Wheel radius correction method, device, equipment and storage medium

Abstract

The present disclosure relates to a wheel radius correction method, device, equipment and storage medium. The method comprises: when the wheel radius of a first group of wheels of a vehicle is not equal to the wheel radius of a second group of wheels, detecting the average number of rotations of the second group of wheels per rotation of the first group of wheels, one of the first group of wheels and the second group of wheels being the front wheel and the other being the rear wheel, the wheel radius of the second group of wheels being a pre-set wheel radius, determining and correcting the wheel radius of the first group of wheels according to the average number of rotations and the wheel radius of the second group of wheels. Through the above process, the correction method of the wheel radius of the first group of wheels is simple, the calculation amount is small, the correction result can be responded in time, and therefore the driving parameters can be calculated in time and accurately to accurately control the driving state of the vehicle, and the safety of vehicle driving can be well ensured.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control technology, and in particular to a wheel radius correction method, apparatus, device and storage medium. Background Technology

[0002] During vehicle operation, the vehicle can calculate driving parameters using the wheel radius to control its driving state. Therefore, the wheel radius is a key parameter for vehicle control.

[0003] However, under different driving environments or conditions, the radius of some wheels may change. If the vehicle's driving parameters are calculated based on the original wheel radius, the calculated parameters will be inaccurate. To ensure the accuracy of the wheel radius, it is generally corrected to calculate accurate driving parameters. However, existing wheel radius correction methods require complex parameters, resulting in a large computational load and slow response to the correction results. Consequently, it is impossible to calculate driving parameters accurately and promptly to control the vehicle's driving status, thus compromising driving safety. Summary of the Invention

[0004] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this disclosure provides a wheel radius correction method, apparatus, device and storage medium.

[0005] In a first aspect, this disclosure provides a wheel radius correction method, the method comprising:

[0006] When the wheel radius of the first set of wheels of the vehicle is not equal to the wheel radius of the second set of wheels, the average number of rotations of the second set of wheels is detected when the first set of wheels rotates once. One set of the first set of wheels and the second set of wheels are the front wheels and the other set are the rear wheels. The wheel radius of the second set of wheels is a preset wheel radius.

[0007] The wheel radius of the first group of wheels is determined and corrected based on the average number of rotations and the wheel radius of the second group of wheels.

[0008] Secondly, this disclosure provides a wheel radius correction device, the device comprising:

[0009] The average rotation count detection module is used to detect the average number of rotations of the second set of wheels when the wheel radii of the first set of wheels and the second set of wheels are not equal. One set of the first set of wheels and the second set of wheels are the front wheels and the other set are the rear wheels. The wheel radius of the second set of wheels is a preset wheel radius.

[0010] The wheel radius correction module is used to determine and correct the wheel radius of the first group of wheels based on the average number of rotations and the wheel radius of the second group of wheels.

[0011] Thirdly, this disclosure also provides a wheel radius correction device, which includes:

[0012] One or more processors;

[0013] Storage device for storing one or more programs.

[0014] When one or more programs are executed by one or more processors, the one or more processors implement the wheel radius correction method provided in the first aspect.

[0015] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the wheel radius correction method provided in the first aspect.

[0016] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0017] This disclosure discloses a wheel radius correction method, apparatus, device, and storage medium. When the wheel radii of the first set of wheels and the second set of wheels of a vehicle are not equal, it detects the average number of rotations of the second set of wheels per revolution of the first set. One set of wheels is the front wheels, and the other is the rear wheels. The wheel radius of the second set is a preset radius. The wheel radius of the first set is determined and corrected based on the average number of rotations and the wheel radius of the second set. Therefore, by correcting the wheel radius of the first set of wheels solely based on the average number of rotations and the wheel radius of the second set, the correction method is simple, computationally efficient, and can respond promptly to the correction results. This allows for timely and accurate calculation of driving parameters to precisely control the vehicle's driving state, thereby ensuring excellent driving safety. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

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

[0020] Figure 1A schematic diagram of a wheel radius correction provided in this embodiment;

[0021] Figure 2 A schematic flowchart illustrating a wheel radius correction method provided in an embodiment of this disclosure;

[0022] Figure 3 A flowchart illustrating another wheel radius correction method provided in this embodiment of the disclosure;

[0023] Figure 4 A schematic flowchart illustrating yet another wheel radius correction method provided in this disclosure embodiment;

[0024] Figure 5 This is a schematic diagram of the structure of a wheel radius correction device provided in an embodiment of the present disclosure;

[0025] Figure 6 This is a schematic diagram of a wheel radius correction device provided in an embodiment of the present disclosure. Detailed Implementation

[0026] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0027] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0028] During vehicle operation, the vehicle can calculate driving parameters using the wheel radius to control its driving state. Therefore, the wheel radius is a key parameter for vehicle control.

[0029] However, under different driving environments or operating conditions, the radius of some wheels may increase or decrease. If the vehicle's driving parameters are still calculated based on the original wheel radii, the calculated driving parameters will be inaccurate. For example, due to icy weather in winter, when a vehicle is driving on snow-covered roads, it is necessary to install anti-skid devices on the drive wheels to increase the traction of the drive wheels and avoid traffic accidents.

[0030] However, the radius of the drive wheel equipped with anti-skid devices is larger. When the speeds of the drive wheel before and after anti-skid device installation are the same, the rotational speed of the drive wheel with anti-skid device is lower than that of the drive wheel before installation. Therefore, calculating the wheel speed using the rotational speed of the drive wheel with anti-skid device and the radius of the drive wheel before installation will result in an underestimation of the wheel speed. Since the Anti-lock Braking System (ABS) calculates the slip ratio based on the reference speed and wheel speed of each wheel, and the Traction Control System (TCS) calculates the slip ratio based on the reference speed and wheel speed of each wheel, an underestimation of the wheel speed leads to an underestimation of the slip ratio calculated by the ABS, causing the ABS to trigger prematurely. Conversely, an overestimation of the slip ratio calculated by the TCS leads to a delayed triggering of the TCS.

[0031] Optionally, the formula for calculating the slip ratio can be:

[0032]

[0033] Where s1 is the slip ratio, u is the reference speed of each wheel, and u w The wheel speed for each wheel, w includes the rotational speed of the first group of wheels and the rotational speed of the first group of wheels.

[0034] Optionally, the formula for calculating the slip ratio can be:

[0035]

[0036] Where s2 is the slip ratio.

[0037] It is evident that when the ABS and TCS of a vehicle are controlled based on the relatively large radius of the first set of wheels, the control accuracy is low, and both premature ABS triggering and delayed TCS triggering can lead to traffic accidents, reducing the safety of vehicle driving.

[0038] To address the aforementioned issues, existing wheel radius correction methods require the use of complex factors such as wheel speed, yaw rate, and correction factors for correction. This results in a large computational load for the wheel radius correction process, making it difficult to respond to correction results in a timely manner. Consequently, it is also impossible to calculate driving parameters accurately to control the vehicle's driving status, thus failing to adequately guarantee driving safety.

[0039] Therefore, in order to correct the wheel radius and reduce the amount of computation in the wheel radius correction process, this disclosure provides a wheel radius correction method, apparatus, device and storage medium that can accurately and simply correct the wheel radius.

[0040] In this embodiment of the disclosure, the wheel radius correction device may be a chassis domain controller, an electronic stability controller, or other controllers, and no limitation is made herein.

[0041] In this embodiment of the disclosure, the chassis domain controller may be a vehicle domain controller that integrates multiple electronic control units (ECUs) with similar functions.

[0042] Optionally, the chassis domain controller can be used to control the vehicle's service brakes, parking brakes, electronic stability, electronic power steering, and active suspension.

