CN114112445B - Method, device, system, equipment and medium for calibrating steering wheel steering transmission ratio - Google Patents

Method, device, system, equipment and medium for calibrating steering wheel steering transmission ratio Download PDF

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Publication number
CN114112445B
CN114112445B CN202111666967.XA CN202111666967A CN114112445B CN 114112445 B CN114112445 B CN 114112445B CN 202111666967 A CN202111666967 A CN 202111666967A CN 114112445 B CN114112445 B CN 114112445B
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image
vehicle
steering wheel
rotation angle
wheel rotation
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CN114112445A (en
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刘锋
李林
康逸儒
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Hangzhou Haikang Auto Software Co ltd
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Hangzhou Haikang Auto Software Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/06—Steering behaviour; Rolling behaviour

Abstract

The embodiment of the application provides a method, a device, a system, equipment and a medium for calibrating steering gear ratio of a steering wheel. The scheme is as follows: acquiring an image acquired in the running process of a vehicle according to a preset steering wheel rotation angle, wherein the image comprises a calibration object; calculating the circle center position of a running track in the running process of the vehicle according to the preset steering wheel rotating angle according to the position information of the calibration object in the image; determining the wheel rotation angle of the vehicle in the running process according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameter of the vehicle; and determining the steering wheel steering transmission ratio of the vehicle according to the preset steering wheel rotation angle and the wheel rotation angle. Through the technical scheme provided by the embodiment of the application, the accuracy of the determined steering wheel steering transmission ratio is improved.

Description

Method, device, system, equipment and medium for calibrating steering wheel steering transmission ratio
Technical Field
The application relates to the technical field of automobile electronics, in particular to a method, a device, a system, equipment and a medium for calibrating steering wheel steering transmission ratio.
Background
The steering wheel steering gear ratio is used to represent the correspondence between the rotation angle of the steering wheel of the vehicle and the rotation angle of the wheels. In intelligent vehicle products, steering wheel steering gear ratio is very important. For example, in the processes of automatic parking, vehicle travel track prediction, vehicle control, and the like, it is necessary to rely on the steering gear ratio of the steering wheel of the vehicle.
Because the vehicle meets the acarman principle, that is, the steering structure of the vehicle needs to meet the condition that all steering wheels surround the same instant center under any condition, and the inner wheel and the outer wheel are in a pure rolling state, when the rotation angle of the steering wheel of the vehicle is fixed, the running track of the vehicle is a circular track, and the circle center of the circular track is fixed on the extension line of the rear axle of the vehicle. In the related art, in determining a steering gear ratio of a steering wheel, the steering gear ratio of the vehicle is determined by manually measuring a track radius of a running track of the vehicle according to a fixed steering wheel rotation angle.
However, since the radius of the track is determined by means of human measurement, errors are easily introduced, thereby affecting the accuracy of the determined steering wheel steering gear ratio.
Disclosure of Invention
The embodiment of the application aims to provide a method, a device, a system, equipment and a medium for calibrating steering wheel steering transmission ratio so as to improve the accuracy of the determined steering wheel steering transmission ratio. The specific technical scheme is as follows:
the embodiment of the application provides a steering wheel steering transmission ratio calibration method, which comprises the following steps:
acquiring an image acquired in the running process of a vehicle according to a preset steering wheel rotation angle, wherein the image comprises a calibration object;
Calculating the circle center position of a running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the position information of the calibration object in the image;
determining the wheel rotation angle of the vehicle in the running process according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameters of the vehicle;
and determining the steering wheel steering transmission ratio of the vehicle according to the preset steering wheel rotation angle and the wheel rotation angle.
The embodiment of the application also provides a steering wheel steering transmission ratio calibration device, which comprises:
the first acquisition module is used for acquiring images acquired in the running process of the vehicle according to the preset steering wheel rotation angle, wherein the images comprise calibration objects;
the first calculation module is used for calculating the circle center position of the running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the position information of the calibration object in the image;
the first determining module is used for determining the wheel rotation angle of the vehicle in the running process according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameter of the vehicle;
And the second determining module is used for determining the steering wheel steering transmission ratio of the vehicle according to the preset steering wheel rotation angle and the wheel rotation angle.
The embodiment of the application also provides a steering wheel steering transmission ratio calibration system, which comprises a computing device, an image acquisition unit and a calibration object; the image acquisition unit is deployed on a vehicle, and the deployment position of the calibration object is determined according to the running path of the vehicle;
the image acquisition unit is used for acquiring images in the running process of the vehicle;
the computing equipment is used for acquiring images acquired in the running process of the vehicle according to the preset steering wheel rotation angle, wherein the images comprise calibration objects; calculating the circle center position of a running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the position information of the calibration object in the image; determining the wheel rotation angle of the vehicle in the running process according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameters of the vehicle; and determining the steering wheel steering transmission ratio of the vehicle according to the preset steering wheel rotation angle and the wheel rotation angle.
The embodiment of the application also provides a computing device, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface, and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing any one of the steps of the steering wheel steering transmission ratio calibration method when executing the program stored in the memory.
The embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and the computer program realizes the steps of the steering wheel steering transmission ratio calibration method according to any one of the above steps when being executed by a processor.
Embodiments of the present application also provide a computer program product comprising instructions that, when run on a computer, cause the computer to perform any of the above-described steering wheel steering ratio calibration methods.
The beneficial effects of the embodiment of the application are that:
according to the technical scheme, the image including the calibration object, acquired in the running process of the vehicle according to the preset steering wheel rotation angle, can be acquired, and the circle center position of the running track of the vehicle in the running process of the preset steering wheel rotation angle is calculated according to the position information of the calibration object in the image, so that the wheel rotation angle of the vehicle in the running process of the preset steering wheel rotation angle is determined according to the circle position and the vehicle body parameters of the vehicle, and the steering wheel steering transmission ratio of the vehicle for you is determined according to the preset steering wheel rotation angle and the wheel rotation angle.
Compared with the prior art, the circle center position of the running track of the vehicle in the running process according to the preset steering wheel rotation angle can be accurately calculated through the position of the calibration object, and because the determination of the circle center position is not determined in a manual measurement mode, the introduction of manual errors is avoided, the accuracy of the determined circle center position is improved, and the accuracy of the steering wheel steering transmission ratio determined based on the circle center position is improved.
Of course, not all of the above-described advantages need be achieved simultaneously in practicing any one of the products or methods of the present application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other embodiments may also be obtained according to these drawings to those skilled in the art.
Fig. 1 is a schematic diagram of a vehicle body coordinate system provided in an embodiment of the present application;
FIG. 2 is a first schematic illustration of a vehicle steering process provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of a first flow chart of a method for calibrating steering ratio of a steering wheel according to an embodiment of the present disclosure;
FIG. 4 is an image including a calibration plate provided in an embodiment of the present application;
FIG. 5 is a second schematic illustration of a vehicle steering process provided in an embodiment of the present application;
FIG. 6-a is a schematic diagram of a second flow chart of a method for calibrating steering ratio of a steering wheel according to an embodiment of the present application;
FIG. 6-b is a schematic diagram of a vehicle track provided in an embodiment of the present application;
FIG. 7 is a schematic diagram of a third flow chart of a method for calibrating steering ratio of a steering wheel according to an embodiment of the present disclosure;
FIG. 8 is a fourth flow chart of a method for calibrating steering ratio of a steering wheel according to an embodiment of the present disclosure;
FIG. 9-a is a fifth flowchart of a method for calibrating steering ratio of a steering wheel according to an embodiment of the present disclosure;
FIG. 9-b is a schematic diagram of a vehicle track provided in an embodiment of the present application;
FIG. 10-a is a schematic diagram illustrating a sixth flow chart of a method for calibrating steering ratio of a steering wheel according to an embodiment of the present disclosure;
FIG. 10-b is a third schematic illustration of a vehicle steering process provided by an embodiment of the present application;
FIG. 10-c is a fourth schematic illustration of a vehicle steering process provided by an embodiment of the present application;
FIG. 11 is a schematic diagram of a seventh flow chart of a method for calibrating steering ratio of a steering wheel according to an embodiment of the present disclosure;
FIG. 12 is a schematic flow chart of a method for determining steering ratio relationship of a steering wheel according to an embodiment of the present disclosure;
FIG. 13 is a schematic illustration of the correspondence between steering wheel angle and steering ratio;
FIG. 14 is a schematic flow chart of a method for automatically controlling a vehicle according to an embodiment of the present disclosure;
FIG. 15 is a schematic structural view of a steering ratio calibration device for a steering wheel according to an embodiment of the present disclosure;
FIG. 16 is a schematic diagram of a steering ratio calibration system for a steering wheel according to an embodiment of the present disclosure;
fig. 17 is a schematic structural diagram of a computing device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. Based on the embodiments herein, a person of ordinary skill in the art would be able to obtain all other embodiments based on the disclosure herein, which are within the scope of the disclosure herein.
The explanation of the related terms in the embodiment of the present application is as follows:
the surrounding view system is used for acquiring images around the vehicle in real time through four fish-eye cameras arranged in front of, behind, on the left and on the right of the vehicle body, and finally forming a complete panoramic aerial view around the vehicle body through distortion correction, visual angle conversion, graph splicing, rendering output and other processing, so that the surrounding view system is an auxiliary parking system.
The CAN signal, the short term of the controller area network (Controller Area Network), belongs to the international standard (ISO 11898) and is one of the most widely used field buses internationally.
Wheelbase, distance from front wheel center to rear wheel center of vehicle
The rear suspension length and the distance from the center of the rear wheel to the tail of the vehicle.
The wheelbase and the rear overhang length belong to the parameters of the vehicle body. In addition, the vehicle body parameters may include a vehicle body length (hereinafter, referred to as a vehicle length) and a vehicle body width (hereinafter, referred to as a vehicle width). For ease of understanding, an exemplary illustration is provided in connection with fig. 1. Fig. 1 is a schematic diagram of a vehicle body coordinate system according to an embodiment of the present application.
In the vehicle body coordinate system shown in fig. 1, the X-axis direction (i.e., the horizontal direction) is the vehicle width direction of the vehicle, the Y-axis direction (i.e., the vertical direction) is the vehicle length direction of the vehicle, and the position of the origin of coordinates of the vehicle body coordinate system is the position of the center point of the vehicle, i.e., 1/2 of the vehicle length and 1/2 of the vehicle width.
In fig. 1, the line connecting the center points of the two front wheels of the vehicle is the position of the front axle of the vehicle, and the line connecting the center points of the two rear wheels of the vehicle is the position of the rear axle of the vehicle. Wherein the two front wheels of the vehicle are steering wheels of the vehicle.
In the embodiment shown in fig. 1, only the origin of coordinates of the vehicle body coordinate system is taken as the center point of the vehicle, the X-axis direction is the vehicle width direction of the vehicle, and the Y-axis direction is the vehicle length direction of the vehicle. In addition, the vehicle body coordinate system may be located at other positions of the vehicle. For example, the position of the origin of coordinates in the vehicle body coordinate system may be the position of any one of the center points of the four wheels, and the X-axis direction may be the vehicle width direction of the vehicle and the Y-axis direction may be the vehicle length direction of the vehicle. Here, the position of the vehicle body coordinate system is not particularly limited. For ease of understanding, the following description is given by way of example only and not by way of limitation.
During steering of the vehicle, the vehicle satisfies the acarman principle. For ease of understanding, steering of the vehicle is illustrated in connection with fig. 2. Fig. 2 is a first schematic diagram of a vehicle steering process according to an embodiment of the present application.
