Tire pressure time control method and device for a multi-wheel vehicle

Abstract

The application discloses a tire air pressure time control method of a multi-wheel automobile, and a process is as follows: calculating a theoretical total step number required by a current time air pressure change of each tire, a minimum theoretical total step number required by the current time air pressure change, a maximum value of the current time air pressure change, a fast and slow change control coefficient of the air pressure change, a first change amount of the change air pressure, an actual total step number required by the current time air pressure change, a minimum actual total step number required by the air pressure change, a total step number actually required to be executed, a current time air pressure change amount, and a current time transient target air pressure, so that the current time transient target air pressure of each tire reaches a time required by each tire to reach a steady state target tire, and the application further discloses a tire air pressure time control device of the multi-wheel automobile. The application solves the problem that air pressures of wheels of a vehicle are not changed at different speeds in a dynamic change process, the air pressures of the wheels cannot reach a set target air pressure at the same time, and can be widely applied to the field of automobile manufacturing.

Description

Technical Field

[0001] This invention relates to automotive engineering, and in particular to a method and apparatus for controlling tire pressure time in multi-wheeled vehicles. Background Technology

[0002] Vehicle configurations can improve driving capability and stability by adjusting tire pressure in real time, protecting wheels, and simultaneously changing the coefficient of friction between the vehicle and the ground. However, during dynamic changes in vehicle tire pressure, the rate of change varies among the tires, causing them to fail to reach the target tire pressure simultaneously. This can lead to significant differences in driving capability between the wheels, resulting in momentary instability. Therefore, ensuring that the tire pressure of each wheel reaches the target pressure simultaneously is a key technology for multi-wheel tire pressure control, but this aspect is not considered in existing technologies. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide a method and device for controlling tire pressure time in multi-wheeled vehicles, which solves the problem that the tire pressure of each wheel changes at different rates during the dynamic change of vehicle tire pressure, resulting in the tire pressure of each wheel not reaching the set target pressure at the same time.

[0004] This invention provides a method for time-based control of tire pressure in multi-wheeled vehicles. The specific process of this method is as follows: Based on the steady-state target tire pressure, the transient target tire pressure at the previous moment, and the maximum allowable change in tire pressure over the task cycle, calculate the theoretical total number of steps required for the current tire pressure change. Based on the theoretical total number of steps required for the current tire pressure change, calculate the minimum theoretical total number of steps required for the current tire pressure change. Based on the minimum theoretical total number of steps required for the current tire pressure change, calculate the maximum theoretical change in tire pressure for each wheel at the current moment. Based on the relative magnitudes of the steady-state target tire pressure and the transient target tire pressure at the previous moment, calculate the rate of change control coefficient for the current tire pressure change. Based on the rate of change control coefficient and the maximum theoretical change in tire pressure for each wheel at the current moment, calculate the first change in tire pressure for each wheel at the current moment. Based on the change in tire pressure for each wheel at the current moment... The first change in tire pressure is calculated by taking the steady-state target tire pressure of each tire and the transient target tire pressure of each tire at the previous moment. Then, the total number of actual steps required for the current tire pressure change is calculated based on the total number of actual steps required for the current tire pressure change. Finally, the total number of steps actually required for the current tire pressure change is calculated based on the minimum number of actual steps required for the current tire pressure change. Based on the total number of steps actually required for the current tire pressure change, the steady-state target tire pressure of each tire, and the transient target tire pressure of each tire at the previous moment, the change in tire pressure of each tire at the current tire pressure is calculated. Finally, the transient target tire pressure of each tire at the current tire pressure change is calculated based on the steady-state target tire pressure of each tire, the transient target tire pressure of each tire at the previous moment, and the change in tire pressure of each tire at the current tire pressure change. This results in the conclusion that the time taken for the transient target tire pressure of each tire to reach the steady-state target tire pressure is equal for all tires, meaning that the consistency of the transient target tire pressure at the current tire pressure meets the requirements of the steady-state target tire pressure.