[0043] Among these, service brake control allows the driver to use the foot brake while the vehicle is in motion to slow it down. Parking brake control allows the driver to use the handbrake in case of brake failure, or to use the handbrake after the vehicle has come to a complete stop to prevent it from rolling forward or backward. Electronic stability control is an active safety technology that assists the driver in controlling the vehicle, correcting instability and helping to prevent accidents. Electronic power steering control can directly provide auxiliary torque to the vehicle via an electric motor. Active suspension control can adjust the vehicle's height to balance ride comfort and handling stability.

[0044] In this embodiment of the disclosure, the electronic stability controller may be a controller running an Electronic Stability Program (ESP).

[0045] In this embodiment of the disclosure, the electronic stability controller can utilize electronic stability programs to improve the vehicle's handling performance while preventing the vehicle from losing control when it reaches its dynamic limits, thereby enhancing the vehicle's safety and handling.

[0046] Based on the above description, taking the wheel radius correction device as a chassis domain controller as an example, when the wheel radii of the first group of wheels and the second group of wheels are not equal, the average number of rotations of the second group of wheels is detected when the first group of wheels rotates once. One of the first group of wheels and the second group of wheels is the front wheel, and the other is the rear wheel. The wheel radius of the second group of wheels is a preset wheel radius. Based on the average number of rotations and the wheel radius of the second group of wheels, the wheel radius of the first group of wheels is determined and corrected. Thus, the wheel radius of the first group of wheels is corrected only based on the average number of rotations and the wheel radius of the second group of wheels. This makes the method of correcting the wheel radius of the first group of wheels simple, with low computational load, and can respond to the correction results in a timely manner. Therefore, it can also calculate driving parameters in a timely and accurate manner to accurately control the driving state of the vehicle, thereby ensuring the safety of vehicle driving.

[0047] Figure 1 A schematic diagram of a wheel radius correction system provided in an embodiment of this disclosure is shown.

[0048] like Figure 1 As shown in the diagram, the architecture includes a wheel radius correction device 10, an anti-lock braking system 20, and a traction control device 30.

[0049] In this embodiment, the wheel radius correction device 10 can be a chassis domain controller, an electronic stability controller, or other controllers, and no limitation is made herein.

[0050] In this embodiment of the disclosure, the anti-lock braking device 20 can be a device equipped with ABS.

[0051] In this embodiment of the disclosure, the traction control device 30 can be a device operating with TCS.

[0052] Based on the above architecture, the wheel radius correction device 10 can detect the average number of rotations of the second set of wheels per revolution of the first set of wheels when the wheel radii of the first set of wheels and the second set of wheels are not equal. One set of the first set of wheels and the second set of wheels are the front wheels and the other set are the rear wheels. The wheel radius of the second set of wheels is a preset wheel radius. Based on the average number of rotations and the wheel radius of the second set of wheels, the wheel radius of the first set of wheels is determined and corrected. Then, based on the vehicle's running speed and the actual wheel radius, the actual rotation speed of the first set of wheels is calculated, and based on the vehicle's running speed and the wheel radius of the second set of wheels, the rotation speed of the second set of wheels is calculated. The actual rotation speed of the first set of wheels, the corrected wheel radius of the first set of wheels, and the rotation speed and wheel radius of the second set of wheels are sent to the anti-lock braking system 20 and the traction control system 30. The anti-lock braking system 20 can calculate the actual speed of the first group of wheels based on the actual rotational speed of the first group of wheels and the corrected wheel radius of the first group of wheels. It can also calculate the wheel speed of the second group of wheels based on the rotational speed and wheel radius of the second group of wheels, thus obtaining the wheel speed of each wheel. Furthermore, it can calculate the target slip ratio based on the wheel speed and reference speed of each wheel. The anti-lock braking system 20 sends the target slip ratio to the wheel radius correction device 10, so that the wheel radius correction device 10 uses the target slip ratio as the slip ratio corresponding to the current driving surface and triggers the ABS according to the target slip ratio to control the vehicle operation. The traction control device 30 can calculate the actual speed of the first group of wheels based on the actual rotational speed of the first group of wheels and the corrected wheel radius of the first group of wheels via the TCS. Based on the rotational speed of the second group of wheels and the wheel radius of the second group of wheels, it can calculate the wheel speed of the second group of wheels, thus obtaining the wheel speed of each wheel. Furthermore, based on the wheel speed of each wheel and the reference speed of each wheel, the traction control device 30 calculates the target slip ratio. The traction control device 30 sends the target slip ratio to the wheel radius correction device 10, so that the wheel radius correction device 10 uses the target slip ratio as the slip ratio corresponding to the current driving surface and triggers the TCS according to the target slip ratio to control the vehicle operation.

[0053] Optionally, the first set of wheels may be equipped with anti-skid devices, such that the wheel radius of the first set of wheels is not equal to that of the second set of wheels.

[0054] Therefore, based on the above architecture, after correcting the wheel radius of the first set of wheels, the wheel radius correction device can accurately control the vehicle's ABS and TCS based on the corrected wheel radius of the first set of wheels, improve control accuracy, enable ABS and TCS to be triggered normally, avoid traffic accidents, and improve vehicle driving safety.

[0055] Based on the above architecture, the following will combine... Figures 2-4 The wheel radius correction method provided in this disclosure is described below. In this disclosure, the wheel radius correction method can be executed by a wheel radius correction device. This wheel radius correction device can be a chassis domain controller, an electronic stability controller, or other controllers, and is not limited thereto.

[0056] Figure 2 A schematic flowchart of a wheel radius correction method provided in an embodiment of this disclosure is shown.

[0057] like Figure 2 As shown, the wheel radius correction method may include the following steps.

[0058] S210. When the wheel radius of the first set of wheels of the vehicle is not equal to the wheel radius of the second set of wheels, detect the average number of rotations of the second set of wheels for each rotation of the first set of wheels.

[0059] In this embodiment of the present disclosure, one of the first set of wheels and the second set of wheels is the front wheel and the other is the rear wheel, and the wheel radius of the second set of wheels is a preset wheel radius.

[0060] Specifically, the vehicle can determine in real time whether the wheel radius of the first set of wheels is equal to that of the second set of wheels. If they are not equal, it is determined that the wheel radius of the first set of wheels is not equal to the preset wheel radius and needs to be corrected. Then, the average number of rotations of the second set of wheels is detected when the first set of wheels rotates once, and the wheel radius of the first set of wheels is determined and corrected based on the average number of rotations and the wheel radius of the second set of wheels.

[0061] In this embodiment of the disclosure, the first set of wheels can be driving wheels, and the second set of wheels can be driven wheels. If the first set of wheels is the front wheels and the second set of wheels is the rear wheels, then the front wheels of the vehicle are driving wheels and the rear wheels are driven wheels.

[0062] In this context, the drive wheels can be those used to convert the energy provided by the vehicle's engine into kinetic energy to propel the vehicle; the drive wheels can also output power and torque. The driven wheels can be those that provide support and are driven by the drive wheels.

[0063] In this embodiment, anti-skid devices can be installed on the first set of wheels, such that the wheel radius of the first set of wheels is not equal to the wheel radius of the second set of wheels. The anti-skid device can be any device that provides anti-skid protection for the first set of wheels. Optionally, the anti-skid device can be a snow chain, anti-skid strip, etc., and is not limited thereto.

[0064] In this embodiment of the disclosure, the preset wheel radius can be a pre-set actual wheel radius.

[0065] It is understandable that if the wheel radii of the first set of wheels are not equal to those of the second set of wheels, at the same vehicle speed, the second set of wheels will rotate more or less than one revolution for every revolution of the first set of wheels.

[0066] Specifically, the wheel radius correction device can control the vehicle at a preset speed and record the average number of rotations of the second set of wheels once every time the first set of wheels rotates, so as to correct the wheel radius of the first set of wheels based on the average number of rotations of the second set of wheels.

[0067] S220. Determine and correct the wheel radius of the first group of wheels based on the average number of rotations and the wheel radius of the second group of wheels.

