of potential risk accidents and greatly reducing the consumption of manpower and material resources for checking the deviation problem.
In order to achieve the technical effects, the application has the following general ideas:
a method for testing vehicle deviation, the method comprising the steps of:
s101: the distance traveled by left and right wheels of a vehicle is calculated based on wheel speed information of the left and right drive wheels of the vehicle.
S102: and judging whether the vehicle runs in a straight line according to the running distance between the left wheel and the right wheel.
S103: when the vehicle is determined to be in straight running, acquiring the transverse and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight running of the vehicle, and determining the running deviation of the vehicle according to the transverse and longitudinal coordinate positions.
S104: and determining whether the vehicle is deviated or not according to the deviation amount of the vehicle.
Embodiments of the present application are described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a flowchart of a method for testing vehicle deviation, provided by the application, as shown in fig. 1, the method includes the steps of:
step S101, calculating the driving distance of the left side wheel and the right side wheel of the vehicle based on the wheel speed information of the left driving wheel and the right driving wheel of the vehicle.
Specifically, according to the axle load and the tire model of the vehicle, the rolling radius of the left tire and the right tire of the vehicle is determined; the distance travelled by the left wheel and the distance travelled by the right wheel of the vehicle are calculated by the wheel speeds of the left and right driving wheels of the vehicle, respectively, in combination with the rolling radii of the left and right tires.
The method is convenient to understand and exemplify, the wheel speeds of the left and right driving wheels of the vehicle are obtained, then according to the wheel speed information of the left and right driving wheels of the vehicle, the tire rolling radius parameters are combined with the rolling radius of the left and right tires, and the driving distance of the left and right wheels is calculated according to the axle load and the tire model.
In one embodiment, the rolling radii of the left and right tires of the vehicle are calculated according to the formula r= (h+b)/sin α, where h is the height distance from the center of the wheel to the ground, b is the tire distance, and α is the wheel inclination angle; according to the formula: s=n×r, the distance travelled by the left wheel and the distance travelled by the right wheel are calculated, where n is the vehicle wheel speed.
It can be understood that the rolling radius parameters R of the left and right driving tires can be inquired and obtained according to the axle load weight of the vehicle and the tire model according to the wheel speed information n output by the wheel speed sensors of the left and right driving wheels of the vehicle; the rolling radius is calculated by the formula of R= (h+b)/sin alpha, wherein h is the height distance from the center of the wheel to the ground, b is the tire distance of the wheel, alpha is the inclination angle of the wheel, and the driving distance S=n×R of the vehicle.
Optionally, calculating the rolling radius of the vehicle tyre according to the formula r= (h+b)/sin α, wherein h is the height distance from the wheel center to the ground, b is the wheel tyre distance, and α is the wheel inclination angle; according to the formula: s=n×r, where n is the vehicle wheel speed.
And step S102, judging whether the vehicle runs in a straight line or not according to the running distance between the left wheel and the right wheel.
Specifically, the rotational speeds of the left and right driving wheels of the vehicle are obtained, then according to the wheel speed information of the left and right driving wheels of the vehicle, the tire rolling radius parameters are obtained according to the axle load and the tire model, the running distance of the left and right driving wheels is calculated respectively, then the running distance difference value of the left and right driving wheels of the vehicle is obtained, and whether the vehicle runs in a straight line is judged according to the running distance difference value of the left and right driving wheels and the threshold value comparison.
It will be appreciated that the determination of whether the vehicle is traveling in a straight line may be based on a difference in the distance traveled by the left and right wheels compared to a system-defined difference threshold. When the difference value of the driving distances between the left wheel and the right wheel within a certain time is smaller than a threshold value defined by a system, judging that the vehicle state is a straight driving state; and when the difference value of the driving distances between the left wheel and the right wheel within a certain time is larger than a threshold value defined by a system, judging that the vehicle state is a non-straight driving state.
In one embodiment, the vehicle is judged to be in a non-straight running state, the steering wheel angle is adjusted by a small margin according to the left and right wheel speed difference threshold value of the driving wheel, and the vehicle is driven to run straight until the module judges that the vehicle is in a straight running state, and the steering wheel angle and the vehicle speed are maintained so that the vehicle maintains the straight running state.
