CN115164713A - Four-wheel positioning method, equipment and medium for intelligent driving automobile - Google Patents
Four-wheel positioning method, equipment and medium for intelligent driving automobile Download PDFInfo
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- CN115164713A CN115164713A CN202210587843.0A CN202210587843A CN115164713A CN 115164713 A CN115164713 A CN 115164713A CN 202210587843 A CN202210587843 A CN 202210587843A CN 115164713 A CN115164713 A CN 115164713A
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- 230000002452 interceptive effect Effects 0.000 claims abstract description 3
- 230000006870 function Effects 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 6
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- 230000003247 decreasing effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
- G01B7/315—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
- G01B2210/10—Wheel alignment
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Abstract
The invention relates to a method, equipment and a medium for positioning four wheels of an intelligent driving automobile, wherein the method comprises the following steps: the method comprises the following steps: determining basic conditions required by the intelligent driving controller to activate the intelligent driving function according to the automobile electrical network architecture and the communication matrix; step two: after entering an intelligent driving mode, according to the integral control logic of the intelligent driving automobile, the environmental information required by the completion of four-wheel positioning and the control logic of a virtual network node are combed out, and all signals and time sequence relations which need to be sent and received by an intelligent driving controller are determined; step three: creating a virtual network node and an operation interface of the intelligent driving controller according to the interactive relation between the intelligent driving steering control logic and the signal combed in the second step; step four: adding a corresponding interface of the external equipment at the automobile end, and connecting the external equipment; step five: four-wheel positioning is realized by controlling the external equipment. The steering gear positioning clamp is convenient and simple to operate, and the work of manufacturing the steering gear positioning clamp and the work of installing the clamp are avoided.
Description
Technical Field
The invention relates to the technical field of automobile four-wheel positioning, in particular to a method, equipment and medium for intelligently positioning four wheels of an automobile.
Background
At present, a part of high-grade intelligent driving automobiles adopt a wire control method for canceling a middle transmission shaft or even an automatic steering method for canceling a steering wheel, four-wheel positioning is a necessary step before the automobiles get off the line, the traditional four-wheel positioning method for adjusting a pull rod by clamping the steering wheel after the automobile body of the automobile is straightened is not suitable for the wire control steering or the steering wheel-free automobiles, whether the accuracy of the four-wheel positioning directly influences the calibration accuracy and the driving safety of an intelligent sensor or not directly influences the four-wheel positioning, and no specific method is provided for supporting the intelligent driving automobiles to perform the four-wheel positioning at present;
the working principle of the traditional four-wheel positioning of the automobile is that a steering wheel is fixed by a specific device, a rack of an automobile steering gear is locked, a steering pull rod is adjusted to realize four-wheel positioning parameter adjustment, a steering wheel and a middle transmission shaft are cancelled in part of intelligent driving of the automobile, the position of a steering gear cannot be guaranteed to be fixed by a traditional method, a specific tool clamp needs to be manufactured at the moment, an input shaft of the steering gear is clamped to guarantee the fixation of the steering gear, but after the whole automobile is assembled, the space above a chassis suspension is small, and the installation position of the fixed clamp is difficult to select. The invention realizes the control of the automobile steering gear based on the intelligent driving automobile whole control logic and completes the four-wheel positioning.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the difficulty that an intelligent automobile with a cancelled steering wheel and a cancelled middle transmission shaft cannot continuously use the traditional method to ensure the fixed position of a steering gear, thereby providing a four-wheel positioning method for an intelligent driving automobile.
A four-wheel positioning method for an intelligent driving automobile comprises the following steps:
the method comprises the following steps: determining basic conditions required by the intelligent driving controller to activate the intelligent driving function according to the automobile electrical network architecture and the communication matrix;
step two: after entering an intelligent driving mode, according to the integral control logic of the intelligent driving automobile, the environmental information required by the completion of four-wheel positioning and the control logic of a virtual network node are combed out, and all signals and time sequence relations which need to be sent and received by an intelligent driving controller are determined;
step three: creating a virtual network node and an operation interface of the intelligent driving controller by using equipment or software according to the interactive relation between the intelligent driving steering control logic and the signal combed in the step two;
step four: adding a corresponding interface of the external equipment at the automobile end, and connecting the external equipment;
step five: four-wheel positioning is realized by controlling the external equipment.
Further, the basic conditions required for activating the intelligent driving function in the first step are as follows: the HAD controller has normal self-checking signals, the HAD controller can correctly receive key signals of a power system, a steering system and a braking system, all the signals are in normal states, and the automatic driving controller receives a signal for entering an automatic driving mode.