[0068] In this embodiment of the disclosure, S220 may include:

[0069] When the first group of wheels rotates a preset number of times, obtain the average number of rotations of the second group of wheels;

[0070] Multiply the average number of rotations of the second group of wheels by the radius of the second group of wheels;

[0071] The radius of the first set of wheels is determined and corrected by dividing the product by the preset number of rotations.

[0072] The preset number of rotations can be the minimum number of rotations used to correct the wheel radius of the first set of wheels.

[0073] Specifically, when the first group of wheels rotates a preset number of times, the wheel radius correction device multiplies the average number of rotations of the second group of wheels by the wheel radius of the second group of wheels, divides the product by the preset number of rotations, and replaces the wheel radius of the first group of wheels with the quotient to correct the wheel radius of the first group of wheels, thus obtaining the corrected wheel radius of the first group of wheels and completing the wheel radius correction process for the first group of wheels.

[0074] In this embodiment of the disclosure, the first set of wheels may be equipped with anti-skid devices, so the wheel radius of the modified first set of wheels may be the actual radius of the drive wheel equipped with anti-skid chains.

[0075] Optionally, the preset number of rotations can be 3, 4, 5, etc., and there is no restriction here.

[0076] In this embodiment of the disclosure, optionally, when the preset number of rotations is 3, the formula for calculating the wheel radius of the modified first group of wheels can be:

[0077]

[0078] Where R1 can be the corrected wheel radius of the first group of wheels, N can be the average number of rotations of the second group of wheels when the first group of wheels rotates a preset number of times, and R is the wheel radius of the second group of wheels.

[0079] Therefore, in this embodiment of the present disclosure, when the first group of wheels rotates a preset number of revolutions, the average number of revolutions of the second group of wheels is obtained. The average number of revolutions of the second group of wheels is multiplied by the wheel radius of the second group of wheels. The wheel radius of the first group of wheels is determined and corrected based on the quotient of the product divided by the preset number of revolutions. The corrected wheel radius of the first group of wheels is obtained. The obtained quotient is used to replace the wheel radius of the first group of wheels to correct the wheel radius of the first group of wheels. The above method is simple and can accurately correct the wheel radius of the first group of wheels.

[0080] In this embodiment, when the wheel radii of the first set of wheels and the second set of wheels are not equal, the average number of rotations of the second set of wheels per revolution of the first set of wheels can be detected. One set of wheels is the front wheel, and the other is the rear wheel. The wheel radius of the second set of wheels is a pre-set radius. The wheel radius of the first set of wheels is determined and corrected based on the average number of rotations and the wheel radius of the second set of wheels. Therefore, the wheel radius of the first set of wheels is corrected only based on the average number of rotations and the wheel radius of the second set of wheels. This method for correcting the wheel radius of the first set of wheels is simple, computationally efficient, and allows for timely response to correction results. Consequently, driving parameters can be calculated accurately and timely to precisely control the vehicle's driving state, thereby ensuring good driving safety.

[0081] In another embodiment of this disclosure, in order to accurately determine whether the wheel radii of the first set of wheels and the wheel radii of the second set of wheels of a vehicle are equal, the wheel radius correction device can acquire the wheel parameters of the vehicle. The wheel parameters include at least one of the tire pressure of the first set of wheels, the tire pressure of the second set of wheels, the driving gear, the vehicle speed, and the pulsation frequency of the first set of wheels. The device can determine whether the wheel radii of the first set of wheels and the wheel radii of the second set of wheels are equal based on at least one dimension of wheel parameters, so as to correct the wheel radius of the first set of wheels when the wheel radii of the first set of wheels and the wheel radii of the second set of wheels are not equal.

[0082] Figure 3 A schematic flowchart of another wheel radius correction method provided by an embodiment of this disclosure is shown.

[0083] like Figure 3 As shown, the wheel radius correction method may include the following steps.

[0084] S310, Obtain the vehicle's wheel parameters.

[0085] In this embodiment of the disclosure, wheel parameters can be used to characterize the physical and kinematic parameters of the first set of wheels and the second set of wheels.

[0086] Physical parameters can be used to characterize the state data of wheel components. Motion parameters can be used to characterize the motion data of the wheels during vehicle driving.

[0087] Optionally, the wheel components may include tires for the first set of wheels and tires for the second set of wheels, etc.

[0088] Optionally, motion data may include driving gear, vehicle speed, and the pulsation frequency of the first set of wheels, etc., which are not limited here.

[0089] As described above, wheel parameters may include at least one of the following: tire pressure of the first group of wheels, tire pressure of the second group of wheels, driving gear, vehicle speed, and pulsation frequency of the first group of wheels.

[0090] S320. When the wheel parameters meet the wheel radius judgment condition, determine that the wheel radius of the first group of wheels of the vehicle is not equal to the wheel radius of the second group of wheels.

[0091] In this embodiment of the disclosure, in order to accurately determine whether the wheel radius of the first group of wheels is equal to that of the second group of wheels, the wheel radius of the two groups of wheels can be determined based on multiple dimensions of wheel parameters such as the tire pressure of the first group of wheels, the tire pressure of the second group of wheels, the driving gear, the vehicle speed, and the pulsation frequency of the first group of wheels.

[0092] In this embodiment of the disclosure, the wheel radius determination conditions may include the tire pressure of the first group of wheels being within a preset tire pressure range, the driving gear being a preset gear, the vehicle speed being greater than a preset vehicle speed, and the pulsation frequency being an integer multiple of the rotational speed of the first group of wheels.

[0093] The tire pressure of the first set of wheels and the tire pressure of the second set of wheels can be the actual tire pressure of the wheels during vehicle operation.

[0094] The preset tire pressure range can be the normal tire pressure range of the wheels during vehicle operation, and the preset tire pressure range can ensure that the radius of each group of wheels is the same.

[0095] The preset gear can be used to determine whether the radii of two sets of wheels are equal. The preset gear ensures that the vehicle travels a sufficiently long distance within a short period, which is helpful in determining whether the radii of the two sets of wheels are equal. Optionally, the preset gear can be the driving gear (Drive, D).

[0096] The preset speed can be the minimum speed used to determine whether the radii of the two sets of wheels are equal. When the preset speed is high enough, it can ensure that the vehicle's rotational speed is high enough to make the pulsation frequency of the first set of wheels obvious. Optionally, the preset speed can be 20 km / h.

[0097] The pulsation frequency can be defined as the frequency of the speed fluctuation of the first set of wheels during vehicle operation, characterized by a decrease-increase-decrease pattern within a preset time period. Within this preset time period, the difference between the maximum and minimum speeds of the first set of wheels is less than a preset value. Optionally, the preset time period can be 0.05s or other values. The preset value can be 2km / s or other values.

[0098] Taking the first set of wheels equipped with anti-skid devices, and these first set of wheels being drive wheels, as an example, when anti-skid devices are installed on the drive wheels, such as snow chains, the chain length is an integer. During vehicle operation, the speed of the drive wheels experiences instantaneous fluctuations; that is, the speed of the drive wheels fluctuates between decreasing and increasing within a preset time period. The wheel radius correction device can acquire the pulsation frequency of the drive wheels within this preset time period and determine whether the pulsation frequency is an integer multiple of the drive wheel's rotational speed.

[0099] Therefore, in this embodiment of the present disclosure, the wheel radius correction device can determine whether the radii of the two sets of wheels are equal based on at least one dimension of wheel parameters, including tire pressure, driving gear, vehicle speed, and pulsation frequency of the first set of wheels, so as to ensure that the wheel radius of the first set of wheels is corrected when the wheel radius of the first set of wheels is not equal to that of the second set of wheels.

[0100] S330. When the wheel radius of the first set of wheels of the vehicle is not equal to the wheel radius of the second set of wheels, detect the average number of rotations of the second set of wheels for each rotation of the first set of wheels.

[0101] In this embodiment of the present disclosure, one of the first set of wheels and the second set of wheels is the front wheel and the other is the rear wheel, and the wheel radius of the second set of wheels is a preset wheel radius.