And step 103, when the vehicle is determined to be in straight running, acquiring the transverse and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight running of the vehicle, and determining the running deviation of the vehicle according to the transverse and longitudinal coordinate positions.
Specifically, acquiring a transverse coordinate position and a longitudinal coordinate position of a vehicle at any two front and rear moments in the straight running of the vehicle according to a satellite positioning system mounted on the vehicle; determining a longitudinal running distance and a transverse position difference of the vehicle through transverse coordinate positions and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight running process of the vehicle; and determining the vehicle running deviation according to the longitudinal running distance and the transverse position difference of the vehicle.
The positioning information processing module on the vehicle can record and output the coordinate information of the vehicle at any moment, and acquire the transverse and longitudinal coordinate position of the vehicle at the moment A in the straight running process of the vehicle and the transverse and longitudinal coordinate position of the vehicle at the moment B in the straight running process of the vehicle through the positioning information processing module, wherein A and B are points at any front and rear moments.
And calculating the longitudinal running distance and the transverse position difference of the vehicle between the position A and the position B according to the obtained transverse and longitudinal coordinate positions of the vehicle at the moment of the linear running position A and the moment of the position B of the vehicle, thereby calculating and obtaining the deviation rate (deviation amount).
It can be understood that, based on the vehicle transverse and longitudinal coordinate positions Xa and Xb of the vehicle straight running position a and the vehicle transverse and longitudinal coordinate positions Xa and Xb of the vehicle straight running position B obtained by the positioning information processing module, the vehicle longitudinal running distance Sab and the vehicle transverse position difference (Xa-Xb) between the position a and the position B are calculated, so as to calculate the vehicle deviation rate phi, wherein the vehicle deviation rate phi calculating method comprises: phi= (Xa-Xb)/Sab is 100%.
And step S104, determining whether the vehicle is deviated or not according to the deviation amount of the vehicle.
Specifically, the comparison and judgment are carried out according to the obtained deviation amount information and the vehicle deviation amount index threshold value, and a conclusion of whether the vehicle deviates or not and a deviation amount result are obtained based on the judgment result.
It can be understood that the vehicle deviation amount is compared with a set threshold value for measuring the vehicle deviation index, and when the vehicle deviation amount is larger than the set threshold value for measuring the vehicle deviation index, the vehicle deviation is judged; and when the vehicle deviation amount is smaller than a set threshold value for measuring the vehicle deviation index, judging that the vehicle is not deviated.
In conclusion, the application does not need to increase vehicle hardware facilities, and saves vehicle development and test cost; judging whether the vehicle is in straight line running or not, and eliminating result deviation caused by subjective qualitative judgment of difference of straight line running states of the vehicle by a driver; meanwhile, the vehicle deviation amount is accurately and quantitatively calculated, and the system outputs the deviation judging result, so that the accuracy of vehicle deviation judgment is improved, and the manpower and material resource consumption for checking the deviation problem is greatly reduced.
Referring to fig. 2, fig. 2 is a schematic diagram of a vehicle deviation testing device provided by the present application, and as shown in fig. 2, the device includes:
the calculation module 201: which is used to calculate the distance travelled by the left and right wheels of the vehicle based on the wheel speed information of the left and right drive wheels of the vehicle.
The judging module 202: the method is used for judging whether the vehicle runs in a straight line or not according to the running distance between the left wheel and the right wheel.
Determination module 203: when the vehicle is determined to run in a straight line, acquiring the transverse and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight line running of the vehicle, and determining the running deviation of the vehicle according to the transverse and longitudinal coordinate positions; and determining whether the vehicle is deviated or not according to the deviation amount of the vehicle.
Further, in one possible implementation manner, the determining module is further configured to determine a rolling radius of a left tire and a right tire of the vehicle according to the axle load and the tire model of the vehicle;
the distance travelled by the left wheel and the distance travelled by the right wheel of the vehicle are calculated by the wheel speeds of the left and right driving wheels of the vehicle, respectively, in combination with the rolling radii of the left and right tires.