Further, the second step is that the HAD controller needs to broadcast a status signal entering the intelligent driving mode, the correlation controller receives the status signal, judges whether the correlation controller can enter a controllable state or not, and feeds the status signal back to the HAD controller, if the correlation controller cannot enter the controllable state, the HAD controller driving mode degrades, applies for manual intervention, if the correlation controller is in a normal state, the HAD controller sends a control signal to the correlation controller according to the driving requirement, the correlation controller receives the control signal and then executes gear switching and steering operation, and the correlation controller comprises a chassis domain controller and a power domain controller.
Further, the chassis domain controller includes: the EPS steering controller, the ESC body stability control system and the IBOOSTER braking power-assisted controller; the power domain controller includes: HCU vehicle control unit, MCU motor controller and BMS battery state controller.
Further, in the third step, the virtual network node sends the control instruction to the EPS steering controller by increasing or decreasing the steering angle step by step, and the signal sending period, the signal address and the verification algorithm information of the virtual network node are consistent with the original node signal.
Further, the operation interface created in the third step includes gear shifting, driving mode adjustment, steering angle and adjustment display functions.
Further, the interface added at the automobile end in the fourth step is in a DB9, USB or internet port form, the HAD controller is adjusted to an off-line state in a manual disconnection or software automatic setting mode, and the virtual network node is connected to the intelligent driving control network in a physical mode.
Further, the external device in the fifth step is an operation panel, and the concrete contents of the fifth step are as follows: the method comprises the steps of adjusting the driving mode of the whole vehicle to an intelligent driving mode, switching the gear to a D gear or an R gear, adjusting and keeping the position of a steering gear at 0 degree step by step through an operation panel, operating the control panel after four wheels are positioned, exiting from the intelligent driving mode, manually or automatically disconnecting a virtual network node, and simultaneously connecting an HAD controller in a physical network.
An electronic device comprising a memory storing a computer program and a processor implementing the steps of the above method when executing the computer program.
A computer readable storage medium storing computer instructions which, when executed by a processor, implement the steps of the above-described method.
The technical scheme of the invention has the following advantages:
1. the invention realizes the control of the automobile steering gear based on the intelligent driving automobile whole control logic, completes the four-wheel positioning, has convenient and simple operation in the whole process, and avoids the work of manufacturing a steering gear positioning clamp and the related work of installing the clamp.
2. The positioning precision is high, and the special use requirement of the intelligent driving automobile can be met.
3. Low cost and high stability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a diagram of an advanced intelligent driving controller control architecture for an intelligent driving vehicle;
FIG. 2 is an automatic steering control logic flow;
FIG. 3 is a general flow chart of a four-wheel positioning method of an intelligent driving automobile;
FIG. 4 is a schematic diagram of the operation of the intelligent driving controller on the automobile;
FIG. 5 is a virtual controller node creation diagram;
FIG. 6 is an operating panel view;
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, the simplified control architecture of the advanced intelligent driving controller of the intelligent driving vehicle is as follows: wherein, gateWay is a GateWay controller, processes and transmits signals needing interaction of each local area control network, and reduces the signal load rate of the whole network while ensuring the accuracy and the simplicity of signal flow; the lower HAD controller is a high-grade automatic auxiliary driving controller and can replace a person to send an operation instruction to each execution controller in an automatic driving mode; left EPS, ESC, IBooster are chassis domain controllers, carry out the order such as braking, turning that the HAD controller sends; and the right HCU, BMS and MCU are power domain controllers and can execute acceleration of the HAD controller and control of torque and power of a driving motor.
Referring to fig. 2, a conventional automobile controls a steering wheel by a driver, and sends a steering instruction to an EPS controller to complete steering operation; in the intelligent driving automobile, a steering instruction is sent out through a high-grade intelligent driving controller, and the specific control logic is as follows: when the automobile is in a D gear or an R gear, controllers such as an EPS controller, an HCU controller and an ESC judge whether a response function mode CAN be entered or not according to the states of the controllers and an external controller, such as whether a check signal is normal or not, whether a counting signal is normal or not, whether a signal sending period is normal or not, and the like, and feed back a response state, the HAD advanced automatic driving assistant controller sends a control command according to environmental information and the current running condition of the automobile, wherein the command comprises a transverse control command and a longitudinal control command, and the signal comprises a steering demand signal, an accelerating demand signal, a braking demand signal and the like sent by the advanced driving controller.
Based on the control logic, the invention sends signals such as a transverse control instruction, a gear switching instruction, necessary state information and the like by simulating nodes of the automatic driving controller to replace actual network nodes, thereby ensuring that the steering angle of the steering gear is controlled to be controllable, and realizing that the steering gear angle is kept at the position of 0 point when four wheels are positioned.