In fig. 2, wheels 201 and 202 are steering wheels of the vehicle, and wheels 203 and 204 are rear wheels of the vehicle. When the vehicle is traveling at a certain steering wheel rotation angle, such as angle 1, the traveling locus of the vehicle is a circular locus having a radius R as shown in fig. 2, i.e., locus 205 (the complete circular locus is not shown in fig. 2). At this time, the wheel rotation angle of the inner steering wheel of the vehicle (i.e., the steering wheel in the direction matching the steering wheel rotation direction) is α, and the wheel rotation angle of the outer steering wheel of the vehicle is β. The circle O corresponding to the circular locus is always on the extension line of the rear axle of the vehicle, that is, on the straight line where the points G and H shown in fig. 2 are located.
When the vehicle runs with the steering wheel rotation angle as an angle 1, the wheel rotation angle alpha of the inner steering wheel and the wheel rotation angle beta of the outer steering wheel have deviation, namely alpha > beta. Considering that the steering wheel steering transmission ratio is the ratio of the steering wheel rotation angle to the wheel rotation angle, that is, the steering wheel steering transmission ratio may be the ratio of the angle 1 to the wheel rotation angle α or the ratio of the angle 1 to the wheel rotation angle β. In the embodiment of the present application, for ease of understanding, the wheel rotation angle α of the inner steering wheel and the wheel rotation angle β of the outer steering wheel are approximated, i.e., α=β=γ. I.e. the angle y in fig. 2 is the wheel rotation angle of the vehicle.
In fig. 2, +_ecf=γ, +_eco=90°, β_ocd=180 ° -90 ° - γ=90 ° - γ. The angle cdo=90°, the angle cod=180° -, the angle CDO- & lt ocd=180 ° -90 ° - (90 ° - γ) =γ, that is, the angle cod= & lt ecf=γ. Similarly, aod=α, bod=β.
In order to solve the problems in the related art, the embodiment of the application provides a steering wheel steering transmission ratio calibration method. The method may be applied to any computing device.
As shown in fig. 3, fig. 3 is a schematic flow chart of a first method for calibrating steering gear ratio of a steering wheel according to an embodiment of the present application. The method comprises the following steps.
Step S301, acquiring an image acquired in the running process of the vehicle according to a preset steering wheel rotation angle, wherein the image comprises a calibration object.
Step S302, calculating the circle center position of a running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the position information of the calibration object in the image.
Step S303, determining the wheel rotation angle of the vehicle in the running process according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameters of the vehicle.
Step S304, determining the steering wheel steering transmission ratio of the vehicle according to the preset steering wheel rotation angle and the wheel rotation angle.
In the embodiment of the present application, the above-mentioned computing device may be an in-vehicle device on a vehicle, or may be a server for processing data of the in-vehicle device, or the like. That is, the computing device may or may not be located on the vehicle. Here, the above-described computing device and the installation position of the computing device are not particularly limited.
By the method shown in fig. 1, an image including a calibration object collected during the running of the vehicle according to the preset steering wheel rotation angle can be obtained, and the circle center position of the running track of the vehicle during the running according to the preset steering wheel rotation angle can be calculated according to the position information of the calibration object in the image, so that the wheel rotation angle of the vehicle during the running according to the preset steering wheel rotation angle can be determined according to the circle position and the vehicle body parameters of the vehicle, and the steering wheel steering transmission ratio of the vehicle for users can be determined according to the preset steering wheel rotation angle and the wheel rotation angle.
Compared with the prior art, the circle center position of the running track of the vehicle in the running process according to the preset steering wheel rotation angle can be accurately calculated through the position of the calibration object, and because the determination of the circle center position is not determined in a manual measurement mode, the introduction of manual errors is avoided, the accuracy of the determined circle center position is improved, and the accuracy of the steering wheel steering transmission ratio determined based on the circle center position is improved.
The embodiments of the present application will be described below by way of specific examples. For ease of understanding, the method for calibrating steering wheel steering gear ratio provided in the embodiments of the present application will be described below with the computing device as the execution subject, and is not limited in any way.
For the step S301, an image acquired during the running process of the vehicle according to the preset steering wheel rotation angle is acquired, where the image includes a calibration object.
In this step, the user may set the preset steering wheel rotation angle according to the range of the steering wheel rotation angle of the vehicle and the own demand. When the vehicle runs at a preset steering wheel rotation angle, the image acquisition unit on the vehicle can acquire images in real time. Since the calibration object is provided on or around the running track of the vehicle, there is an image including the calibration object in the image acquired by the image acquisition unit. The computing device can acquire images including calibration objects acquired in the running process of the vehicle according to the preset steering wheel rotation angle.
In an alternative embodiment, when the image including the calibration object is acquired, the computing device may acquire all the images acquired by the image acquisition unit when the vehicle runs according to the preset steering wheel rotation angle, and select the image including the calibration object from the images.
In another alternative embodiment, when the image including the calibration object is acquired, the computing device may obtain the image including the calibration object according to all images acquired by the image acquisition unit during a period from a time when the calibration object enters the field angle range of the image acquisition unit to a time when the calibration object leaves the field angle range of the image acquisition unit during the driving of the vehicle according to the preset steering wheel rotation angle.
In an embodiment of the present application, the image capturing unit is disposed on a vehicle. The image acquisition unit can be a looking-around system deployed on a vehicle or any camera installed on the vehicle. The image acquisition unit may be disposed at any position on the vehicle body. Here, the image capturing unit and the position where the image capturing unit is located are not particularly limited.
The calibration object can be any one or more objects with unchanged positions in the scene where the vehicle is located, such as a calibration plate, a stationary vehicle and the like. Here, the number of the above-mentioned calibration objects and the number of the calibration objects are not particularly limited. For ease of understanding, the following description will be given by taking the calibration object as a calibration plate, which is not meant to be limiting in any way.
In this embodiment of the present application, the calibration object may be disposed on a corresponding running track or in the vicinity of the running track when the vehicle runs according to each preset steering wheel rotation angle. That is, when the vehicle runs according to the preset steering wheel rotation angle, the calibration object can enter the field angle of the image acquisition unit. The image acquisition unit can acquire the image comprising the calibration plate.
Through multiple tests, when the image acquisition unit is the looking-around system, the placement position of the calibration object can be any position in a concentric circular ring area of 3-4 meters corresponding to a circular track when the vehicle runs according to a preset steering wheel rotation angle. At this time, the imaging effect of the image acquired by the image acquisition unit is good.
In this embodiment of the present application, according to the angle of view of the image capturing unit, the setting position of the image capturing unit, and the difference of the preset steering wheel rotation angle, the positions of the calibration objects are also different. Here, the position of the calibration object is not particularly limited.
In an alternative embodiment, in order to ensure the integrity of the finally determined steering wheel steering transmission ratio, the number of preset steering wheel rotation angles may be plural, and the maximum rotation angle of the steering wheel rotation angle of the vehicle is included among the plural preset steering wheel rotation angles.
In the related art, the maximum rotation angle of the steering wheel of the vehicle is between 540 ° and 630 °. Taking the example that the maximum rotation angle of the steering wheel rotation angle of the vehicle is 540 °, the preset steering wheel rotation angle may include ±540°, where +indicates that the steering wheel of the vehicle rotates clockwise, and-indicates that the steering wheel of the vehicle rotates counterclockwise.
In an alternative embodiment, in order to improve the accuracy of the finally determined steering wheel steering transmission ratio, the number of the preset steering wheel rotation angles may be plural, and each preset steering wheel rotation angle is uniformly distributed in the range of the steering wheel rotation angle of the vehicle.
For ease of understanding, the range of values of the steering wheel rotation angle of the vehicle is exemplified by [ -540 °,540 ° ]. Now, assuming that the number of the preset steering wheel rotation angles is 6, the preset steering wheel rotation angles may be ±540°, ±360°, and ±180°.
In an alternative embodiment, the preset steering wheel rotation angle may be a multiple of 90 ° or 180 ° in view of simplicity and rapidity of implementation of the method.
In the embodiment of the present application, the preset steering wheel rotation angle and the number of preset steering wheel rotation angles are not particularly limited.
In an alternative embodiment, in the case that the preset steering wheel rotation angle is manually controlled, for example, when the preset steering wheel rotation angle is 180 degrees, the steering wheel is manually rotated by half a turn, and because manual errors may be introduced in manual operation, when an image including a calibration object acquired during the running process of the vehicle according to the preset steering wheel rotation angle is acquired, the preset steering wheel rotation angle CAN be obtained through a CAN signal, which effectively ensures the accuracy of the steering wheel rotation angle, and thus ensures the accuracy of the determined steering transmission ratio of the steering wheel.
In an optional embodiment, for the image including the calibration object, the image may include a first image acquired during the vehicle driving a first distance according to a preset steering wheel rotation angle, and a second image acquired during the vehicle driving a second distance according to a preset steering wheel rotation angle, where the first image and the second image include the same calibration object, or the first image and the second image include different calibration objects respectively, and an arc where the deployment positions of the different calibration objects belong to a concentric arc with the driving track.
The first distance and the second distance may be set according to a user's requirement, and herein, the first distance and the second distance are not particularly limited,
in another optional embodiment, for the image including the calibration object, the image may include a third image acquired at a specific position during the running process of the vehicle according to the preset steering wheel rotation angle, where the third image includes the first calibration object and the second calibration object, and an arc where the deployment position of the first calibration object and the deployment position of the second calibration object belong to concentric arcs with the running track.
The specific position is the position of the vehicle when the image acquisition equipment can acquire images comprising at least two calibration objects in the running process of the vehicle according to the preset steering wheel rotation angle. The specific position is also different according to the position of the vehicle calibration object, and is not particularly limited herein.
In the embodiment of the application, when the acquired image includes different calibration objects, in order to ensure that the circular arcs where the deployment positions of the different calibration objects are located and the running track of the vehicle according to the preset steering wheel rotation angle belong to concentric circular arcs, the calibration objects can be deployed on the running track of the vehicle according to the preset steering wheel rotation angle.
For ease of understanding, the position setting of the two calibration plates is described as an example. In the running process of the vehicle according to the preset steering wheel rotation angle, a user can place two calibration plates on the running track according to the running track of the vehicle. When the vehicle runs through the two calibration plates again, the image acquisition unit acquires images comprising the two calibration plates. At this time, the computing device may acquire one image including two calibration plates or two images including two calibration plates, respectively.
In an embodiment of the present application, the image including the calibration object acquired by the computing device includes at least the following cases.
In one case, the computing device obtains an image that includes two calibration objects. That is, the image acquired by the computing device is: the third image, namely the image comprising the first calibration object and the second calibration object, wherein the circular arcs of the deployment position of the first calibration object and the deployment position of the second calibration object and the running track belong to concentric circular arcs.
In the second case, the computing device acquires two images, where the two images respectively include different calibration objects. The circular arcs where the deployment positions of different calibration objects are located and the running track belong to concentric circular arcs. That is, the image acquired by the computing device is: the first image and the second image respectively comprise different calibration objects, and the circular arcs where the deployment positions of the different calibration objects are located and the running track belong to concentric circular arcs.
In case three, the computing device acquires two images, which may contain the same calibration object. That is, the image acquired by the computing device is: the first image and the second image comprise the same calibration object.
In the fourth case, the computing device acquires three images, which may be different calibrations. That is, the image acquired by the computing device is: the first image, the second image and the fourth image respectively comprise different calibration objects, and the circular arcs where the deployment positions of the different calibration objects are located and the running track belong to concentric circular arcs. The fourth image is an image including a calibration object acquired in the process that the vehicle runs a third distance according to the preset steering wheel rotation angle.
In the fifth case, the computing device acquires three images, and the three images comprise the same calibration object. That is, the image acquired by the computing device is: the first image, the second image and the fourth image comprise the same calibration object.
In the embodiment of the present application, the number of images including the calibration object obtained by the computing device and the number of calibration objects included in the images are not particularly limited.
For the step S302, namely, calculating the center position of the running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the position information of the calibration object in the image.