[0102] S340. Determine and correct the wheel radius of the first group of wheels based on the average number of rotations and the wheel radius of the second group of wheels.

[0103] S330-S340 are similar to S210-S220 mentioned above, and will not be described in detail here.

[0104] In another embodiment of this disclosure, when it is detected that the wheel radius of the first set of wheels of the vehicle is not equal to the wheel radius of the second set of wheels, it can be determined whether the first set of wheels meets the preset wheel radius correction condition based on the vehicle's driving parameters. The driving parameters may include at least one of driving gear, vehicle speed, accelerator pedal opening, brake pedal opening, steering wheel angle, and obstacle distance. It can be accurately determined whether the first set of wheels meets the preset wheel radius correction condition based on at least one dimension of driving parameters, so that if the first set of wheels meets the preset wheel radius correction condition, the wheel radius of the first set of wheels can be corrected to ensure the reliability of the wheel radius correction.

[0105] Figure 4 A schematic flowchart of another wheel radius correction method provided by an embodiment of this disclosure is shown.

[0106] like Figure 4 As shown, the wheel radius correction method may include the following steps.

[0107] S410. When the wheel radius of the first set of wheels of the vehicle is not equal to the wheel radius of the second set of wheels, obtain the vehicle's driving parameters.

[0108] Specifically, when the vehicle determines that the wheel radius of the first set of wheels is not equal to the wheel radius of the second set of wheels, the vehicle's driving parameters can be obtained to determine whether the wheel radius of the first set of wheels should be corrected.

[0109] In this embodiment of the disclosure, the driving parameters may include the vehicle's physical parameters and motion parameters.

[0110] Physical parameters can be used to characterize the state data of the vehicle's structural components. Motion parameters can be used to characterize the driving data during the vehicle's operation.

[0111] Optionally, structural components may include the vehicle's accelerator pedal, brake pedal, steering wheel, etc. Correspondingly, status data may include the accelerator pedal opening degree, brake pedal opening degree, steering wheel angle, etc.

[0112] Optionally, driving data may include driving gear, vehicle speed, distance to obstacles, etc., which are not limited here.

[0113] As described above, driving parameters may include at least one of the following: driving gear, vehicle speed, accelerator pedal opening, brake pedal opening, steering wheel angle, and obstacle distance.

[0114] In this embodiment of the disclosure, prior to S410, the method may further include:

[0115] Obtain the vehicle's wheel parameters, which include at least one of the following: tire pressure of the first group of wheels, tire pressure of the second group of wheels, driving gear, vehicle speed, and pulsation frequency of the first group of wheels.

[0116] When the wheel parameters meet the wheel radius judgment condition, it is determined that the wheel radius of the first group of wheels of the vehicle is not equal to the wheel radius of the second group of wheels.

[0117] S420: Determine if the driving parameters meet the preset wheel radius correction conditions. If so, execute S430; otherwise, return to execute S410.

[0118] In some embodiments of this disclosure, driving parameters may include driving gear, vehicle speed, accelerator pedal opening, brake pedal opening, steering wheel angle, and obstacle distance.

[0119] Accordingly, S420 may include:

[0120] If the driving gear is a preset gear, the vehicle speed is greater than the preset vehicle speed, the accelerator pedal opening is the first preset opening, the brake pedal opening is the second preset opening, the steering wheel angle is less than the preset angle, and the obstacle distance is greater than the obstacle distance threshold, then the driving parameters are determined to meet the preset wheel radius correction conditions.

[0121] The preset gear can be used to determine whether to correct the wheel radius of the first set of wheels. The preset gear ensures that the vehicle travels a sufficiently long distance within a short period, which is beneficial for the correction process of the wheel radius of the first set of wheels. Optionally, the preset gear can be the driving gear (Drive, D).

[0122] The preset vehicle speed can be the minimum speed used to correct the wheel radius of the first set of wheels. When the preset vehicle speed is high enough, it can ensure that the rotational speed of the first set of wheels is high enough, allowing the wheel radius correction device to correct the wheel radius of the first set of wheels at a higher vehicle speed. Optionally, the preset vehicle speed can be 20 km / h.

[0123] The first preset opening can be the accelerator pedal opening used to determine whether to correct the wheel radius of the first group of wheels. Optionally, the first preset opening can be 0%.

[0124] The second preset opening can be the brake pedal opening used to determine whether to correct the wheel radius of the first group of wheels. Optionally, the second preset opening can also be 0%.

[0125] It should be noted that the first preset opening degree and the second preset opening degree can be the pedal opening degree when the vehicle is coasting, so that the wheel radius of the first set of wheels can be corrected during the vehicle's coasting without affecting the vehicle's driving. Furthermore, setting both the first preset opening degree and the second preset opening degree to 0% ensures that there is no torque on the accelerator pedal and brake pedal, thus preventing the torque on the accelerator pedal and brake pedal from affecting the accuracy of the wheel radius correction of the first set of wheels.

[0126] The preset turning angle can be the maximum turning angle used to correct the wheel radius of the first set of wheels. Optionally, the preset turning angle can be 10°.

[0127] It should be noted that controlling the steering wheel angle to be less than the preset angle can prevent the inner and outer wheel speeds from being inconsistent when the vehicle is turning, which would affect the correction results.

[0128] The obstacle distance threshold can be the minimum obstacle distance used to correct the wheel radius of the first set of wheels.

[0129] In this embodiment of the disclosure, when the vehicle is running, the wheel radius correction device can control the vehicle's radar to detect the distance between the vehicle and the obstacle in real time, and determine whether the obstacle distance is greater than the obstacle distance threshold.

[0130] It is understandable that when the vehicle is running, the obstacle distance threshold can be larger when the vehicle speed is high and smaller when the vehicle speed is low. The obstacle distance threshold can ensure that the vehicle can coast for a long time and ensure driving safety, so as to correct the wheel radius of the first set of wheels when the vehicle is coasting and driving safely.

[0131] In this embodiment of the disclosure, the method for calculating the obstacle distance threshold may include:

[0132] Calculate the difference between the vehicle's speed and the obstacle's speed;

[0133] Calculate the quotient of the preset safety time and the preset value;

[0134] Multiply the difference between the quotient and the speed to obtain the obstacle distance threshold.

[0135] The vehicle speed can be the operating speed of the first set of wheels and the second set of wheels, i.e., the vehicle's operating speed. Optionally, the vehicle speed can be obtained from a vehicle speed calculation device.

[0136] The obstacle can be the vehicle in front or other obstacles that obstruct the vehicle's movement. The obstacle's speed can be its running speed. Optionally, the obstacle's speed can be detected by the vehicle's radar.

[0137] The preset safety time can be the minimum safe time used to calculate the obstacle distance threshold. Optionally, the preset safety time can be 5s, 10s, 20s, etc., and there is no restriction here.

[0138] The preset value can be a pre-set numerical value used to calculate the obstacle distance threshold. Optionally, the preset value can be 3.6, or other values.

[0139] Optionally, when the preset value is 3.6, the formula for calculating the obstacle distance threshold can be:

[0140]

[0141] Where D is the obstacle distance threshold in meters (m); V is the vehicle speed in kilometers per hour (km / h); Vf is the obstacle speed in kilometers per hour (km / h); T is the preset safety time in seconds (s); and 3.6 is the preset value.

[0142] Therefore, in this embodiment of the present disclosure, it is possible to accurately determine whether the first set of wheels meets the preset wheel radius correction conditions based on multiple dimensions of driving parameters such as driving gear, vehicle speed, accelerator pedal opening, brake pedal opening, steering wheel angle, and obstacle distance, so as to ensure the reliability of the wheel radius correction of the first set of wheels. Furthermore, it is possible to calculate the obstacle distance threshold in real time based on the vehicle's operating conditions, so that the wheel radius of the first set of wheels can be corrected under safe driving conditions.