Referring to fig. 3 to 6, a method for locating four wheels of an intelligent driving vehicle includes the following steps:
the method comprises the following steps: determining basic conditions required by the intelligent driving controller to activate the intelligent driving function according to the automobile electrical network architecture and the communication matrix;
step two: after entering an intelligent driving mode, combing out environmental information required for completing four-wheel positioning and control logic of virtual network nodes according to the integral control logic of an intelligent driving automobile, and determining all signals and time sequence relations required to be sent and received by an intelligent driving controller;
step three: according to the interaction relation between the intelligent driving steering control logic and the signals combed in the second step, the intelligent driving steering control logic and the signals are used for simulating the receiving and sending signals of the automatic driving control unit, and a virtual network node and an operation interface of the intelligent driving controller are created by using equipment or software;
step four: adding a corresponding interface of the external equipment at the automobile end, and connecting the external equipment;
step five: four-wheel positioning is realized by controlling the external equipment.
Basic conditions required for activating the intelligent driving function in the first step are as follows: the invention relates to a simulation virtual network node, which comprises an HAD controller, an automatic driving mode judging module, a control module, a power, steering and braking system and an automatic driving mode entering module.
The second step is that the HAD controller needs to broadcast a state signal entering an intelligent driving mode, the correlation controller judges whether the correlation controller can enter a controllable state or not after receiving the state signal, and feeds the state signal back to the HAD controller, if the correlation controller cannot enter the controllable state, the driving mode of the HAD controller is degraded, manual intervention is applied, if the correlation controller is in a normal state, the HAD controller sends a control signal to the correlation controller according to the driving requirement, and the correlation controller executes gear switching and steering operation after receiving the control signal, wherein the correlation controller comprises a chassis domain controller and a power domain controller.
The chassis domain controller includes: the EPS steering controller, the ESC body stability control system and the IBOOSTER braking power-assisted controller; the power domain controller includes: HCU vehicle control unit, MCU motor controller and BMS battery state controller.
And in the third step, the virtual network node sends the control instruction to the EPS steering controller in a manner of increasing or decreasing the steering angle step by step, and the signal sending period, the signal address and the verification algorithm information of the virtual network node are consistent with the original node signal.
The operation interface created in the third step includes, but is not limited to, gear shifting, driving mode adjustment, steering angle and adjustment display function.
In the fourth step, the interface added at the automobile end is in the form of DB9, USB or internet access, the HAD controller can be adjusted to an off-line state in a mode of manual disconnection or automatic software setting, and the virtual network node is connected to the intelligent driving control network in a physical mode.
The external equipment in the fifth step is an operation panel, and the concrete contents of the fifth step are as follows: the method comprises the steps of adjusting the driving mode of the whole vehicle to an intelligent driving mode, switching the gear to a D gear or an R gear, adjusting and keeping the position of a steering gear at 0 degree step by step through an operation panel, operating the control panel after four wheels are positioned, exiting from the intelligent driving mode, manually or automatically disconnecting a virtual network node, and simultaneously connecting an HAD controller in a physical network.
The invention also comprises an electronic device comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of the method when executing the computer program.
The invention also includes a computer readable storage medium for storing computer instructions which, when executed by a processor, implement the steps of the above-described method.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications derived therefrom are intended to be within the scope of the invention.
Claims (10)
1. A four-wheel positioning method for an intelligent driving automobile is characterized by comprising the following steps:
the method comprises the following steps: determining basic conditions required by the intelligent driving controller to activate the intelligent driving function according to the automobile electrical network architecture and the communication matrix;
step two: after entering an intelligent driving mode, according to the integral control logic of the intelligent driving automobile, the environmental information required by the completion of four-wheel positioning and the control logic of a virtual network node are combed out, and all signals and time sequence relations which need to be sent and received by an intelligent driving controller are determined;
step three: creating a virtual network node and an operation interface of the intelligent driving controller by using equipment or software according to the interactive relation between the intelligent driving steering control logic and the signal combed in the step two;
step four: adding a corresponding interface of the external equipment at the automobile end, and connecting the external equipment;
step five: four-wheel positioning is realized by controlling the external equipment.
2. The method according to claim 1, wherein the basic conditions required for activating the smart driving function in the first step are as follows: the HAD controller has normal self-checking signals, the HAD controller can correctly receive key signals of a power system, a steering system and a braking system, all the signals are in normal states, and the automatic driving controller receives a signal for entering an automatic driving mode.