In an optional embodiment, after the image including the calibration object is obtained, the computing device may determine, according to the position information of the calibration object in the image, a center position of a driving track in a driving process of the vehicle according to the preset steering wheel rotation angle. The position information of the calibration object in the image may be the position coordinate of the calibration object in the image coordinate system, the position coordinate of the calibration object in the world coordinate system, or the position coordinate of the calibration object in the vehicle body coordinate system. The calculation of the center position can be found in the following description, and is not described in detail herein.
In an alternative embodiment, the position information of the calibration object may be represented by position information corresponding to a point on the calibration object in the image. For example, the position information of the target corner point in the calibration plate or the position information of the center point of the area where the calibration object is located.
The target corner point may be any corner point in the calibration plate. When the calibration plates in the images corresponding to the position information for calculating the circle center position are the same calibration plate, the target corner points are the same corner points.
For ease of understanding, an exemplary illustration is provided in connection with fig. 4. Fig. 4 is an image including a calibration plate provided in an embodiment of the present application.
The image shown in fig. 4 includes a calibration plate 401, and the calibration plate 401 is composed of a plurality of black rectangular areas and white rectangular areas having different sizes. The calibration plate 401 shown in fig. 4 comprises a plurality of corner points, such as corner point 402, corner point 403 and corner point 404 shown in fig. 4. The target corner point may be any corner point, such as corner point 402.
In the embodiment of the present application, in the image including the calibration plate, the position information of the target corner of the calibration plate may be expressed as: the position coordinates of the target corner in the image coordinate system of the image. The position coordinates may be expressed in the form of coordinate positions or in the form of pixel points.
For example, in the image shown in fig. 4, the upper left part of the image is an enlarged sub-image of the local area where the corner 402 is located, and the sub-image includes the position information where the corner 402 is located, that is, the position coordinates are expressed as coordinate positions: (0.00, -3.88), expressed in the form of pixels: (640,494).
In this embodiment of the present application, the location information of the target corner may be calibrated by the image capturing unit, as shown in the upper left part of fig. 4. Here, the expression form of the position information of the target corner point is not particularly limited. For ease of understanding, the following description is given by way of example only and not by way of limitation.
When the image acquisition unit marks the position information of the target angular point in the image, the position information can be the position information in the image coordinate system or the position information in the vehicle body coordinate system. For example, when the image acquisition unit is the above-mentioned looking-around system, the position information of the target angular point in the image acquired by the image acquisition unit is the position information in the vehicle body coordinate system.
In an optional embodiment, when the position information of the calibration object in the image is position information in an image coordinate system, the computing device may convert the position information in the image coordinate system into position information in other coordinate systems according to camera external parameters of the image acquisition unit.
For ease of understanding, the description will be given taking as an example the conversion of positional information in an image coordinate system into positional information in a world coordinate system. The computing device may convert the positional information in the image coordinate system into positional information in the vehicle body coordinate system using the following formula.
Wherein,is the position coordinates [ u, v ] of the calibration object in the image coordinate system]Corresponding homogeneous coordinates, u is the abscissa value of the position coordinate of the calibration object in the image coordinate system, v is the ordinate value of the position coordinate of the calibration object in the image coordinate system,is a transformation matrix between an image coordinate system and a vehicle body coordinate system, < > and the like>For the position coordinates [ X, Y ] of the calibration object in the vehicle body coordinate system]Corresponding homogeneous coordinates, X is the abscissa value of the position coordinates of the calibration object in the vehicle body coordinate system, and Y is the ordinate value of the position coordinates of the calibration object in the vehicle body coordinate system.
The conversion matrix is determined based on camera parameters of the image acquisition unit. Here, the conversion matrix is not particularly limited.
When the computing equipment computes the circle center position of the running track in the running process of the vehicle according to the preset steering wheel rotation angle, the circle center position of the running track can be computed at least according to the two position information of the calibration object. Thus, in a practical scenario, the number of calibrations may be one or more.
For ease of understanding, the description is given with reference to fig. 5. Fig. 5 is a second schematic view of a vehicle steering process according to an embodiment of the present application.
In fig. 5, a travel locus of a vehicle 501 traveling at a certain steering wheel rotation angle is a locus 504. When two identical calibration plates, i.e., the calibration plate 502 and the calibration plate 503 shown in fig. 5, are placed on the vehicle running track 504.
Since the motion process of the vehicle 501 can be regarded as a rigid motion, that is, all points on the vehicle 501 do circular motion around the center O point. At this time, the above-described calibration plate 502 and calibration plate 503 can be regarded as two points on the travel locus 504 of the vehicle 501. That is, the distances from the calibration plate 502 and the calibration plate 503 to the center O corresponding to the running track 504 are equal, and the distance is the track radius of the running track 504.
At this time, the computing device may determine the center position of the travel track 504, that is, the position information of the center O in fig. 5, based on the position information of the calibration plate 502 and the calibration plate 503.
Similarly, when there is only one calibration plate in the actual scene, the position of the calibration plate will not change. At this time, the distance between the vehicle and the calibration plate is continuously changed during the running of the vehicle, and the specific process is similar to the movement process shown in fig. 5, that is, the running process of the vehicle is converted into: the position of the vehicle is kept unchanged, and the calibration plate moves relative to the vehicle, i.e. the calibration plate moves from the position of the calibration plate 502 to the position of the calibration plate 503 shown in fig. 5. In the process, after the positions of the calibration objects in the images acquired at different moments are mapped to the same image coordinate system or the same vehicle body coordinate system, the position information of the calibration objects is different. According to the position information of the calibration objects in different images, the computing equipment can determine the circle center position of the running track.
The calculation manner of the center position of the running track of the vehicle running according to the preset steering wheel rotation angle can be described below, and will not be described in detail here.
For the step S303, that is, determining the wheel rotation angle of the vehicle in the process of driving according to the preset steering wheel rotation angle according to the center position of the driving track and the body parameter of the vehicle.
In an alternative embodiment, after determining the center position of the running track in the running process of the vehicle according to the preset steering wheel rotation angle, the computing device can calculate the wheel rotation angle when the vehicle runs according to the preset steering wheel rotation angle according to the center position and vehicle parameters such as the wheelbase, the length of the vehicle and the rear overhang length of the vehicle.
In this embodiment of the present application, the wheel rotation angle of the vehicle in the running process according to the preset steering wheel rotation angle may be expressed as the rotation angle of the inner steering wheel, may also be expressed as the rotation angle of the outer steering wheel, and may also be expressed as an approximation of the rotation angle of the inner and outer steering wheels.
For ease of understanding, the exemplary description is provided above in connection with FIG. 2. In fig. 2, when the wheel rotation angle is expressed as the rotation angle of the inner steering wheel, the angle α in fig. 2 is the wheel rotation angle during the running of the vehicle according to the preset steering wheel rotation angle.
When the wheel rotation angle is expressed as the rotation angle of the outer steering wheel, the angle β in fig. 2 is the wheel rotation angle during the running of the vehicle according to the preset steering wheel rotation angle.
When the wheel rotation angle is expressed as an approximation of the rotation angle of the inner and outer steering wheels, the angle γ in fig. 2 is the wheel rotation angle during the running of the vehicle according to the preset steering wheel rotation angle.
For ease of understanding, the following description will be given by taking only an example in which the wheel rotation angle is expressed as an approximation of the rotation angle of the inside and outside steering wheels, and the calculation of the wheel rotation angle during running of the vehicle in accordance with the preset steering wheel rotation angle is not intended to be limiting. The calculation of the wheel rotation angle during the running of the vehicle in accordance with the preset steering wheel rotation angle when the wheel rotation angle is expressed as the rotation angle of the inner steering wheel/outer steering wheel may be determined by a similar method, and will not be described in detail.
In this embodiment of the present application, when the above wheel rotation angle is expressed as a rotation angle of an outer steering wheel/an inner steering wheel, in order to ensure accuracy of the determined steering wheel steering transmission ratio, the computing device needs to determine the steering wheel steering transmission ratio corresponding to the preset steering wheel rotation angle when the vehicle turns left and right, respectively.
When the above wheel rotation angle is expressed as an approximation of the rotation angle of the inner and outer steering wheels, in order to improve the determination efficiency of the steering wheel steering transmission ratio, the computing device may determine only the steering wheel steering transmission ratio corresponding to the preset steering wheel rotation angle when the vehicle is turned left or right, that is, the steering wheel steering transmission ratio corresponding to the preset steering wheel rotation angle when the vehicle is turned left and right, respectively.
The representation mode of the wheel rotation angle can be set according to the accuracy requirement, the calculated amount requirement and the like of a user on the steering transmission ratio of the steering wheel.
The method for determining the wheel rotation angle during the running of the vehicle according to the preset steering wheel rotation angle is described below, and will not be described in detail here.
For the above step S304, that is, according to the preset steering wheel rotation angle and the wheel rotation angle, the steering gear ratio of the steering wheel of the vehicle is determined.
In this step, after determining the wheel rotation angle in the running process of the vehicle according to the preset steering wheel rotation angle, the computing device may calculate the ratio between the preset steering wheel rotation angle and the wheel rotation angle to obtain the steering wheel steering transmission ratio of the vehicle, that is, obtain the steering wheel steering transmission ratio when the vehicle runs according to the preset steering wheel rotation angle.
In the embodiments of the present application, the computing device, when determining the steering wheel steering gear ratio of the above-described vehicle, will be described by taking only the steering wheel steering gear ratio when the steering wheel rotates clockwise and counterclockwise as an example. In addition, in order to improve the accuracy of the determined steering wheel steering ratio, the computing device may determine the steering wheel steering ratio corresponding to the forward steering and the backward steering of the vehicle, respectively, in addition to considering the clockwise or counterclockwise steering wheel, in consideration of the fact that there may be a small difference in the steering wheel steering ratio when the vehicle advances and retreats, and the specific determination method is the same and will not be described herein.
In an alternative embodiment, in a case where an image acquired by a computing device includes a first image and a second image, that is, in a case where the image acquired by the computing device satisfies any one of the second case, the third case, the fourth case, or the fifth case, the embodiment of the present application provides a steering wheel steering gear ratio calibration method. Fig. 6-a is a schematic diagram of a second flow chart of a method for calibrating steering gear ratio of a steering wheel according to an embodiment of the present application. In the method shown in fig. 6-a, the above step S302 is subdivided into steps, namely step S3021 to step S3022.
Step S3021, determining arc lengths corresponding to the arcs where the calibration object in the first image and the calibration object in the second image are located according to the first position information of the calibration object in the first image and the second position information of the calibration object in the second image.
In this embodiment of the present application, the arc length corresponding to the arc where the calibration object in the first image and the calibration object in the second image are located is the distance traveled by the vehicle.
In an optional embodiment, when the calibration object in the first image and the calibration object in the second image are the same calibration object, that is, when the first image and the second image are matched with the third or fifth condition, the computing device may acquire a distance traveled by the vehicle during the period that the image acquisition unit acquires the first image and the second image, so as to obtain arc lengths corresponding to arcs where the calibration object in the first image and the calibration object in the second image are located.
In another alternative embodiment, when the calibration object in the first image and the calibration object in the second image are different calibration objects, that is, when the first image and the second image are matched with the second case and the fourth case, the computing device may acquire the distance traveled by the vehicle during the period that the vehicle sequentially passes through the two calibration objects, so as to obtain the arc lengths corresponding to the arcs where the calibration object in the first image and the calibration object in the second image are located.
The manner of obtaining the arc length is not particularly limited.
According to different deployment positions of the calibration objects in the image acquired by the computing equipment, the arc length can be overlapped with a running track of the vehicle in the running process according to the preset steering wheel rotation angle, and can also be non-overlapped with the running track of the vehicle in the running process according to the preset steering wheel rotation angle. The arc length is not particularly limited here.
In this embodiment of the present application, if the first image and the second image include different calibration objects, any one of the first position information and the second position information includes a position coordinate represented by an image coordinate system, a world coordinate system, or a vehicle body coordinate system.
If the first image and the second image include the same calibration object, any one of the first position information and the second position information includes a position coordinate represented by an image coordinate system or a vehicle body coordinate system.