[0143] To avoid the drag resistance from coasting affecting the accuracy of wheel radius correction, after determining that the driving parameters meet the preset wheel radius correction conditions, the method may further include:

[0144] Control the vehicle to cancel the drag resistance during coasting.

[0145] Specifically, after the wheel radius correction device acquires the driving parameters, it determines that the driving parameters meet the preset wheel radius correction conditions, and then controls the vehicle to cancel the anti-drag resistance, so that the wheel radius of the first set of wheels is corrected when the anti-drag resistance is canceled.

[0146] In this embodiment of the disclosure, the anti-drag resistance can be a resistance that provides torque to the wheels when the vehicle engine is not outputting power, in order to prevent the vehicle from sliding forward and thus gradually reduce the vehicle speed.

[0147] Controlling the vehicle to cancel its coasting drag resistance can include:

[0148] Control the vehicle's clutch to disengage, and / or adjust the torque of the vehicle's generator to 0.

[0149] In some embodiments, for fuel-powered vehicles, the wheel radius correction device can generate a request message to cancel the coasting drag resistance and send the request message to an interactive device that is communicatively connected to the wheel radius correction device. The interactive device displays the request message to remind the user to release the clutch. The wheel radius correction device then receives the clutch disengagement operation and, in response to the clutch disengagement operation, controls the vehicle to cancel the coasting drag resistance.

[0150] In other embodiments, for electric vehicles, the wheel radius correction device can directly adjust the torque of the vehicle's generator to 0, controlling the vehicle to eliminate coasting drag.

[0151] Therefore, in this embodiment of the present disclosure, when the wheel radius of the first set of wheels of a vehicle is not equal to the wheel radius of the second set of wheels, and under the condition that the driving parameters meet the preset wheel radius correction conditions, the wheel radius correction device can cancel the anti-drag resistance by human-vehicle interaction for fuel-powered vehicles and cancel the anti-drag resistance by automatic means for electric vehicles, so as to avoid the anti-drag resistance affecting the correction accuracy of the wheel radius of the first set of wheels.

[0152] S430, Detect the average number of rotations of the second group of wheels when the first group of wheels rotates once.

[0153] In this embodiment of the present disclosure, one of the first set of wheels and the second set of wheels is the front wheel and the other is the rear wheel, and the wheel radius of the second set of wheels is a preset wheel radius.

[0154] S440. Determine and correct the wheel radius of the first group of wheels based on the average number of rotations and the wheel radius of the second group of wheels.

[0155] S430-S440 are similar to S210-S220 mentioned above, and will not be described in detail here.

[0156] In another embodiment of this disclosure, after obtaining the corrected wheel radius of the first set of wheels, the wheel radius correction device can correct the speed of the first set of wheels to ensure that the vehicle runs at the true speed. Furthermore, after obtaining the corrected wheel radius of the first set of wheels, the target slip ratio and target slip ratio of the vehicle can be recalculated. The wheel radius correction device can then control the vehicle's operation based on the target slip ratio and target slip ratio to improve the vehicle's control accuracy and thus enhance driving safety. In addition, the wheel radius correction device can restore the anti-drag resistance, allowing the vehicle to slowly decrease its speed using anti-drag resistance when the engine is not providing power. Finally, after obtaining the corrected wheel radius of the first set of wheels, if the vehicle's journey is detected to have ended, the corrected wheel radius of the first set of wheels is cleared, so that the wheel radius of the first set of wheels is readjusted in different operating cycles, ensuring the accuracy of the corrected wheel radius of the first set of wheels in each operating cycle.

[0157] In some embodiments of this disclosure, after determining and correcting the wheel radius of the first group of wheels, the wheel radius correction device can also correct the speed of the first group of wheels based on the corrected wheel radius of the first group of wheels and the rotation speed of the first group of wheels, so as to obtain the corrected speed of the first group of wheels.

[0158] And / or,

[0159] Determine the target slip ratio and target slip ratio of the vehicle corresponding to the first set of wheels after correction, and control the vehicle based on the target slip ratio and the target slip ratio.

[0160] In this embodiment, the rotational speed of the first set of wheels can be the actual rotational speed of the first set of wheels during vehicle operation. The actual rotational speed of the first set of wheels can be calculated based on the vehicle's operating speed and the actual wheel radius.

[0161] For example, the first set of wheels are the vehicle's drive wheels. Anti-slip devices are installed on the drive wheels, which increases the actual wheel radius of the drive wheels. Furthermore, the actual rotational speed of the drive wheels calculated based on the vehicle's running speed and the actual wheel radius is too low.

[0162] In this embodiment of the disclosure, the corrected speed of the first set of wheels can be the actual running speed of the first set of wheels calculated based on the wheel radius and the actual rotational speed of the first set of wheels during vehicle operation.

[0163] Specifically, the corrected radius of the first set of wheels can be multiplied by the actual rotational speed of the first set of wheels, and the product can be used as the actual running speed of the corrected first set of wheels, thus obtaining the speed of the corrected first set of wheels.

[0164] For example, the first set of wheels are the vehicle's drive wheels. Anti-slip devices are installed on the drive wheels, which increases the actual wheel radius of the drive wheels. The actual rotational speed of the drive wheels, calculated based on the vehicle's running speed and the actual wheel radius, is too low. The actual rotational speed of the drive wheels is then multiplied by the corrected wheel radius of the drive wheels, and the product is used as the corrected actual running speed of the first set of wheels, thus obtaining the corrected speed of the first set of wheels.

[0165] Therefore, in this embodiment of the present disclosure, the wheel radius correction device can correct the speed of the first group of wheels based on the corrected wheel radius and the actual rotation speed of the first group of wheels, so as to obtain the corrected speed of the first group of wheels, that is, to obtain the actual running speed of the first group of wheels, so as to ensure that the vehicle runs at the actual speed.

[0166] To ensure the correction accuracy of the first set of wheels, before correcting the speed of the first set of wheels based on the corrected wheel radius and the rotational speed of the first set of wheels, it is also possible to verify whether the corrected wheel radius of the first set of wheels meets the correction accuracy. This ensures that the speed of the first set of wheels is corrected only if the corrected wheel radius meets the correction accuracy.

[0167] For the reasons mentioned above, in this embodiment of the disclosure, before correcting the speed of the first set of wheels based on the corrected wheel radius and rotational speed of the first set of wheels to obtain the corrected speed of the first set of wheels, the following method may also be performed:

[0168] Based on the corrected wheel radius of the first group of wheels and the preset wheel radius, determine the correction difference value of the first group of wheels.

[0169] If the correction difference value of the first group of wheels is less than or equal to the preset difference threshold, the wheel radius of the first group of wheels after correction is determined to meet the correction accuracy.

[0170] The pre-set wheel radius can be the maximum radius used to determine whether the wheel radius of the first set of wheels after correction meets the correction accuracy.

[0171] The correction difference value for the first group of wheels can be the difference or quotient between the corrected wheel radius of the first group of wheels and a preset wheel radius. Correspondingly, the preset difference threshold can be a radius difference threshold or a radius quotient threshold.

[0172] Specifically, after obtaining the corrected wheel radius of the first group of wheels, the wheel radius correction device can calculate the difference or quotient of the radii based on the corrected wheel radius and a pre-set wheel radius. It then determines whether the radius difference is less than or equal to a radius difference threshold, or whether the radius quotient is less than or equal to a radius quotient threshold. If the radius difference is less than or equal to the radius difference threshold, or the radius quotient is less than or equal to the radius quotient threshold, the corrected wheel radius of the first group of wheels is determined to meet the correction accuracy. If the radius difference is greater than the radius difference threshold, or the radius quotient is greater than the radius quotient threshold, the corrected wheel radius of the first group of wheels is determined to not meet the correction accuracy. The wheel radius of the first group of wheels is then corrected again until the corrected wheel radius meets the correction accuracy. Finally, based on the corrected wheel radius and the actual rotational speed of the first group of wheels, the speed of the first group of wheels is corrected to obtain the corrected speed of the first group of wheels.