Further, in one possible implementation manner, the calculating module is further configured to calculate rolling radii of the left tire and the right tire of the vehicle according to a formula r= (h+b)/sin α, where h is a height distance from a wheel center to the ground, b is a wheel tire distance, and α is a wheel inclination angle;
according to the formula: s=n×r, the distance travelled by the left wheel and the distance travelled by the right wheel are calculated, where n is the vehicle wheel speed.
Further, in one possible implementation manner, the judging module is further configured to calculate a difference between a distance travelled by a left wheel and a distance travelled by a right wheel of the vehicle;
comparing the difference value with a set threshold value, and judging that the vehicle is in a straight running state when the difference value is smaller than the set threshold value;
and when the difference value is larger than the set threshold value, judging that the vehicle is in a non-straight running state.
Further, in one possible implementation manner, the vehicle steering device further comprises a processing module, wherein the processing module is used for slowly adjusting the steering wheel angle according to the set wheel speed threshold value when the vehicle is judged to be in a non-straight running state, and keeping the steering wheel angle and the vehicle speed until the vehicle is judged to be in a straight running state, so that the vehicle is kept in the straight running state.
Further, in one possible implementation manner, the determining module is further configured to obtain a lateral coordinate position and a longitudinal coordinate position of the vehicle at any two front and rear moments in the straight running of the vehicle according to a satellite positioning system installed on the vehicle;
determining a longitudinal running distance and a transverse position difference of the vehicle through transverse coordinate positions and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight running process of the vehicle;
and determining the vehicle running deviation according to the longitudinal running distance and the transverse position difference of the vehicle.
Further, in one possible implementation manner, the judging module is further configured to compare the vehicle deviation amount with a set threshold value for measuring the vehicle deviation index,
when the vehicle deviation amount is larger than a set threshold value for measuring the vehicle deviation index, judging the vehicle deviation;
and when the vehicle deviation amount is smaller than a set threshold value for measuring the vehicle deviation index, judging that the vehicle is not deviated.
An electronic device 300 according to this embodiment of the application is described below with reference to fig. 3. The electronic device 300 shown in fig. 3 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
As shown in fig. 3, the electronic device 300 is embodied in the form of a general purpose computing device. Components of electronic device 300 may include, but are not limited to: the at least one processing unit 310, the at least one memory unit 320, and a bus 330 connecting the various system components, including the memory unit 320 and the processing unit 310.
Wherein the storage unit stores program code that is executable by the processing unit 310 such that the processing unit 310 performs the steps according to various exemplary embodiments of the present application described in the above-mentioned "example methods" section of the present specification.
The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a Random Access Memory (RAM) 321 and/or a cache memory 322, and may further include a Read Only Memory (ROM) 323.
The storage unit 320 may also include a program/utility 324 having a set (at least one) of program modules 325, such program modules 325 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Bus 330 may be one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
The electronic device 300 may also communicate with one or more external devices (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 300, and/or any device (e.g., router, modem, etc.) that enables the electronic device 300 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 350. Also, electronic device 300 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 360. As shown, the network adapter 360 communicates with other modules of the electronic device 300 over the bus 330. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 300, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
According to an aspect of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the method described above in the present specification. In some possible embodiments, the various aspects of the application may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the application as described in the "exemplary methods" section of this specification, when said program product is run on the terminal device.
Referring to fig. 4, a program product 400 for implementing the above-described method according to an embodiment of the present application is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present application, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.
In summary, the method, the device, the equipment and the storage medium for testing the vehicle deviation provided by the application comprise the following steps: calculating a distance traveled by left and right wheels of a vehicle based on wheel speed information of the left and right driving wheels of the vehicle; judging whether the vehicle runs in a straight line or not according to the running distance between the left wheel and the right wheel; when the vehicle is determined to be in straight running, acquiring the transverse and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight running of the vehicle, and determining the running deviation of the vehicle through the transverse and longitudinal coordinate positions; and determining whether the vehicle is deviated or not according to the deviation amount of the vehicle. The method and the device can improve the accuracy of vehicle deviation judgment, thereby effectively avoiding potential risk accidents, and greatly reducing the manpower and material resource consumption of deviation problem investigation.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (10)
1. A method for testing vehicle deviation, comprising:
calculating a distance traveled by left and right wheels of a vehicle based on wheel speed information of the left and right driving wheels of the vehicle;
judging whether the vehicle runs in a straight line or not according to the running distance between the left wheel and the right wheel;
when the vehicle is determined to be in straight running, acquiring the transverse and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight running of the vehicle, and determining the running deviation of the vehicle through the transverse and longitudinal coordinate positions;
and determining whether the vehicle is deviated or not according to the deviation amount of the vehicle.