In an alternative embodiment, to facilitate the determination of the position of the center of the circle in the later stage, the arc length may be a shorter arc of the arcs where the calibration object in the first image and the calibration object in the second image are located.
In step S3022, a center position of the vehicle driving track according to the preset steering wheel rotation angle is calculated based on the arc length, the first position information and the second position information.
For ease of understanding, the calculation of the center position described above is illustrated in connection with fig. 6-b. Fig. 6-b is a schematic diagram of a vehicle driving track according to an embodiment of the present application.
In fig. 6-B, the circular track 1 is a running track when the vehicle runs according to the preset steering wheel rotation angle, the point a and the point B are two points on the circular track 1, and the point a and the point B are two points obtained by abstracting the calibration object in the first image and the calibration object in the second image respectively.
Let AB be the arc length at two points d1 and the chord length d2. The chord length d2 can be calculated according to the position coordinates of the point A and the point B through a calculation formula between the two points.
The formula between the two points is specifically expressed as follows:
wherein the coordinate value of the point 1 is (X) 1 ，Y 1 ) The coordinate value of the point 2 is (X 2 ，Y 2 ) X is the abscissa value, Y is the ordinate value, and d is the distance between point 1 and point 2. Here, the process of calculating the chord length d2 is not specifically described.
In the circular trajectory 1 shown in fig. 6-b, the following set of equations is satisfied:
where sin is a sinusoidal operation, n is the central angle, i.e. AOB in FIG. 6-a, pi is the circumference ratio, equal to about 3.14, and R is the radius of circular track 1.
From the above equation set, the computing device can determine the values of n and R described above. At this time, the computing device may calculate the position coordinates of the point O from the position information of the points a and B, and the values of n and R.
For example, the computing device may construct a system of equations based on the distance R from point O to point a and the distance R from point O to point B, and calculate the coordinates of point O.
For another example, the computing device may calculate the coordinates of point O based on the linear equation of the perpendicular bisectors of points A and B, i.e., the linear equation of L1 in FIG. 6-B, the position coordinates of midpoint D of chord AB, and the length of OD.
Here, the calculation method of the center position in step S3022 is not particularly limited.
Through the steps S3021 to S3022, the computing device may calculate, according to the arc length and the chord length corresponding to the calibration object in the first image and the calibration object in the second image, a circle center position of the vehicle running track according to the preset steering wheel rotation angle, so that accuracy of calculating the circle center position is effectively improved.
In the method shown in fig. 6-a, the calculation of the center position will be described using only the first image and the second image as examples. When the image acquired by the computing device satisfies the fourth or fifth case, the two images for calculating the circular position in the steps S3021 to S3022 may be any two images among the first image, the second image, and the fourth image.
In an optional embodiment, in the case that the image includes a first image and a second image, and the position information of the calibration object in the first image and the second image is represented by a vehicle body coordinate system, that is, in the case that the image acquired by the computing device is any one of the second case, the third case, the fourth case and the fifth case, the embodiment of the application further provides a steering wheel steering transmission ratio calibration method. Fig. 7 is a schematic diagram of a third flow chart of a method for calibrating steering gear ratio of a steering wheel according to an embodiment of the present application. In the method shown in fig. 7, the above step S302 is thinned to the following step, namely step S3023.
Step S3023, calculating the center position by using the first position information of the calibration object in the first image and the second position information of the calibration object in the second image, which are equal to the distance between the center position of the driving track in the driving process of the vehicle according to the preset steering wheel rotation angle, as the first constraint condition.
In this embodiment of the present application, when the first position information of the calibration object in the first image and the second position information of the calibration object in the second image are both represented by the position coordinates in the vehicle body coordinate system, because the vehicle satisfies the akaman principle, the center position must be located on a line between the centers of the two rear wheels of the vehicle, that is, the center position of the running track must be located on an extension line of the rear axle of the vehicle in the running process of the vehicle according to the preset steering wheel rotation angle, at this time, the computing device may determine the longitudinal coordinate value of the center position according to the vehicle body parameter of the vehicle.
Under the condition that the ordinate value of the circle center position is known, the first position information of the calibration object in the first image and the second position information of the calibration object in the second image are respectively equal to the distance between the circle center positions of the running tracks in the running process of the vehicle according to the preset steering wheel rotating angle, and the circle center positions are calculated as first constraint conditions. That is, under the condition that the ordinate value of the circle center position is known, according to the first position information and the second position information, the computing device can calculate the abscissa value of the circle center position based on a formula between two points, so as to determine the circle center position.
In an alternative embodiment, if the position of the origin of coordinates of the vehicle body coordinate system is the position of the center point of the vehicle, the horizontal direction is the vehicle width direction of the vehicle, and the vertical direction is the vehicle length direction of the vehicle, the first constraint condition is expressed by the following formula:
wherein X is a Represents the abscissa value, X in the first position information O Y being the abscissa value in the position of the centre of the circle a To represent the ordinate value in the first position information,l is the ordinate value in the center position of the circle, L 1 For the length of the vehicle L 2 X is the rear suspension length of the vehicle b Represents the abscissa value, Y, in the second position information b And represents the ordinate value in the second position information.
For ease of understanding, the description is given with reference to fig. 2. In fig. 2, the length of the vehicle is L 1 The rear overhang length is L 2 。
Since the position of the origin of coordinates of the vehicle body coordinate system is the position of the center point of the vehicle, the distance from the tail to the origin of coordinates is L 1 /2. And due to the extension of the center of the circle at the rear axleOn the long line, the rear suspension length is the distance from the center of the rear wheel to the tail of the vehicle, thus L 1 /2-L 2 Namely the ordinate value of the center position.
In this embodiment of the present application, the ordinate value of the center position is different according to the difference in the position of the origin of coordinates of the vehicle body coordinate system. For example, the origin of coordinates in the vehicle body coordinate system shown in fig. 2 is moved to the position of the center point of the front left wheel of the vehicle, and at this time, the ordinate value of the center position is changed to the sum of the wheelbase and the overhang length. Here, the ordinate value of the center position in the vehicle body coordinate system is not particularly limited.
Through the step S3023, the computing device may accurately determine the ordinate value of the center position in the vehicle body coordinate system, thereby determining the center position according to the first position information and the second position information, and effectively improving accuracy of the determined center position.
In the method shown in fig. 7, the calculation of the center position will be described using only the first image and the second image as examples. When the image acquired by the computing device satisfies the fourth or fifth case, the two images used to calculate the circular position in the step S3023 may be any two images among the first image, the second image, and the fourth image.
In an optional embodiment, when the image acquired by the computing device includes the third image, and the position information of the first calibration object and the second calibration object in the third image are respectively represented by a vehicle body coordinate system, that is, when the image acquired by the computing device meets the above situation, the embodiment of the application further provides a steering wheel steering transmission ratio calibration method. As shown in fig. 8, fig. 8 is a fourth flowchart of a method for calibrating steering gear ratio of a steering wheel according to an embodiment of the present application. In the method shown in fig. 8, the above step S302 is refined to the following step, i.e., step S3024.
Step S3024, calculating the center position by using the first position information of the first calibration object and the second position information of the second calibration object in the third image as the first constraint condition, where the distances between the first position information and the second position information of the first calibration object are equal to the distances between the center positions of the driving tracks in the driving process of the vehicle according to the preset steering wheel rotation angle.
The method for calculating the center position in step S3024 may refer to the method for calculating the center position in step S3023, which is not described in detail herein.
Through the step S3024, the computing device may accurately determine the ordinate value of the center position in the vehicle body coordinate system, thereby determining the center position according to the first position information and the second position information, and effectively improving accuracy of the determined center position.
In an alternative embodiment, in a case where the image acquired by the computing device includes the first image, the second image, and the fourth image, that is, when the image acquired by the computing device satisfies the fourth and fifth cases, the embodiment of the present application further provides a steering wheel steering gear ratio calibration method. Fig. 9-a is a schematic diagram of a fifth flow chart of a method for calibrating steering gear ratio of a steering wheel according to an embodiment of the present application. In the method shown in fig. 9-a, the above step S302 is refined to the following step, step S3025.
In step S3025, the position where the intersection point of the perpendicular bisector of the straight line where any two pieces of the first position information of the calibration object in the first image, the second position information of the calibration object in the second image, and the third position information of the calibration object in the fourth image are located is determined as the center position of the driving track in the driving process of the vehicle according to the preset steering wheel rotation angle, where the center position is located on the straight line where the rear axle of the vehicle is located.
For ease of understanding, this is described in connection with FIG. 9-b as an example. Fig. 9-b is a schematic diagram of a vehicle driving track according to an embodiment of the present application.
In fig. 9-B, the circular track 1 is a common track during the running of the vehicle according to the above-mentioned preset steering wheel rotation angle, and the points a, B and C are points on the circular track 1. Wherein the coordinates of the point a are the first position information, the coordinates of the point B are the second position information, and the coordinates of the point C are the third position information.
The computing device can determine a linear equation of a straight line where a line segment of the connecting line of any two points is located according to the position coordinates corresponding to the first position information, the second position information and the third position information.
For example, the computing device may determine a linear equation for the line L3 along which the line segment AB is located based on the position coordinates of points A and B in FIG. 9-B. Similarly, the computing device may determine a linear equation of the line L4 in which the line segment BC is located according to the position coordinates of the point B and the point C.
After determining the straight line equations of the straight line L3 and the straight line L4, the computing device may determine the straight line equation of the perpendicular bisector of the line segment AB (i.e., the straight line L1 shown in fig. 9-b) based on the position coordinates of the midpoint of the line segment AB (i.e., the point E in fig. 9-b) and the straight line equation of the straight line L3; and, a straight line equation of a perpendicular bisector (i.e., a straight line L2 shown in fig. 9-b) of the line segment BC is determined from the position coordinates of the midpoint of the line segment CB (i.e., the point F in fig. 9-b) and the straight line equation of the straight line L4.
The above-described determination methods of the linear equations of the straight line L1, the straight line L2, the straight line L3 and the straight line L4 may refer to the determination methods of the linear equations in the related art, and are not described in detail herein.
According to the above straight line equation of the straight line L1 and the straight line L2, the computing device may calculate the intersection point of the two straight lines, that is, the coordinates of the point O in fig. 9-b, to obtain the center position of the running track in the running process of the vehicle according to the preset steering wheel rotation angle. The method of calculating the intersection point of two straight lines is referred to in the related art, and will not be described in detail here.
In this embodiment of the present application, the first image, the second image, and the fourth image include the same calibration object, or the first image, the second image, and the fourth image include different calibration objects, respectively, and the arcs where the deployment positions of the different calibration objects are located and the running track belong to concentric arcs.
Through the step S3025, the computing device may determine, according to the position information of the calibration object in the three images, the center position of the driving track in the driving process of the vehicle according to the preset steering wheel rotation angle, so as to improve the accuracy of the determined center position.
In an alternative embodiment, when the calibration object in the image acquired by the computing device is disposed in: when the vehicle runs along the running track in the process of the preset steering wheel rotation angle, the embodiment of the application also provides a steering wheel steering transmission ratio calibration method. Fig. 10-a is a schematic diagram of a sixth flow chart of a method for calibrating steering gear ratio of a steering wheel according to an embodiment of the present application. In the method shown in fig. 10-a, the above step S303 is refined to the following steps, i.e. step S3031-step S3032.
Step S3031, track radius of the running track in the running process of the vehicle according to the preset steering wheel rotation angle is calculated according to the circle center position of the running track.
In an alternative embodiment, the computing device may calculate the track radius of the running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the circle center position of the running track and the position information of the calibration object in the image.
For example, the computing device may calculate, according to the position coordinate of the center position and the position coordinate of the calibration object, the distance between the position coordinate of the center position and the position coordinate of the calibration object by using the above equation for distance between two points, to obtain the track radius of the driving track.
In another alternative embodiment, the computing device may calculate the track radius of the running track during the running of the vehicle according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameter of the vehicle.