[0173] Therefore, in this embodiment of the present disclosure, before correcting the speed of the first group of wheels based on the corrected wheel radius and the rotational speed of the first group of wheels, the correction difference value of the first group of wheels can be determined based on the corrected wheel radius and a preset wheel radius. If the correction difference value of the first group of wheels is less than or equal to a preset difference threshold, and the corrected wheel radius of the first group of wheels meets the correction accuracy, the speed of the first group of wheels is corrected based on the corrected wheel radius and the actual rotational speed of the first group of wheels to obtain the corrected speed of the first group of wheels. This ensures the correction accuracy of the speed of the first group of wheels, so as to ensure that the vehicle runs at the actual speed.

[0174] In some embodiments of this disclosure, after determining and correcting the wheel radius of the first group of wheels, the wheel radius correction device may also perform the following operations:

[0175] Determine the target slip ratio and target slip ratio of the vehicle corresponding to the first set of wheels after correction, and control the vehicle based on the target slip ratio and target slip ratio.

[0176] For details, please refer to [link / reference]. Figure 1After obtaining the corrected wheel radius of the first set of wheels, the wheel radius correction device calculates the actual rotational speed of the first set of wheels based on the vehicle's operating speed and the actual wheel radius. It then sends the actual rotational speed and the corrected wheel radius of the first set of wheels to the anti-lock braking system (ABS) 20 and the traction control system (TCS) 30. The ABS 20 calculates a target slip ratio based on the actual rotational speed and corrected wheel radius of the first set of wheels. The ABS 20 sends this target slip ratio to the wheel radius correction device 10, which uses it as the slip ratio corresponding to the current road surface and triggers the ABS to control vehicle movement. Similarly, the traction control system 30 calculates a target slip ratio based on the actual rotational speed and corrected wheel radius of the first set of wheels. The traction control system 30 sends this target slip ratio to the wheel radius correction device 10, which uses it as the slip ratio corresponding to the current road surface and triggers the TCS to control vehicle movement.

[0177] In summary, after obtaining the corrected wheel radius of the first set of wheels, the target slip ratio and target slip ratio of the vehicle can be recalculated. The wheel radius correction device can then control the vehicle's operation based on the target slip ratio and target slip ratio to improve the vehicle's control accuracy and thus enhance the vehicle's driving safety.

[0178] To improve the accuracy of the target slip ratio and target slip ratio calculation, before determining the target slip ratio and target slip ratio, it is also possible to verify whether the wheel radius of the first set of wheels after correction meets the correction accuracy. This ensures that the target slip ratio and target slip ratio can be calculated when the wheel radius of the first set of wheels after correction meets the correction accuracy.

[0179] For the reasons stated above, in this embodiment of the disclosure, before determining the target slip ratio and the target spin ratio, the following may be included:

[0180] Based on the corrected wheel radius of the first group of wheels and the preset wheel radius, determine the correction difference value of the first group of wheels.

[0181] If the correction difference value of the first group of wheels is less than or equal to the preset difference threshold, the wheel radius of the first group of wheels after correction is determined to meet the correction accuracy.

[0182] The pre-set wheel radius can be the maximum radius used to determine whether the wheel radius of the first set of wheels after correction meets the correction accuracy.

[0183] The correction difference value for the first group of wheels can be the difference or quotient between the corrected wheel radius of the first group of wheels and a preset wheel radius. Correspondingly, the preset difference threshold can be a radius difference threshold or a radius quotient threshold.

[0184] Specifically, after obtaining the corrected wheel radius of the first group of wheels, the wheel radius correction device can calculate the difference or quotient of the radii based on the corrected wheel radius of the first group of wheels and a preset wheel radius. It then determines whether the radius difference is less than or equal to a radius difference threshold, or whether the radius quotient is less than or equal to a radius quotient threshold. If the radius difference is less than or equal to the radius difference threshold, or the radius quotient is less than or equal to the radius quotient threshold, the corrected wheel radius of the first group of wheels is determined to meet the correction accuracy. If the radius difference is greater than the radius difference threshold, or the radius quotient is greater than the radius quotient threshold, the corrected wheel radius of the first group of wheels is determined to not meet the correction accuracy. The wheel radius of the first group of wheels is then corrected again until the obtained corrected wheel radius of the first group of wheels meets the correction accuracy. This process is then used to further calculate the vehicle's target slip ratio and target slip rate. The target slip ratio is used as the slip ratio corresponding to the current driving surface, and the target slip rate is used as the slip rate corresponding to the current driving surface. The vehicle operation is then controlled based on the target slip ratio and target slip rate.

[0185] Therefore, in this embodiment of the present disclosure, before determining the target slip ratio and the target slip ratio, the correction difference value of the first group of wheels can be determined based on the corrected wheel radius of the first group of wheels and a preset wheel radius. If the correction difference value of the first group of wheels is less than or equal to a preset difference threshold, and the corrected wheel radius of the first group of wheels meets the correction accuracy, the target slip ratio and the target slip ratio are accurately calculated based on the corrected wheel radius of the first group of wheels, so as to further improve the accuracy of the determination of the target slip ratio and the target slip ratio, and ensure that the vehicle runs at the actual speed.

[0186] In some embodiments of this disclosure, after determining and correcting the wheel radius of the first group of wheels, the wheel radius correction device may further perform the following method:

[0187] Control the vehicle to restore its sliding resistance.

[0188] Controlling the vehicle's ability to regain sliding resistance can include:

[0189] Control the vehicle's clutch engagement and adjust the vehicle's generator torque to a preset torque, and / or adjust the vehicle's generator torque to a preset torque, and control the vehicle to adjust the coasting drag resistance to a preset coasting drag resistance.

[0190] The preset anti-drag resistance can be used to cancel the previous resistance. The preset torque can be used to cancel the previous torque.

[0191] In some embodiments, for fuel-powered vehicles, the wheel radius correction device can generate a request for recovery of coasting drag resistance and send the request to an interactive device that is communicatively connected to the wheel radius correction device. The interactive device displays the request to remind the user to depress the clutch. The wheel radius correction device then receives the clutch engagement operation and, in response to the clutch engagement operation, adjusts the coasting drag resistance to a preset coasting drag resistance, thereby restoring the vehicle's coasting drag resistance.

[0192] In other embodiments, for electric vehicles, the wheel radius correction device can directly adjust the torque of the vehicle's generator to a preset torque, so that the vehicle can restore its coasting drag resistance.

[0193] Therefore, in this embodiment of the present disclosure, after obtaining the corrected wheel radius of the first set of wheels, the wheel radius correction device restores the anti-drag resistance by human-vehicle interaction for fuel-powered vehicles and by automatic means for electric vehicles, so that the vehicle speed can be controlled to decrease slowly by using the anti-drag resistance when the engine does not provide power.

[0194] To ensure that the vehicle's anti-drag resistance is restored while the wheel radius of the first set of wheels meets the correction accuracy, it is possible to verify whether the wheel radius of the corrected first set of wheels meets the correction accuracy before restoring the vehicle's anti-drag resistance. This allows the vehicle's anti-drag resistance to be further restored if the wheel radius of the corrected first set of wheels meets the correction accuracy.

[0195] For the reasons mentioned above, in this embodiment of the disclosure, after determining and correcting the wheel radius of the first set of wheels, and before restoring the vehicle's anti-drag resistance, the following may also be included:

[0196] Based on the corrected wheel radius of the first group of wheels and the preset wheel radius, determine the correction difference value of the first group of wheels.

[0197] If the correction difference value of the first group of wheels is less than or equal to the preset difference threshold, the wheel radius of the first group of wheels after correction is determined to meet the correction accuracy.

[0198] The pre-set wheel radius can be the maximum radius used to determine whether the wheel radius of the first set of wheels after correction meets the correction accuracy.