3. The method as claimed in claim 1, wherein the second step is that the HAD controller needs to broadcast the status signal for entering the intelligent driving mode, the associated controller receives the status signal, determines whether it can enter the controllable state, and feeds back the status signal to the HAD controller, if the associated controller cannot enter the controllable state, the driving mode of the HAD controller is degraded, and applies for manual intervention, if the state of the associated controller is normal, the HAD controller will send the control signal to the associated controller according to the driving requirement, and the associated controller receives the control signal and then executes the gear shifting and steering operation, and the associated controller includes a chassis domain controller and a power domain controller.
4. The method of claim 3, wherein the chassis domain controller comprises: the EPS steering controller, the ESC body stability control system and the IBOOSTER braking power-assisted controller; the power domain controller includes: HCU vehicle control unit, MCU motor controller and BMS battery state controller.
5. The method according to claim 4, wherein the virtual network node in step three sends the control command to the EPS steering controller by increasing or decreasing the steering angle step by step, and the signal sending period, the signal address, and the checking algorithm information of the virtual network node are consistent with the original node signal.
6. The method of claim 1, wherein the operation interface created in step three comprises gear shifting, driving mode adjustment, steering angle, and adjustment display functions.
7. The method according to claim 1, wherein the added interface at the vehicle end in the fourth step is in the form of DB9, USB or internet access, the HAD controller is adjusted to an off-line state by means of manual disconnection or automatic software setting, and the virtual network node is physically connected to the intelligent driving control network.
8. The method according to claim 1, wherein the external device in the fifth step is an operation panel, and the specific content of the fifth step is as follows: the method comprises the steps of adjusting the driving mode of the whole vehicle to an intelligent driving mode, switching the gear to a D gear or an R gear, adjusting and keeping the position of a steering gear at 0 degree step by step through an operation panel, operating the control panel after four wheels are positioned, exiting from the intelligent driving mode, manually or automatically disconnecting a virtual network node, and simultaneously connecting an HAD controller in a physical network.
9. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method according to any one of claims 1-8 when executing the computer program.
10. A computer-readable storage medium storing computer instructions, which when executed by a processor implement the steps of the method of any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210587843.0A CN115164713A (en) | 2022-05-27 | 2022-05-27 | Four-wheel positioning method, equipment and medium for intelligent driving automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210587843.0A CN115164713A (en) | 2022-05-27 | 2022-05-27 | Four-wheel positioning method, equipment and medium for intelligent driving automobile |
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| CN115164713A true CN115164713A (en) | 2022-10-11 |
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| CN2341120Y (en) * | 1998-06-29 | 1999-09-29 | 庄添财 | Automatic tester for unbalance of wheel |
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| CN101097175A (en) * | 2006-07-01 | 2008-01-02 | 深圳市元征科技股份有限公司 | Automatic master pin measuring means of automobile wheels orientator |
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| WO2014121546A1 (en) * | 2013-02-07 | 2014-08-14 | 上海一成汽车检测设备科技有限公司 | Single-point clamp of four-wheel aligner for automobile and using method thereof |
| CN105774868A (en) * | 2013-08-27 | 2016-07-20 | 申清章 | Four-wheel folding trailer |
| CN110895413A (en) * | 2018-08-24 | 2020-03-20 | 百度（美国）有限责任公司 | Triggering logic for triggering sensors of an autonomous vehicle for capturing data |
| CN212567308U (en) * | 2020-07-24 | 2021-02-19 | 鄂尔多斯市普渡科技有限公司 | Four-wheel positioning device for unmanned automobile |
-
2022
- 2022-05-27 CN CN202210587843.0A patent/CN115164713A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2341120Y (en) * | 1998-06-29 | 1999-09-29 | 庄添财 | Automatic tester for unbalance of wheel |
| CN101097175A (en) * | 2006-07-01 | 2008-01-02 | 深圳市元征科技股份有限公司 | Automatic master pin measuring means of automobile wheels orientator |
| CN101078935A (en) * | 2007-06-28 | 2007-11-28 | 华南农业大学 | Agricultural machine path tracking control method based on nerve network |
| CN101762396A (en) * | 2009-12-31 | 2010-06-30 | 深圳市元征软件开发有限公司 | System for positioning vehicle wheel and method therefor |
| WO2014121546A1 (en) * | 2013-02-07 | 2014-08-14 | 上海一成汽车检测设备科技有限公司 | Single-point clamp of four-wheel aligner for automobile and using method thereof |
| CN105774868A (en) * | 2013-08-27 | 2016-07-20 | 申清章 | Four-wheel folding trailer |
| CN110895413A (en) * | 2018-08-24 | 2020-03-20 | 百度（美国）有限责任公司 | Triggering logic for triggering sensors of an autonomous vehicle for capturing data |
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