For example, in the above-described vehicle body coordinate system, the computing device may calculate a sum of squares of an abscissa value of the center position and the wheelbase of the vehicle, and determine a square root of the sum of squares as the track radius of the travel track.
For ease of understanding, this is described in connection with FIG. 10-b as an example. Fig. 10-b is a third schematic illustration of a vehicle steering process provided in an embodiment of the present application.
In fig. 10-B, points a and B are two points on the circular track 1002, and points a and B are two points obtained by abstracting the calibration object in the first image and the calibration object in the second image, respectively. Wheel rotation angle α= angle doc=β.
In right triangle OCDs, the OD has a length that is the track radius (denoted as L) of circular track 1002 OD Or L DO ) The length of the CD is the wheelbase (denoted as L) of the vehicle 1001 CD Or L DC ) The vertical distance from the center of the circle to the Y-axis, i.e. the length of OC (denoted as L OC Or L CO )。
Because the angle OCD is right angle, L OD 2 +L OC 2 ＝ CD 2 。
The electronic device can calculate the track radius of the running track by the following formula, namely L CD 。
Step S3032, the ratio between the wheelbase and the track radius of the vehicle is the sine value of the wheel rotation angle in the running process of the vehicle according to the preset steering wheel rotation angle, and the wheel rotation angle is calculated as a second constraint condition.
For ease of understanding, the description is provided with reference to FIG. 10-b above. Fig. 10-b is a first schematic illustration of a vehicle steering provided in an embodiment of the present application.
Now, assume that the circular locus 1002 shown in FIG. 10-b corresponds to the center O with a center coordinate of (X O ,Y O ). In right triangle OCDs, point D is the point on circular track 1002, i.e., the OD has a length that is the track radius (i.e., L OD ) The length of the CD is the wheelbase (i.e., L) of the vehicle 1001 CD ). Wheel rotation angle α= angle doc=β.
In right triangle OCD according to trigonometric function relationThus (S)>Where sin is a sinusoidal operation and arcsin is an arcsine operation.
Let us now assume that the wheelbase of vehicle 1001 in FIG. 10-b is L 3 Trajectory, traceThe radius is R. At this time, the computing device may determine the L CD ＝L 3 ，L OD =r. The computing device may determine that
Through the steps S3031-S3032, the computing device accurately determines the wheel rotation angle of the vehicle when the vehicle runs according to the preset steering wheel rotation angle based on the ratio between the wheelbase and the track radius of the vehicle, so that the accuracy of the determined wheel rotation angle is improved.
In another alternative embodiment, when the calibration object in the image acquired by the computing device is disposed in: when the vehicle runs along the running track in the process of the preset steering wheel rotation angle, the computing equipment can also calculate the wheel rotation angle by taking the ratio of the circle center position to the track radius as the cosine value of the wheel rotation angle in the process of the vehicle running according to the preset steering wheel rotation angle as a constraint condition.
For ease of understanding, the above description is given by way of example only with reference to FIG. 10-b.
In the right triangle OCD shown in FIG. 10-b, the length of OC is the abscissa value (denoted as L OC ). In right triangle OCD according to trigonometric function relationThus (S)>Where cos is the cosine operation and arccos is the inverse cosine operation.
Now, assume that the center coordinates of the center O in FIG. 10-b are (X O ,Y O ) The track radius is R. At this time, the computing device may determine the L OC ＝X O ，L OD =r. The computing device may determine that
In this embodiment of the present application, when the origin of coordinates of the vehicle body coordinate system is changed, other vehicle body parameters will be used in the calculation process of the wheel rotation angle.
For ease of understanding, the description is given with reference to fig. 10-c, and fig. 10-c is a fourth schematic diagram of a vehicle steering process according to an embodiment of the present application.
In fig. 10-c, points a and B are two points on the circular track, and points a and B are two points obtained by abstracting the calibration object in the first image and the calibration object in the second image. Wheel rotation angle α= angle doc=β.
In fig. 10-c, the origin of the vehicle body coordinate system is changed to the position where point E is located. If the width of the vehicle is L 4 The center coordinates of the center O are (X O ,Y O ) L when calculating the steering angle of the wheel by using the cosine value OC ＝X O -L 4 /2. That is to say
In yet another alternative embodiment, when the calibration object in the image acquired by the computing device is disposed in: when the vehicle runs along the running track in the process of the preset steering wheel rotation angle, the computing equipment can also calculate the wheel rotation angle by taking the ratio of the wheel base of the vehicle to the abscissa value of the circle center position as the tangent value of the wheel rotation angle in the process of the vehicle running according to the preset steering wheel rotation angle as a third constraint condition. The specific calculation process may be described below, and is not described herein.
In this embodiment of the present application, when the calibration object in the image acquired by the computing device is disposed on the running track of the vehicle in the running process according to the preset steering wheel rotation angle, a calculation manner of the wheel rotation angle of the vehicle in the running process according to the preset steering wheel rotation angle is not specifically limited.
In an optional embodiment, when the calibration object in the image acquired by the computing device is not disposed on the driving track of the vehicle in the driving process according to the preset steering wheel rotation angle, the embodiment of the application further provides a steering wheel steering transmission ratio calibration method. Fig. 11 is a schematic diagram of a seventh flow chart of a calibration method for steering gear ratio of a steering wheel according to an embodiment of the present application. In the method shown in fig. 11, the above step S303 is refined to the following step, i.e., step S3033.
Step S3033, the ratio between the wheel base and the abscissa value of the circle center position of the vehicle is the tangent value of the wheel rotation angle in the running process of the vehicle according to the preset steering wheel rotation angle, and the wheel rotation angle is calculated as a third constraint condition.
In the embodiment of the application, when the calibration object in the image acquired by the computing device is not disposed on the running track of the vehicle in the running process according to the preset steering wheel rotation angle, the distance from the position of the calibration object in the image to the circle center position is not equal to the track radius of the running track. However, the triangle formed by the connection of the radius of the track, the wheelbase and the center of the circle to the midpoint of the rear axle of the vehicle is still a right triangle, such as the right triangle OCD in FIG. 10-b.
In a right triangle formed by the connection line of the track radius, the wheelbase and the center of the circle to the midpoint of the rear axle of the vehicle, according to the trigonometric function relation, the computing equipment can calculate the wheel rotation angle by taking the ratio of the wheelbase of the vehicle to the abscissa value of the center of the circle as the tangent value of the wheel rotation angle in the running process of the vehicle according to the preset steering wheel rotation angle as a third constraint condition.
For ease of understanding, the above description is given by way of example only with reference to FIG. 10-b. In the right triangle OCD shown in figure 10-b, Thus (S)>Where tan is the tangent operation and arctan is the arctangent operation.
Let us now assume that the wheelbase of vehicle 1001 in FIG. 10-b is L 3 . At this time, the computing device may determine the L OC ＝X O ，L DC ＝L 3 . The computing device may determine that
Through the step S3033, the computing device can accurately determine the wheel rotation angle of the vehicle when the vehicle runs according to the preset steering wheel rotation angle based on the ratio between the wheel base of the vehicle and the abscissa value of the circle center position, thereby improving the accuracy of the determined wheel rotation angle.
Based on the same inventive concept, according to the method for determining steering wheel steering transmission ratio provided by the embodiment of the application, the embodiment of the application also provides a method for determining steering wheel steering transmission ratio relation. Fig. 12 is a schematic flow chart of a method for determining steering ratio relationship of a steering wheel according to an embodiment of the present application. The method comprises the following steps.
Step S1201, acquiring an image acquired during the running process of the vehicle according to the preset steering wheel rotation angle, wherein the image comprises a calibration object.
Step S1202, calculating the circle center position of the running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the position information of the calibration object in the image.
Step S1203, determining a wheel rotation angle in the running process of the vehicle according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameter of the vehicle.
Step S1204, determining a steering wheel steering gear ratio of the vehicle according to the preset steering wheel rotation angle and the wheel rotation angle.
The steps S1201 to S1034 are the same as the steps S301 to S304.
Step S1205, by repeating the operation of obtaining the wheel rotation angles, the steering wheel steering transmission ratios corresponding to the plurality of sets of preset steering wheel rotation angles respectively are obtained.
In this step, the computing device may obtain a plurality of sets of preset steering wheel rotation angles, and for each set of preset steering wheel rotation angles, obtain a wheel rotation angle corresponding to each set of preset steering wheel rotation angles through the above steps S1201-S1204. That is, the wheel rotation angle in the running process of the vehicle according to each set of preset steering wheel rotation angles is obtained. For each set of preset steering wheel rotation angles, the computing device can determine the ratio of the set of preset steering wheel rotation angles to the vehicle width rotation angle corresponding to the set of preset steering wheel rotation angles as the steering wheel steering transmission ratio corresponding to the set of preset steering wheel rotation angles, and obtain steering wheel steering transmission ratios corresponding to multiple sets of preset steering wheel rotation angles.
In an alternative embodiment, the computing device may calculate steering wheel steering gear ratios corresponding to the plurality of sets of preset steering wheel rotation angles using the following formula.
Wherein ε i For the steering wheel steering transmission ratio corresponding to the preset steering wheel rotation angle of the ith group, theta i Presetting steering wheel rotation angle gamma for the ith group i The wheel rotation angle when the vehicle runs according to the i-th preset steering wheel rotation angle.
In this embodiment of the present application, the set of preset steering wheel rotation angles is a steering wheel rotation angle. The plurality of groups of preset steering wheel rotation angles are a plurality of different steering wheel rotation angles.
For ease of understanding, the range of values of the steering wheel rotation angle of the vehicle is exemplified by [ -540 °,540 ° ]. The plurality of groups of preset steering wheel rotation angles can comprise steering wheel rotation angles of +/-540 degrees, +/-360 degrees, +/-180 degrees and the like. Here, the plurality of sets of preset steering wheel rotation angles are not particularly limited.
Step S1206, performing interpolation processing on the preset steering wheel rotation angle and the steering wheel steering transmission ratio according to the corresponding relation between the preset steering wheel rotation angle and the steering wheel steering transmission ratio, so as to obtain the steering wheel steering transmission ratio relation of the vehicle.
For ease of understanding, the determination of the steering wheel steering ratio relationship of the vehicle described above is illustrated with reference to fig. 13. Fig. 13 is a schematic diagram showing the correspondence between the steering wheel rotation angle and the steering gear ratio of the steering wheel.
In an alternative embodiment, through step S1205, the computing device may determine steering wheel steering gear ratios corresponding to the steering wheel rotation angles of ±540°, ±360°, and ±180°, respectively. At this time, the computing device may map each preset steering wheel rotation angle and each steering wheel steering transmission ratio into a two-dimensional plane coordinate system according to the corresponding relationship between each preset steering wheel rotation angle and each steering wheel steering transmission ratio, to obtain points 1301-1306 shown in fig. 13. The horizontal direction of the two-dimensional plane coordinate system is a preset steering wheel rotation angle, and the vertical direction is a steering wheel steering transmission ratio.
When determining the steering wheel steering transmission ratio relation of the vehicle, the computing device may determine the linear equation of the line segment of each two adjacent points according to the coordinate values corresponding to the two adjacent points in fig. 13, so as to obtain the equation set corresponding to the curve 1307 shown in fig. 13. The system of equations corresponding to the curve 1307 is a mathematical representation of the steering ratio relationship of the vehicle described above. That is, from the set of equations corresponding to the curve 1307, the computing device can determine the steering wheel steering gear ratio for each steering wheel angle of rotation.
The above-mentioned method for determining the linear equation of the line segment where the two adjacent points are located may refer to the method for determining a straight line by two points in the related art, which is not described herein in detail.