[0199] The correction difference value for the first group of wheels can be the difference or quotient between the corrected wheel radius of the first group of wheels and a preset wheel radius. Correspondingly, the preset difference threshold can be a radius difference threshold or a radius quotient threshold.

[0200] Specifically, after obtaining the corrected wheel radius of the first group of wheels, the wheel radius correction device can calculate the difference or quotient of the radii based on the corrected wheel radius of the first group of wheels and a preset wheel radius. It then determines whether the radius difference is less than or equal to a radius difference threshold, or whether the radius quotient is less than or equal to a radius quotient threshold. If the radius difference is less than or equal to the radius difference threshold, or the radius quotient is less than or equal to the radius quotient threshold, the corrected wheel radius of the first group of wheels is determined to meet the correction accuracy. If the radius difference is greater than the radius difference threshold, or the radius quotient is greater than the radius quotient threshold, the corrected wheel radius of the first group of wheels is determined to not meet the correction accuracy. The wheel radius of the first group of wheels is then corrected again until the obtained corrected wheel radius of the first group of wheels meets the correction accuracy. This further controls the vehicle's clutch engagement and adjusts the vehicle's generator torque to a preset torque, and / or adjusts the vehicle's generator torque to a preset torque, controlling the vehicle to adjust the coasting anti-drag resistance to a preset coasting anti-drag resistance, thus restoring the vehicle's coasting anti-drag resistance.

[0201] Therefore, in this embodiment of the present disclosure, before restoring the vehicle's anti-drag resistance, the correction difference value of the first group of wheels can be determined based on the wheel radius of the first group of wheels after correction and the preset wheel radius. If the correction difference value of the first group of wheels is less than or equal to the preset difference threshold, and the wheel radius of the first group of wheels after correction meets the correction accuracy, the vehicle's anti-drag resistance is restored, so that the vehicle that meets the correction accuracy can use the anti-drag resistance to control the vehicle speed to decrease slowly when the engine does not provide power.

[0202] In some embodiments of this disclosure, after determining and correcting the wheel radius of the first set of wheels, the method further includes:

[0203] At the end of the vehicle's journey, the wheel radius of the first set of wheels is cleared after correction.

[0204] Specifically, after obtaining the corrected wheel radius of the first set of wheels, the wheel radius correction device does not store the corrected wheel radius of the first set of wheels in the electrically erasable programmable read-only memory (EEPROM). Instead, it clears the corrected wheel radius of the first set of wheels when the vehicle stops running, i.e., after the vehicle is powered off. This allows the vehicle to readjust the wheel radius of the first set of wheels in different operating cycles, ensuring the accuracy of the corrected wheel radius of the first set of wheels in each operating cycle.

[0205] This disclosure also provides a wheel radius correction device for implementing the above-described wheel radius correction method, which is described below in conjunction with... Figure 6 The following description is provided. In this embodiment, the wheel radius correction device can be a wheel radius correction equipment. This equipment may include a chassis domain controller, an electronic stability controller, or other controllers, and is not limited thereto.

[0206] Figure 5 A schematic diagram of a wheel radius correction device provided in an embodiment of this disclosure is shown.

[0207] like Figure 5 As shown, the wheel radius correction device 500 may include an average rotation number detection module 510 and a wheel radius correction module 520.

[0208] The average rotation count detection module 510 can be used to detect the average number of rotations of the second group of wheels when the wheel radius of the first group of wheels is not equal to the wheel radius of the second group of wheels. One of the first group of wheels and the second group of wheels is the front wheel and the other is the rear wheel. The wheel radius of the second group of wheels is a preset wheel radius.

[0209] The wheel radius correction module 520 can be used to determine and correct the wheel radius of the first group of wheels based on the average number of rotations and the wheel radius of the second group of wheels.

[0210] In this embodiment, when the wheel radii of the first set of wheels and the second set of wheels are not equal, the average number of rotations of the second set of wheels per revolution of the first set of wheels can be detected. One set of wheels is the front wheel, and the other is the rear wheel. The wheel radius of the second set of wheels is a pre-set radius. The wheel radius of the first set of wheels is determined and corrected based on the average number of rotations and the wheel radius of the second set of wheels. Therefore, the wheel radius of the first set of wheels is corrected only based on the average number of rotations and the wheel radius of the second set of wheels. This method for correcting the wheel radius of the first set of wheels is simple, computationally efficient, and allows for timely response to correction results. Consequently, driving parameters can be calculated accurately and timely to precisely control the vehicle's driving state, thereby ensuring good driving safety.

[0211] Optionally, the device may also include: a wheel parameter acquisition module and a wheel radius determination module;

[0212] The wheel parameter acquisition module can be used to acquire the wheel parameters of the vehicle. The wheel parameters include at least one of the following: tire pressure of the first group of wheels, tire pressure of the second group of wheels, driving gear, vehicle speed, and pulsation frequency of the first group of wheels.

[0213] The wheel radius determination module can be used to determine that the wheel radii of the first group of wheels and the wheel radii of the second group of wheels of a vehicle are not equal when the wheel parameters meet the wheel radius determination conditions.

[0214] Optionally, wheel parameters include tire pressure of the first set of wheels, tire pressure of the second set of wheels, driving gear, vehicle speed, and pulsation frequency of the first set of wheels.

[0215] The wheel radius determination conditions include the tire pressure of the first group of wheels and the tire pressure of the second group of wheels both being within the preset tire pressure range, the driving gear being the preset gear, the vehicle speed being greater than the preset vehicle speed, and the pulsation frequency being an integer multiple of the rotational speed of the first group of wheels.

[0216] Optionally, the device may also include: a driving parameter acquisition module and a driving parameter judgment module;

[0217] The driving parameter acquisition module can be used to acquire the vehicle's driving parameters, which include at least one of the following: driving gear, vehicle speed, accelerator pedal opening, brake pedal opening, steering wheel angle, and obstacle distance.

[0218] The driving parameter judgment module can be used to determine whether the driving parameters meet the preset wheel radius correction conditions.

[0219] Optional driving parameters include driving gear, vehicle speed, accelerator pedal opening, brake pedal opening, steering wheel angle, and obstacle distance;

[0220] The driving parameter judgment module can also be used to determine if the driving gear is a preset gear, the vehicle speed is greater than the preset vehicle speed, the accelerator pedal opening is a first preset opening, the brake pedal opening is a second preset opening, the steering wheel angle is less than the preset angle, and the obstacle distance is greater than the obstacle distance threshold, then the driving parameters meet the preset wheel radius correction conditions.

[0221] Optionally, the device may also include: an obstacle distance threshold calculation module;

[0222] Among them, the obstacle distance threshold calculation module can be used to calculate the speed difference between the vehicle speed and the obstacle speed;

[0223] Calculate the quotient of the preset safety time and the preset value;

[0224] Multiply the difference between the quotient and the speed to obtain the obstacle distance threshold.

[0225] Optionally, the wheel radius correction module 520 can also be used to obtain the average number of rotations of the second group of wheels when the first group of wheels rotates a preset number of rotations;

[0226] Multiply the average number of rotations of the second group of wheels by the radius of the second group of wheels;

[0227] The radius of the first set of wheels is determined by dividing the product by the preset number of rotations and then corrected.

[0228] Optionally, the device may also include: a sliding anti-drag resistance cancellation module;

[0229] Among them, the coasting anti-drag resistance cancellation module can be used to control the vehicle to cancel the coasting anti-drag resistance.

[0230] Optionally, the device may also include: a speed correction module and a vehicle control module;

[0231] The speed correction module can be used to correct the speed of the first set of wheels based on the wheel radius and rotation speed of the first set of wheels, thus obtaining the corrected speed of the first set of wheels.

[0232] And / or,

[0233] The vehicle control module can be used to determine the target slip ratio and target spin ratio of the vehicle corresponding to the first set of wheels after correction, and control the vehicle based on the target slip ratio and target spin ratio.