2. The method of claim 1, wherein calculating the distance traveled by the left and right wheels of the vehicle based on wheel speed information of the left and right drive wheels of the vehicle comprises:
determining the rolling radius of a left tire and a right tire of the vehicle according to the axle load and the tire model of the vehicle;
the distance travelled by the left wheel and the distance travelled by the right wheel of the vehicle are calculated by the wheel speeds of the left and right driving wheels of the vehicle, respectively, in combination with the rolling radii of the left and right tires.
3. The method according to claim 2, characterized in that:
calculating the rolling radius of the left tire and the right tire of the vehicle according to the formula R= (h+b)/sin alpha, wherein h is the height distance from the center of the wheel to the ground, b is the tire distance of the wheel, and alpha is the inclination angle of the wheel;
according to the formula: s=n×r, the distance travelled by the left wheel and the distance travelled by the right wheel are calculated, where n is the vehicle wheel speed.
4. The method of claim 1, wherein determining whether the vehicle is traveling straight based on the distance traveled by the left and right wheels comprises:
calculating a difference between a distance travelled by a left wheel and a distance travelled by a right wheel of the vehicle;
comparing the difference value with a set threshold value, and judging that the vehicle is in a straight running state when the difference value is smaller than the set threshold value;
and when the difference value is larger than the set threshold value, judging that the vehicle is in a non-straight running state.
5. The method according to claim 4, wherein:
when the vehicle is judged to be in a non-straight running state, the steering wheel angle is slowly adjusted according to the set wheel speed threshold value until the vehicle is judged to be in a straight running state, and the steering wheel angle and the vehicle speed are maintained, so that the vehicle is kept in the straight running state.
6. The method according to claim 1, wherein the step of acquiring the vehicle transverse and longitudinal coordinate positions of any two front and rear moments in the vehicle straight line running and determining the vehicle running deviation amount according to the transverse and longitudinal coordinate positions comprises:
acquiring the transverse coordinate position and the longitudinal coordinate position of the vehicle at any two front and rear moments in the straight running process of the vehicle according to a satellite positioning system arranged on the vehicle;
determining a longitudinal running distance and a transverse position difference of the vehicle through transverse coordinate positions and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight running process of the vehicle;
and determining the vehicle running deviation according to the longitudinal running distance and the transverse position difference of the vehicle.
7. The method of claim 1, wherein said determining whether the vehicle is off-track by the amount of vehicle off-track comprises:
comparing the vehicle deviation amount with a set threshold value for measuring the vehicle deviation index,
when the vehicle deviation amount is larger than a set threshold value for measuring the vehicle deviation index, judging the vehicle deviation;
and when the vehicle deviation amount is smaller than a set threshold value for measuring the vehicle deviation index, judging that the vehicle is not deviated.
8. A vehicle deviation testing device, comprising:
a calculation module for calculating a distance traveled by left and right wheels of a vehicle based on wheel speed information of the left and right drive wheels of the vehicle;
the judging module is used for judging whether the vehicle runs in a straight line according to the running distance between the left wheel and the right wheel;
the determining module is used for acquiring the transverse and longitudinal coordinate positions of the vehicle at any two front and rear moments in the straight running of the vehicle when the straight running is determined, and determining the running deviation of the vehicle according to the transverse and longitudinal coordinate positions;
and determining whether the vehicle is deviated or not according to the deviation amount of the vehicle.
9. An electronic device, the electronic device comprising:
a processor;
a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method of any of claims 1 to 7.
10. A computer readable storage medium, characterized in that it stores computer program instructions, which when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 7.
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