In another alternative embodiment, after determining the steering wheel steering transmission ratio corresponding to each set of preset steering wheel rotation angles, the computing device may determine the wheel steering transmission ratio corresponding to each steering wheel rotation angle between each two adjacent sets of preset steering wheel rotation angles according to the difference between the steering wheel steering transmission ratios corresponding to each two adjacent sets of preset steering wheel rotation angles, thereby obtaining the steering wheel steering transmission ratio relationship of the vehicle.
For example, in fig. 13, if the difference in steering ratio between the point 1305 and the point 1306 is a, [360 °,540 ]]The steering transmission ratio of each steering wheel corresponding to 1 degree isAt this point, the computing device may determine [360 °,540 °]Steering wheel steering transmission ratio corresponding to each steering wheel rotation angle. For example, if the steering ratio corresponding to point 1305 is C, the steering ratio d=c- (400-360) B when the steering angle is 400 °. By analogy, the computing device may determine [ -540 °,540 °]And obtaining steering transmission ratio relation of the steering wheel of the vehicle according to the steering transmission ratio corresponding to the rotation angle of each steering wheel.
Through the steps S1205-S1206, the computing device may determine the steering wheel steering gear ratio relationship of the vehicle according to the corresponding relationship between the plurality of sets of preset steering wheel rotation angles and the steering wheel steering gear ratios, thereby improving the accuracy of the determined steering wheel steering gear ratio relationship.
Based on the same inventive concept, according to the method for determining steering wheel steering transmission ratio relation provided by the embodiment of the application, the embodiment of the application also provides a vehicle automatic control method. Fig. 14 is a schematic flow chart of a method for automatically controlling a vehicle according to an embodiment of the present application. The method comprises the following steps.
In step S1401, an image acquired during the running of the vehicle according to the preset steering wheel rotation angle is acquired, where the image includes a calibration object.
Step S1402, calculating the center position of the driving track in the driving process of the vehicle according to the preset steering wheel rotation angle according to the position information of the calibration object in the image.
Step S1403, determining the wheel rotation angle of the vehicle during the running according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameter of the vehicle.
In step S1404, a steering wheel steering gear ratio of the vehicle is determined according to the preset steering wheel rotation angle and the wheel rotation angle.
In step S1405, by repeating the operation of obtaining the wheel rotation angles, steering wheel steering gear ratios corresponding to the plurality of sets of preset steering wheel rotation angles are obtained.
Step S1406, performing interpolation processing on the preset steering wheel rotation angle and the steering wheel steering transmission ratio according to the corresponding relation between the preset steering wheel rotation angle and the steering wheel steering transmission ratio, to obtain the steering wheel steering transmission ratio relation of the vehicle.
The steps S1401 to S1406 are the same as the steps S1201 to S1206.
Step S1407, acquires the pulse number of the wheel pulses generated during the fourth distance traveled by the vehicle.
In the embodiment of the application, the number of wheel pulses generated per wheel rotation is fixed during the running of the vehicle. Thus, the computing device may determine the number of unit pulses for the vehicle based on the distance traveled and the number of wheel pulses during travel of the vehicle.
In performing step S1407 described above, the computing device may acquire the pulse number of wheel pulses generated by the wheels as the pulse number of wheel pulses generated during the fourth distance of the vehicle.
The fourth distance may be set according to a user's requirement, and is not particularly limited herein.
In an alternative embodiment, to increase the accuracy of the number of pulses acquired, the computing device may acquire the number of pulses of the wheel pulses generated when the vehicle travels the fourth distance at a steering wheel rotation angle of 0 °.
In an alternative embodiment, to ensure accuracy of the number of pulses acquired, the computing device may acquire the number of pulses of the wheel pulses from the CAN signal when the vehicle is traveling a fourth distance.
In step S1408, a ratio of the fourth distance to the number of pulses is calculated to obtain a unit pulse distance of the vehicle.
In an alternative embodiment, the computing device may calculate the unit pulse distance of the vehicle using the following formula.
Wherein D is the unit pulse distance, D is the fourth distance, and N is the pulse number.
Step S1409 controls the vehicle to park or travel based on the steering ratio relationship of the steering wheel of the vehicle and the unit pulse distance.
In this step, the computing device may automatically control the vehicle in determining the steering ratio relationship and the unit pulse distance of the vehicle. Wherein the automatic control includes, but is not limited to, automatic parking and automatic traveling.
For ease of understanding, lateral parking in automatic parking will be described as an example. When the user selects the auto park function, the computing device may determine where the vehicle is located at the current time and where the parking space is located. At this time, the computing device may determine an angle (i.e., a wheel rotation angle) at which the wheel needs to rotate during the process of entering the parking space, and a distance at which the vehicle needs to travel according to the wheel rotation angle, according to the position of the vehicle and the position of the parking space. Based on the wheel rotation angle and the steering wheel steering gear ratio relationship of the vehicle, the computing device may determine the wheel rotation angle, and based on the unit pulse distance and the distance the vehicle needs to travel according to the wheel rotation angle, the computing device may determine the number of pulses of the wheel pulses generated when traveling according to the wheel rotation angle, that is, determine the number of turns of the wheel rotation. The computing device may thereby control the vehicle to travel according to the steering wheel angle of rotation and the number of pulses so that the vehicle may be automatically parked in the parking space.
In the embodiment of the application, the unit pulse distance is used for carrying out other processes besides the automatic control on the vehicle in combination with the steering wheel steering transmission ratio relation. For example, the computing device may calculate the actual distance travelled by the vehicle, or the like, based on the above-described unit pulse distance and the pulse number of the wheel pulses generated during the travel of the vehicle. The use of the unit pulse distance is not particularly limited.
Through the steps S1407-S1409, the computing device can realize automatic control of the vehicle according to the relationship between the unit pulse distance of the vehicle and the steering transmission ratio of the steering wheel, and improve the accuracy of vehicle control and the automation and the intellectualization of the vehicle.
Based on the same inventive concept, according to the method for calibrating the steering wheel steering transmission ratio provided by the embodiment of the application, the embodiment of the application also provides a device for calibrating the steering wheel steering transmission ratio. As shown in fig. 15, fig. 15 is a schematic structural diagram of a steering wheel steering gear ratio calibration device according to an embodiment of the present application. The device comprises the following modules.
The first acquiring module 1501 is configured to acquire an image acquired during a running process of a vehicle according to a preset steering wheel rotation angle, where the image includes a calibration object;
a first calculating module 1502, configured to calculate a center position of a driving track in a driving process of the vehicle according to a preset steering wheel rotation angle according to position information of a calibration object in the image;
a first determining module 1503, configured to determine a wheel rotation angle of the vehicle during running according to a preset steering wheel rotation angle according to a circle center position of the running track and a vehicle body parameter of the vehicle;
A second determining module 1504 is configured to determine a steering gear ratio of the vehicle according to a preset steering wheel rotation angle and a wheel rotation angle.
Optionally, the images include a first image acquired in a process that the vehicle runs a first distance according to a preset steering wheel rotation angle, and a second image acquired in a process that the vehicle runs a second distance according to the preset steering wheel rotation angle, wherein the first image and the second image include the same calibration object, or the first image and the second image respectively include different calibration objects, and an arc where the deployment positions of the different calibration objects are located and a running track belong to concentric arcs;
or alternatively
The image comprises a third image acquired at a specific position in the running process of the vehicle according to the preset steering wheel rotating angle, the third image comprises a first calibration object and a second calibration object, and an arc where the deployment position of the first calibration object and the deployment position of the second calibration object are located and a running track belong to concentric arcs.
Optionally, the first calculating module 1502 may be specifically configured to determine, when the image includes a first image and a second image, an arc length corresponding to an arc where the calibration object in the first image and the calibration object in the second image are located according to first position information of the calibration object in the first image and second position information of the calibration object in the second image;
Calculating the center position of a running track of the vehicle according to a preset steering wheel rotation angle based on the arc length, the first position information and the second position information;
if the first image and the second image respectively comprise different calibration objects, any one of the first position information and the second position information comprises a position coordinate represented by an image coordinate system, a world coordinate system or a vehicle body coordinate system; alternatively, if the first image and the second image include the same calibration object, any one of the first position information and the second position information includes a position coordinate represented by an image coordinate system or a vehicle body coordinate system.
Optionally, the first calculating module 1502 may be specifically configured to, when the image includes a first image and a second image, and the position information of the calibration object in the first image and the position information of the calibration object in the second image are respectively represented by a vehicle body coordinate system, respectively, equal distances between the first position information of the calibration object in the first image and the second position information of the calibration object in the second image and a center position of a driving track in a driving process of the vehicle according to a preset steering wheel rotation angle, and calculate the center position as a first constraint condition;
Or alternatively
The first calculating module 1502 may be specifically configured to, when the image includes a third image, and the position information of the first calibration object and the second calibration object in the third image are respectively represented by using a vehicle body coordinate system, respectively, equal distances between the first position information of the first calibration object and the second position information of the second calibration object in the third image and a center position of a driving track in a driving process of the vehicle according to a preset steering wheel rotation angle, and calculate the center position as a first constraint condition;
the center position of the circle is positioned on the connecting line of the centers of the two rear wheels of the vehicle.
Optionally, if the position of the origin of coordinates of the vehicle body coordinate system is the position of the center point of the vehicle, the horizontal direction is the vehicle width direction of the vehicle, and the vertical direction is the vehicle length direction of the vehicle, the first constraint condition is expressed by the following formula:
wherein X is a Represents the abscissa value, X in the first position information O Y being the abscissa value in the position of the centre of the circle a To represent the ordinate value in the first position information,l is the ordinate value in the center position of the circle, L 1 For the length of the vehicle L 2 X is the rear suspension length of the vehicle b Represents the abscissa value, Y, in the second position information b And represents the ordinate value in the second position information. />
Optionally, the first calculating module 1502 may be specifically configured to determine, when the image includes a first image, a second image, and a fourth image acquired during a third distance of running of the vehicle according to a preset steering wheel rotation angle, a position where an intersection point of a perpendicular bisector of a straight line where any two of the first position information of the calibration object in the first image, the second position information of the calibration object in the second image, and the third position information of the calibration object in the fourth image is located as a center position of a running track of the vehicle during the running of the vehicle according to the preset steering wheel rotation angle, where the center position is located on a straight line where a rear axle of the vehicle is located;
the first image, the second image and the fourth image comprise the same calibration object, or the first image, the second image and the fourth image respectively comprise different calibration objects, and the circular arcs where the deployment positions of the different calibration objects are located and the running track belong to concentric circular arcs.
Optionally, the vehicle body parameters of the vehicle comprise a wheelbase, wherein the wheelbase refers to the distance from the center of the front wheel to the center of the rear wheel of the vehicle;
the first determining module 1503 may be specifically configured to calculate, if the calibration object in the image is disposed on a running track of the vehicle in the running process according to the preset steering wheel rotation angle, a track radius of the running track of the vehicle in the running process according to the preset steering wheel rotation angle according to a circle center position of the running track;
Calculating the wheel rotation angle by taking the ratio of the wheel base of the vehicle to the track radius as a sine value of the wheel rotation angle in the running process of the vehicle according to the preset steering wheel rotation angle as a second constraint condition;
optionally, the first determining module 1503 may be specifically configured to calculate the wheel rotation angle by using a ratio between an axle distance of the vehicle and an abscissa value of the center position as a tangent value of the wheel rotation angle in a running process of the vehicle according to a preset steering wheel rotation angle as a third constraint condition;
optionally, the steering wheel steering gear ratio device may further include:
the second acquisition module is used for acquiring steering wheel steering transmission ratios corresponding to a plurality of groups of preset steering wheel rotation angles respectively by repeating the acquisition operation of the wheel rotation angles;
the interpolation module is used for carrying out interpolation processing on the preset steering wheel rotation angle and the steering wheel steering transmission ratio according to the corresponding relation between the preset steering wheel rotation angle and the steering wheel steering transmission ratio to obtain the steering wheel steering transmission ratio relation of the vehicle;
optionally, the steering wheel steering gear ratio device may further include:
the third acquisition module is used for acquiring the pulse number of wheel pulses generated in the process of driving the vehicle for a fourth distance;
The second calculation module is used for calculating the ratio of the fourth distance to the pulse number to obtain the unit pulse distance of the vehicle;
and the control module is used for controlling the vehicle to park or run based on the steering wheel steering transmission ratio relation and the unit pulse distance of the vehicle.