[0234] Optionally, the device may also include: a wheel radius clearing module;

[0235] The wheel radius clearing module can be used to clear the wheel radius of the first set of wheels after the vehicle has finished driving.

[0236] It should be noted that, Figure 5 The wheel radius correction device 500 shown can perform... Figures 2 to 4 The various steps in the method embodiment shown are implemented. Figures 2 to 4 The various processes and effects in the method embodiments shown are not elaborated here.

[0237] Figure 6 A schematic diagram of a wheel radius correction device provided in an embodiment of this disclosure is shown.

[0238] like Figure 6 As shown, the wheel radius correction device may include a processor 601 and a memory 602 storing computer program instructions.

[0239] Specifically, the processor 601 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0240] Memory 602 may include a large-capacity storage for information or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway device. In a particular embodiment, memory 602 is a non-volatile solid-state memory. In a particular embodiment, memory 602 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0241] The processor 601 reads and executes computer program instructions stored in the memory 602 to perform the steps of the wheel radius correction method provided in this embodiment of the disclosure.

[0242] In one example, the vehicle may also include a transceiver 603 and a bus 604. Wherein, as... Figure 6 As shown, the processor 601, memory 602 and transceiver 603 are connected via bus 604 and communicate with each other.

[0243] Bus 604 includes hardware, software, or both. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 604 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0244] The following are embodiments of a computer-readable storage medium provided in this disclosure. This computer-readable storage medium belongs to the same inventive concept as the wheel radius correction methods in the above embodiments. For details not described in detail in the embodiments of the computer-readable storage medium, please refer to the embodiments of the wheel radius correction methods described above.

[0245] This embodiment provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a wheel radius correction method, the method comprising:

[0246] When the wheel radius of the first set of wheels of the vehicle is not equal to the wheel radius of the second set of wheels, the average number of rotations of the second set of wheels is detected when the first set of wheels rotates once. One set of the first set of wheels and the second set of wheels are the front wheels and the other set are the rear wheels. The wheel radius of the second set of wheels is a preset wheel radius.

[0247] The wheel radius of the first group of wheels is determined and corrected based on the average number of rotations and the wheel radius of the second group of wheels.

[0248] Of course, the computer-executable instructions provided in the embodiments of this disclosure are not limited to the above-described method operations, but can also perform related operations in the wheel radius correction method provided in any embodiment of this disclosure.

[0249] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this disclosure can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer cloud platform (which may be a personal computer, server, or network cloud platform, etc.) to execute the wheel radius correction method provided in the various embodiments of this disclosure.

[0250] Note that the above description is merely a preferred embodiment and the technical principles employed in this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, it is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of this disclosure, and the scope of this disclosure is determined by the scope of the appended claims.

Claims

1. A method for correcting the radius of a wheel, characterized in that, include: When the wheel radius of the first set of wheels of the vehicle is not equal to the wheel radius of the second set of wheels, the average number of rotations of the second set of wheels is detected when the first set of wheels rotates once. One set of the first set of wheels and the second set of wheels is the front wheel, and the other set is the rear wheel. The wheel radius of the second set of wheels is a preset wheel radius. Based on the average number of rotations and the wheel radius of the second group of wheels, the wheel radius of the first group of wheels is determined and corrected. The first group of wheels is equipped with anti-skid devices, and the corrected wheel radius of the first group of wheels is the wheel radius with the anti-skid devices installed. The corrected wheel radius of the first group of wheels is used to trigger the vehicle's anti-lock braking system and traction control system to control the vehicle's operation.

2. The method according to claim 1, characterized in that, Before detecting the average number of rotations of the second group of wheels per revolution of the first group of wheels, the method further includes: The wheel parameters of the vehicle are obtained, wherein the wheel parameters include at least one of the following: tire pressure of the first group of wheels, tire pressure of the second group of wheels, driving gear, vehicle speed, and pulsation frequency of the first group of wheels. When the wheel parameters meet the wheel radius determination condition, it is determined that the wheel radius of the first group of wheels of the vehicle is not equal to the wheel radius of the second group of wheels.

3. The method according to claim 2, characterized in that, The wheel parameters include the tire pressure of the first group of wheels, the tire pressure of the second group of wheels, the driving gear, the vehicle speed, and the pulsation frequency of the first group of wheels. The wheel radius determination conditions include the tire pressure of the first group of wheels and the tire pressure of the second group of wheels being within a preset tire pressure range, the driving gear being a preset gear, the vehicle speed being greater than a preset vehicle speed, and the pulsation frequency being an integer multiple of the rotational speed of the first group of wheels.

4. The method according to claim 1, characterized in that, Before detecting the average number of rotations of the second group of wheels per revolution of the first group of wheels, the method further includes: The vehicle's driving parameters are obtained, including at least one of the following: driving gear, vehicle speed, accelerator pedal opening, brake pedal opening, steering wheel angle, and obstacle distance. The driving parameters are determined to meet the preset wheel radius correction conditions.

5. The method according to claim 4, characterized in that, The driving parameters include the driving gear, the vehicle speed, the accelerator pedal opening, the brake pedal opening, the steering wheel angle, and the distance to the obstacle; The determination that the driving parameters meet the preset wheel radius correction conditions includes: If the driving gear is a preset gear, the vehicle speed is greater than a preset vehicle speed, the accelerator pedal opening is a first preset opening, the brake pedal opening is a second preset opening, the steering wheel angle is less than a preset angle, and the obstacle distance is greater than an obstacle distance threshold, then the determined driving parameters satisfy the preset wheel radius correction conditions.

6. The method according to claim 5, characterized in that, The method further includes: Calculate the difference between the vehicle's speed and the obstacle's speed; Calculate the quotient of the preset safety time and the preset value; Multiply the quotient by the difference between the speeds to obtain the obstacle distance threshold.

7. The method according to claim 1, characterized in that, The step of determining and correcting the wheel radius of the first group of wheels based on the average number of rotations and the wheel radius of the second group of wheels includes: While the first group of wheels rotates a preset number of times, the average number of rotations of the second group of wheels is obtained; Multiply the average number of rotations of the second group of wheels by the wheel radius of the second group of wheels; The radius of the first set of wheels is determined by dividing the obtained product by the preset number of rotations and then corrected.

8. The method according to claim 4, characterized in that, After determining that the driving parameters meet the preset wheel radius correction conditions, the method further includes: Control the vehicle to cancel the sliding drag resistance.

9. The method according to claim 1, characterized in that, After determining and correcting the wheel radius of the first set of wheels, the method further includes: Based on the corrected wheel radius and rotational speed of the first group of wheels, the speed of the first group of wheels is corrected to obtain the corrected speed of the first group of wheels. And / or, Determine the target slip ratio and target spin ratio of the vehicle corresponding to the first set of wheels after correction, and control the vehicle based on the target slip ratio and the target spin ratio.

10. The method according to claim 1, characterized in that, After determining and correcting the wheel radius of the first set of wheels, the method further includes: When the vehicle finishes driving, the wheel radius of the first set of wheels is cleared after correction.

11. A wheel radius correction device, characterized in that, include: The average rotation count detection module is used to detect the average number of rotations of the second set of wheels when the wheel radii of the first set of wheels and the second set of wheels are not equal. One set of the first set of wheels and the second set of wheels are the front wheels and the other set are the rear wheels. The wheel radius of the second set of wheels is a preset wheel radius. The wheel radius correction module is used to determine and correct the wheel radius of the first group of wheels based on the average number of rotations and the wheel radius of the second group of wheels. The first group of wheels is equipped with anti-skid devices, and the corrected wheel radius of the first group of wheels is the wheel radius with the anti-skid devices installed. The corrected wheel radius of the first group of wheels is used to trigger the vehicle's anti-lock braking system and traction control system to control the vehicle's operation.

12. A wheel radius correction device, characterized in that, include: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the wheel radius correction method as described in any one of claims 1-10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the wheel radius correction method as described in any one of claims 1-10.

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