Through the device that this application provided, can acquire the image that the vehicle was gathered according to the default steering wheel rotation angle in-process that the vehicle was gone including the calibration thing, according to the position information of calibration thing in this image, calculate the centre of a circle position of the vehicle according to the default steering wheel rotation angle in-process that the vehicle was gone to the orbit to according to this circular position and the automobile body parameter of vehicle, confirm the wheel rotation angle of vehicle according to the default steering wheel rotation angle in-process that the vehicle was gone, and then according to default steering wheel rotation angle and wheel rotation angle, confirm the steering wheel steering transmission ratio that the car given you.
Compared with the prior art, the circle center position of the running track of the vehicle in the running process according to the preset steering wheel rotation angle can be accurately calculated through the position of the calibration object, and because the determination of the circle center position is not determined in a manual measurement mode, the introduction of manual errors is avoided, the accuracy of the determined circle center position is improved, and the accuracy of the steering wheel steering transmission ratio determined based on the circle center position is improved.
Based on the same inventive concept, according to the method for calibrating the steering wheel steering transmission ratio provided by the embodiment of the application, the embodiment of the application also provides a system for calibrating the steering wheel steering transmission ratio. FIG. 16 is a schematic diagram of a steering ratio calibration system according to an embodiment of the present disclosure, as shown in FIG. 16. The system comprises a computing device 1601, an image acquisition unit 1602 and a calibration object; the image acquisition unit 1602 is deployed on a vehicle.
The image acquisition unit 1602 is configured to acquire an image during a driving process of the vehicle;
the computing device 1601 is configured to obtain an image acquired during a running process of the vehicle according to a preset steering wheel rotation angle, where the image includes a calibration object; calculating the circle center position of a running track in the running process of the vehicle according to the preset steering wheel rotating angle according to the position information of the calibration object in the image; determining the wheel rotation angle of the vehicle in the running process according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameter of the vehicle; and determining the steering wheel steering transmission ratio of the vehicle according to the preset steering wheel rotation angle and the wheel rotation angle.
Through the system provided by the embodiment of the application, the image including the calibration object collected in the running process of the vehicle according to the preset steering wheel rotation angle can be obtained, and the circle center position of the running track of the vehicle in the running process of the preset steering wheel rotation angle is calculated according to the position information of the calibration object in the image, so that the wheel rotation angle of the vehicle in the running process of the preset steering wheel rotation angle is determined according to the circle position and the vehicle body parameter of the vehicle, and the steering wheel steering transmission ratio of the vehicle for you is determined according to the preset steering wheel rotation angle and the wheel rotation angle.
Compared with the prior art, the circle center position of the running track of the vehicle in the running process according to the preset steering wheel rotation angle can be accurately calculated through the position of the calibration object, and because the determination of the circle center position is not determined in a manual measurement mode, the introduction of manual errors is avoided, the accuracy of the determined circle center position is improved, and the accuracy of the steering wheel steering transmission ratio determined based on the circle center position is improved.
Based on the same inventive concept, according to the method for calibrating steering wheel steering gear ratio provided in the embodiment of the present application, the embodiment of the present application further provides a computing device, as shown in fig. 17, including a processor 1701, a communication interface 1702, a memory 1703 and a communication bus 1704, where the processor 1701, the communication interface 1702 and the memory 1703 complete communication with each other through the communication bus 1704,
a memory 1703 for storing a computer program;
the processor 1701 is configured to execute the program stored in the memory 1703, and implement the following steps:
acquiring an image acquired in the running process of a vehicle according to a preset steering wheel rotation angle, wherein the image comprises a calibration object;
calculating the circle center position of a running track in the running process of the vehicle according to the preset steering wheel rotating angle according to the position information of the calibration object in the image;
Determining the wheel rotation angle of the vehicle in the running process according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameter of the vehicle;
and determining the steering wheel steering transmission ratio of the vehicle according to the preset steering wheel rotation angle and the wheel rotation angle.
Through the computing equipment provided by the embodiment of the application, the image including the calibration object, which is acquired in the running process of the vehicle according to the preset steering wheel rotation angle, can be acquired, and the circle center position of the running track of the vehicle in the running process of the preset steering wheel rotation angle is calculated according to the position information of the calibration object in the image, so that the wheel rotation angle of the vehicle in the running process of the preset steering wheel rotation angle is determined according to the circle position and the vehicle body parameter of the vehicle, and the steering wheel steering transmission ratio of the vehicle for you is determined according to the preset steering wheel rotation angle and the wheel rotation angle.
Compared with the prior art, the circle center position of the running track of the vehicle in the running process according to the preset steering wheel rotation angle can be accurately calculated through the position of the calibration object, and because the determination of the circle center position is not determined in a manual measurement mode, the introduction of manual errors is avoided, the accuracy of the determined circle center position is improved, and the accuracy of the steering wheel steering transmission ratio determined based on the circle center position is improved.
The communication buses referred to by the computing devices may be peripheral component interconnect standard (Peripheral Component Interconnect, PCI) buses, or extended industry standard architecture (Extended Industry Standard Architecture, EISA) buses, among others. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The communication interface is used for communication between the computing device and other devices.
The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
Based on the same inventive concept, according to the steering wheel steering gear ratio calibration method provided by the embodiment of the application, the embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and the computer program realizes the steps of any steering wheel steering gear ratio calibration method when being executed by a processor.
Based on the same inventive concept, according to the method for calibrating steering wheel steering gear ratio provided in the embodiments of the present application, the embodiments of the present application further provide a computer program product containing instructions, which when run on a computer, cause the computer to execute any one of the methods for calibrating steering wheel steering gear ratio in the embodiments described above.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for embodiments of the apparatus, system, computing device, computer readable storage medium, and computer program product, the description is relatively simple as it is substantially similar to method embodiments, as relevant points are found in the partial description of method embodiments.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modifications, equivalent substitutions, improvements, etc. that are within the spirit and principles of the present application are intended to be included within the scope of the present application.

Claims (11)

1. A method for calibrating steering gear ratio of a steering wheel, the method comprising:
acquiring an image acquired in the running process of a vehicle according to a preset steering wheel rotation angle, wherein the image comprises a calibration object;
calculating the circle center position of a running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the position information of the calibration object in the image;
determining the wheel rotation angle of the vehicle in the running process according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameters of the vehicle; the vehicle body parameters of the vehicle comprise wheelbase, wherein the wheelbase refers to the distance from the center of a front wheel to the center of a rear wheel of the vehicle;
determining a steering wheel steering transmission ratio of the vehicle according to the preset steering wheel rotation angle and the wheel rotation angle;
the image comprises a first image acquired in the process that the vehicle runs for a first distance according to the preset steering wheel rotation angle and a second image acquired in the process that the vehicle runs for a second distance according to the preset steering wheel rotation angle, wherein the first image and the second image comprise the same calibration object, or the first image and the second image respectively comprise different calibration objects, and the circular arcs of the deployment positions of the different calibration objects and the running track belong to concentric circular arcs;
Or alternatively
The image comprises a third image acquired at a specific position in the running process of the vehicle according to the preset steering wheel rotation angle, the third image comprises a first calibration object and a second calibration object, and the circular arcs of the deployment position of the first calibration object and the deployment position of the second calibration object and the running track belong to concentric circular arcs;
under the condition that the image comprises the first image and the second image, calculating the circle center position of the running track of the vehicle in the running process according to the preset steering wheel rotation angle according to the position information of the calibration object in the image, wherein the method comprises the following steps:
determining arc lengths corresponding to arcs of the calibration objects in the first image and the calibration objects in the second image according to the first position information of the calibration objects in the first image and the second position information of the calibration objects in the second image; calculating the circle center position of the running track of the vehicle according to the preset steering wheel rotation angle based on the arc length, the first position information and the second position information; if the first image and the second image respectively comprise different calibration objects, any one of the first position information and the second position information comprises position coordinates represented by an image coordinate system, a world coordinate system or a vehicle body coordinate system; or if the first image and the second image comprise the same calibration object, any one of the first position information and the second position information comprises a position coordinate represented by an image coordinate system or a vehicle body coordinate system;
Or alternatively
Under the condition that the images comprise the first image and the second image, and the position information of the calibration objects in the first image and the second image are respectively represented by a vehicle body coordinate system, the step of calculating the circle center position of the running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the position information of the calibration objects in the images comprises the following steps:
the first position information of the calibration object in the first image and the second position information of the calibration object in the second image are respectively equal to the distance between the circle center position of the running track in the running process of the vehicle according to the preset steering wheel rotating angle, and the circle center position is calculated as a first constraint condition; the circle center position is positioned on a connecting line of the centers of the two rear wheels of the vehicle;
or alternatively
Under the condition that the images comprise a third image, and the position information of a first calibration object and a second calibration object in the third image are respectively represented by adopting a vehicle body coordinate system, calculating the circle center position of a running track in the running process of the vehicle according to the position information of the calibration object in the image, wherein the circle center position comprises the following steps:
The first position information of the first calibration object and the second position information of the second calibration object in the third image are respectively equal to the distance between the circle center position of the running track in the running process of the vehicle according to the preset steering wheel rotation angle, and the circle center position is calculated as a first constraint condition; the center position of the circle is positioned on a connecting line of the centers of the two rear wheels of the vehicle;
or alternatively
Under the condition that the image comprises the first image, the second image and a fourth image acquired in the process that the vehicle runs a third distance according to the preset steering wheel rotation angle, calculating the circle center position of a running track in the process that the vehicle runs according to the preset steering wheel rotation angle according to the position information of the calibration object in the image, wherein the method comprises the following steps:
determining the position of the intersection point of the perpendicular bisector of the straight line where any two of the first position information of the calibration object in the first image, the second position information of the calibration object in the second image and the third position information of the calibration object in the fourth image is located as the circle center position of the running track of the vehicle in the running process of the vehicle according to the preset steering wheel rotation angle, wherein the circle center position is located on the straight line where the rear axle of the vehicle is located; the first image, the second image and the fourth image comprise the same calibration object, or the first image, the second image and the fourth image respectively comprise different calibration objects, and the circular arcs of the deployment positions of the different calibration objects and the running track belong to concentric circular arcs.
2. The method according to claim 1, wherein if the position of the origin of coordinates of the vehicle body coordinate system is the position of the center point of the vehicle, the horizontal direction is the vehicle width direction of the vehicle, and the vertical direction is the vehicle length direction of the vehicle, the first constraint condition is expressed by the following formula:
wherein,represents the abscissa value, < > in said first position information>For the abscissa value in the centre position, +.>For representing the ordinate value in said first position information +.>，/>For the ordinate value in the centre position, +.>For the length of the vehicle, +.>For the rear overhang length of the vehicle, +.>Represents the abscissa value,/in the second position information>Representing an ordinate value in the second position information.
3. The method according to claim 1, wherein if the calibration object in the image is disposed on a running track of the vehicle running according to a preset steering wheel rotation angle, the step of determining the wheel rotation angle of the vehicle running according to the center position of the running track and the vehicle body parameter of the vehicle includes:
Calculating the track radius of the running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the circle center position of the running track;
and taking the ratio of the wheelbase of the vehicle to the track radius as a sine value of the wheel rotation angle in the running process of the vehicle according to the preset steering wheel rotation angle as a second constraint condition, and calculating the wheel rotation angle.
4. The method according to claim 1 or 2, wherein the step of determining the wheel rotation angle during the running of the vehicle according to the preset steering wheel rotation angle based on the center position of the running track and the vehicle body parameter of the vehicle comprises:
and taking the ratio of the wheel base of the vehicle to the abscissa value of the circle center position as the tangent value of the wheel rotation angle in the running process of the vehicle according to the preset steering wheel rotation angle as a third constraint condition, and calculating the wheel rotation angle.
5. The method according to claim 1, wherein the method further comprises:
the steering wheel steering transmission ratios corresponding to the plurality of groups of preset steering wheel rotation angles respectively are obtained by repeating the operation of obtaining the wheel rotation angles;
And carrying out interpolation processing on the preset steering wheel rotation angle and the steering wheel steering transmission ratio according to the corresponding relation between the preset steering wheel rotation angle and the steering wheel steering transmission ratio to obtain the steering wheel steering transmission ratio relation of the vehicle.
6. The method of claim 5, wherein the method further comprises:
acquiring the pulse number of wheel pulses generated in the process of driving the vehicle for a fourth distance;
calculating the ratio of the fourth distance to the pulse number to obtain the unit pulse distance of the vehicle;
and controlling the vehicle to park or run based on the steering wheel steering transmission ratio relation of the vehicle and the unit pulse distance.
7. A steering wheel steering ratio calibration device, the device comprising:
the first acquisition module is used for acquiring images acquired in the running process of the vehicle according to the preset steering wheel rotation angle, wherein the images comprise calibration objects;
the first calculation module is used for calculating the circle center position of the running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the position information of the calibration object in the image;
The first determining module is used for determining the wheel rotation angle of the vehicle in the running process according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameter of the vehicle; the vehicle body parameters of the vehicle comprise wheelbase, wherein the wheelbase refers to the distance from the center of a front wheel to the center of a rear wheel of the vehicle;
the second determining module is used for determining a steering wheel steering transmission ratio of the vehicle according to the preset steering wheel rotation angle and the wheel rotation angle;
the image comprises a first image acquired in the process that the vehicle runs for a first distance according to the preset steering wheel rotation angle and a second image acquired in the process that the vehicle runs for a second distance according to the preset steering wheel rotation angle, wherein the first image and the second image comprise the same calibration object, or the first image and the second image respectively comprise different calibration objects, and the circular arcs of the deployment positions of the different calibration objects and the running track belong to concentric circular arcs;
or alternatively
The image comprises a third image acquired at a specific position in the running process of the vehicle according to the preset steering wheel rotation angle, the third image comprises a first calibration object and a second calibration object, and the circular arcs of the deployment position of the first calibration object and the deployment position of the second calibration object and the running track belong to concentric circular arcs;
The first calculation module is specifically configured to determine, when the image includes the first image and the second image, an arc length corresponding to an arc where the calibration object in the first image and the calibration object in the second image are located according to first position information of the calibration object in the first image and second position information of the calibration object in the second image; calculating the circle center position of the running track of the vehicle according to the preset steering wheel rotation angle based on the arc length, the first position information and the second position information; if the first image and the second image respectively comprise different calibration objects, any one of the first position information and the second position information comprises position coordinates represented by an image coordinate system, a world coordinate system or a vehicle body coordinate system; or if the first image and the second image comprise the same calibration object, any one of the first position information and the second position information comprises a position coordinate represented by an image coordinate system or a vehicle body coordinate system;
or alternatively
The first calculating module is specifically configured to, when the image includes the first image and the second image, and the position information of the calibration object in the first image and the position information of the calibration object in the second image are respectively represented by using a vehicle body coordinate system, respectively, equal distances between the first position information of the calibration object in the first image and the second position information of the calibration object in the second image and a center position of a driving track in a driving process of the vehicle according to the preset steering wheel rotation angle, and calculate the center position as a first constraint condition; the circle center position is positioned on a connecting line of the centers of the two rear wheels of the vehicle;
Or alternatively
The first calculating module is specifically configured to, when the image includes a third image, and the position information of the first calibration object and the second calibration object in the third image are respectively represented by using a vehicle body coordinate system, respectively equal to the distance between the first position information of the first calibration object and the second position information of the second calibration object in the third image and the center position of the running track in the running process of the vehicle according to the preset steering wheel rotation angle, and calculate the center position as a first constraint condition; the center position of the circle is positioned on a connecting line of the centers of the two rear wheels of the vehicle;
or alternatively
The first calculation module is specifically configured to determine, when the image includes the first image, the second image, and a fourth image acquired during a third distance traveling process of the vehicle according to the preset steering wheel rotation angle, a position where an intersection point of perpendicular bisectors of a straight line where any two of first position information of a calibration object in the first image, second position information of the calibration object in the second image, and third position information of the calibration object in the fourth image are located is located as a center position of a traveling track of the vehicle during the traveling process of the vehicle according to the preset steering wheel rotation angle, where the center position is located on a straight line where a rear axle of the vehicle is located; the first image, the second image and the fourth image comprise the same calibration object, or the first image, the second image and the fourth image respectively comprise different calibration objects, and the circular arcs of the deployment positions of the different calibration objects and the running track belong to concentric circular arcs.
8. The apparatus according to claim 7, wherein:
if the position of the origin of coordinates of the vehicle body coordinate system is the position of the center point of the vehicle, the horizontal direction is the vehicle width direction of the vehicle, and the vertical direction is the vehicle length direction of the vehicle, the first constraint condition is expressed by the following formula:
wherein,represents the abscissa value, < > in said first position information>For the abscissa value in the centre position, +.>For representing the ordinate value in said first position information +.>，/>For the ordinate value in the centre position, +.>For the length of the vehicle, +.>For the rear overhang length of the vehicle, +.>Represents the abscissa value,/in the second position information>Representing an ordinate value in the second position information;
the first determining module is specifically configured to calculate a track radius of a running track of the vehicle in the running process according to the preset steering wheel rotation angle according to a circle center position of the running track if the calibration object in the image is deployed on the running track of the vehicle in the running process according to the preset steering wheel rotation angle;
calculating the wheel rotation angle by taking the ratio of the wheel base of the vehicle to the track radius as a sine value of the wheel rotation angle in the running process of the vehicle according to the preset steering wheel rotation angle as a second constraint condition;
Or alternatively
The first determining module is specifically configured to calculate the wheel rotation angle by using a ratio between a wheelbase of the vehicle and an abscissa value of the center position as a tangent value of the wheel rotation angle in a running process of the vehicle according to the preset steering wheel rotation angle as a third constraint condition;
the apparatus further comprises:
the second acquisition module is used for acquiring steering wheel steering transmission ratios corresponding to a plurality of groups of preset steering wheel rotation angles respectively by repeating the acquisition operation of the wheel rotation angles;
the interpolation module is used for carrying out interpolation processing on the preset steering wheel rotation angle and the steering wheel steering transmission ratio according to the corresponding relation between the preset steering wheel rotation angle and the steering wheel steering transmission ratio to obtain the steering wheel steering transmission ratio relation of the vehicle;
the apparatus further comprises:
the third acquisition module is used for acquiring the pulse number of the wheel pulses generated in the process of driving the vehicle for a fourth distance;
the second calculation module is used for calculating the ratio of the fourth distance to the pulse number to obtain the unit pulse distance of the vehicle;
and the control module is used for controlling the vehicle to park or run based on the steering wheel steering transmission ratio relation of the vehicle and the unit pulse distance.
9. The system is characterized by comprising a computing device, an image acquisition unit and a calibration object; the image acquisition unit is deployed on a vehicle, and the deployment position of the calibration object is determined according to the running path of the vehicle;
the image acquisition unit is used for acquiring images in the running process of the vehicle;
the computing equipment is used for acquiring images acquired in the running process of the vehicle according to the preset steering wheel rotation angle, wherein the images comprise calibration objects; calculating the circle center position of a running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the position information of the calibration object in the image; determining the wheel rotation angle of the vehicle in the running process according to the preset steering wheel rotation angle according to the circle center position of the running track and the vehicle body parameters of the vehicle; determining a steering wheel steering transmission ratio of the vehicle according to the preset steering wheel rotation angle and the wheel rotation angle; the vehicle body parameters of the vehicle comprise wheelbase, wherein the wheelbase refers to the distance from the center of a front wheel to the center of a rear wheel of the vehicle;
the image comprises a first image acquired in the process that the vehicle runs for a first distance according to the preset steering wheel rotation angle and a second image acquired in the process that the vehicle runs for a second distance according to the preset steering wheel rotation angle, wherein the first image and the second image comprise the same calibration object, or the first image and the second image respectively comprise different calibration objects, and the circular arcs of the deployment positions of the different calibration objects and the running track belong to concentric circular arcs;
Or alternatively
The image comprises a third image acquired at a specific position in the running process of the vehicle according to the preset steering wheel rotation angle, the third image comprises a first calibration object and a second calibration object, and the circular arcs of the deployment position of the first calibration object and the deployment position of the second calibration object and the running track belong to concentric circular arcs;
under the condition that the image comprises the first image and the second image, calculating the circle center position of the running track of the vehicle in the running process according to the preset steering wheel rotation angle according to the position information of the calibration object in the image, wherein the method comprises the following steps:
determining arc lengths corresponding to arcs of the calibration objects in the first image and the calibration objects in the second image according to the first position information of the calibration objects in the first image and the second position information of the calibration objects in the second image; calculating the circle center position of the running track of the vehicle according to the preset steering wheel rotation angle based on the arc length, the first position information and the second position information; if the first image and the second image respectively comprise different calibration objects, any one of the first position information and the second position information comprises position coordinates represented by an image coordinate system, a world coordinate system or a vehicle body coordinate system; or if the first image and the second image comprise the same calibration object, any one of the first position information and the second position information comprises a position coordinate represented by an image coordinate system or a vehicle body coordinate system;
Or alternatively
Under the condition that the images comprise the first image and the second image, and the position information of the calibration objects in the first image and the second image are respectively represented by a vehicle body coordinate system, the step of calculating the circle center position of the running track in the running process of the vehicle according to the preset steering wheel rotation angle according to the position information of the calibration objects in the images comprises the following steps:
the first position information of the calibration object in the first image and the second position information of the calibration object in the second image are respectively equal to the distance between the circle center position of the running track in the running process of the vehicle according to the preset steering wheel rotating angle, and the circle center position is calculated as a first constraint condition; the circle center position is positioned on a connecting line of the centers of the two rear wheels of the vehicle;
or alternatively
Under the condition that the images comprise a third image, and the position information of a first calibration object and a second calibration object in the third image are respectively represented by adopting a vehicle body coordinate system, calculating the circle center position of a running track in the running process of the vehicle according to the position information of the calibration object in the image, wherein the circle center position comprises the following steps:
The first position information of the first calibration object and the second position information of the second calibration object in the third image are respectively equal to the distance between the circle center position of the running track in the running process of the vehicle according to the preset steering wheel rotation angle, and the circle center position is calculated as a first constraint condition; the center position of the circle is positioned on a connecting line of the centers of the two rear wheels of the vehicle;
or alternatively
Under the condition that the image comprises the first image, the second image and a fourth image acquired in the process that the vehicle runs a third distance according to the preset steering wheel rotation angle, calculating the circle center position of a running track in the process that the vehicle runs according to the preset steering wheel rotation angle according to the position information of the calibration object in the image, wherein the method comprises the following steps:
determining the position of the intersection point of the perpendicular bisector of the straight line where any two of the first position information of the calibration object in the first image, the second position information of the calibration object in the second image and the third position information of the calibration object in the fourth image is located as the circle center position of the running track of the vehicle in the running process of the vehicle according to the preset steering wheel rotation angle, wherein the circle center position is located on the straight line where the rear axle of the vehicle is located; the first image, the second image and the fourth image comprise the same calibration object, or the first image, the second image and the fourth image respectively comprise different calibration objects, and the circular arcs of the deployment positions of the different calibration objects and the running track belong to concentric circular arcs.
10. A computing device comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;
a memory for storing a computer program;
a processor for carrying out the method steps of any one of claims 1-6 when executing a program stored on a memory.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-6.
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