[0005] In the above technical solution, the step of calculating the theoretical total number of steps required for the current tire pressure change based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the maximum value of the allowable air pressure change during the task cycle of each tire includes calculating the theoretical total number of steps required for the current tire pressure increase based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the maximum value of the increase in the allowable air pressure change during the task cycle of each tire, and calculating the theoretical total number of steps required for the current tire pressure decrease based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the maximum value of the decrease in the allowable air pressure change during the task cycle of each tire. The calculation involves two aspects, and the specific process is as follows: Calculate the theoretical total number of steps required to increase the air pressure of each tire at the current moment: The theoretical total number of steps required to increase the air pressure of each tire at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of that tire at the previous moment, divided by the maximum allowable increase in air pressure during the tire's operational cycle. Calculate the theoretical total number of steps required to decrease the air pressure of each tire at the current moment: The theoretical total number of steps required to decrease the air pressure of each tire at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of that tire at the previous moment, divided by the maximum allowable decrease in air pressure during the tire's operational cycle. The above calculation formulas are: Where: P i —The steady-state target tire pressure of the i-th tire; P(k-1) i —The transient target air pressure of the i-th tire at the previous moment; ΔP(i) upmax —The maximum allowable increase in tire pressure during the i-th tire's operational cycle; ΔP(i) downmax —The maximum allowable decrease in tire pressure during the task cycle for the i-th tire; X(i,k) up —The theoretical total number of steps required to increase the air pressure of the i-th tire at the current moment; X(i,k) down —The theoretical total number of steps required to reduce the air pressure of the i-th tire at the current moment; i —Tire number, i∈[1,n], n is the total number of tires inflated in the vehicle; Furthermore, it can be known that: The step of calculating the minimum theoretical total number of steps required for the change in tire pressure at the current moment based on the theoretical total number of steps required for the change in tire pressure at the current moment includes two aspects: calculating the minimum theoretical total number of steps required for the increase in tire pressure at the current moment based on the theoretical total number of steps required for the increase in tire pressure at the current moment, and calculating the minimum theoretical total number of steps required for the decrease in tire pressure at the current moment based on the theoretical total number of steps required for the decrease in tire pressure at the current moment. The specific process is as follows: Minimum theoretical total number of steps required for the increase in tire pressure at the current moment: The minimum theoretical total number of steps required for the increase in tire pressure at the current moment is equal to the maximum theoretical total number of steps required for the increase in tire pressure at the current moment among tires whose steady-state target tire pressure is greater than or equal to their transient target tire pressure at the previous moment; Minimum theoretical total number of steps required for the increase in tire pressure at the current moment: The minimum theoretical total number of steps required for the decrease in tire pressure at the current moment is equal to the maximum theoretical total number of steps required for the decrease in tire pressure at the current moment among tires whose steady-state target tire pressure is less than their transient target tire pressure at the previous moment; The above calculation formula is: Where: X(k) upmax —The minimum theoretical total number of steps required for the air pressure to increase at the current moment; X(k) downmax —The minimum theoretical total number of steps required for the air pressure to decrease at the current moment; further, it can be known that:

[0006] In the above technical solution, the step of calculating the maximum theoretical change in air pressure for each tire based on the minimum theoretical total number of steps required for the change in air pressure at the current moment includes two aspects: calculating the maximum theoretical increase in air pressure for each tire based on the minimum theoretical total number of steps required for the increase in air pressure at the current moment, and calculating the maximum theoretical decrease in air pressure for each tire based on the minimum theoretical total number of steps required for the decrease in air pressure at the current moment. The specific process is as follows: Calculating the maximum theoretical increase in air pressure for each tire at the current moment: The maximum theoretical increase in air pressure for each tire at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of the tire at the previous moment, divided by the minimum theoretical total number of steps required for the increase in air pressure at the current moment; Calculating the maximum theoretical decrease in air pressure for each tire at the current moment: The maximum theoretical decrease in air pressure for each tire at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of the tire at the previous moment, divided by the minimum theoretical total number of steps required for the air pressure to decrease at the current moment; The above calculation formulas are: Where: ΔP(i,k) upmax —The maximum theoretical increase in tire pressure of the i-th tire at the current moment; ΔP(i,k) downmax —The maximum theoretical decrease in tire pressure at the current moment; further, based on the steps to calculate the minimum theoretical total number of steps required for the current tire pressure change, we can see that: Furthermore, based on the theoretical total number of steps required to calculate the current tire pressure change at each moment, using the steady-state target tire pressure, the transient target tire pressure at the previous moment, and the maximum allowable tire pressure change during the task cycle, it can be seen that:

[0007] In the above technical solution, the step of calculating the rate of change control coefficient of air pressure change for each tire at the current moment based on the relative magnitudes of the steady-state target air pressure and the transient target air pressure of each tire at the previous moment includes two aspects: calculating the rate of increase control coefficient of air pressure at the current moment for each tire based on the relative magnitudes of the steady-state target air pressure and the transient target air pressure of each tire at the previous moment, and calculating the rate of decrease control coefficient of air pressure at the current moment for each tire based on the relative magnitudes of the steady-state target air pressure and the transient target air pressure of each tire at the previous moment. The specific process is as follows: Calculate the rate of increase control coefficient of air pressure at the current moment for each tire: The rate of increase control coefficient of air pressure at the current moment for each tire is equal to the rate of decrease control coefficient of air pressure at the current moment for each tire based on the relative magnitudes of the steady-state target air pressure and the transient target air pressure of each tire at the previous moment. For tires with air pressure greater than or equal to their previous instantaneous target air pressure, the absolute value of the difference between the steady-state target air pressure and the previous instantaneous target air pressure of each tire is divided by the sum of the absolute values ​​of these differences. The control coefficient for the rate of air pressure decrease at the current moment for each tire is calculated as follows: For tires with steady-state target air pressure less than their previous instantaneous target air pressure, the absolute value of the difference between the steady-state target air pressure and the previous instantaneous target air pressure of each tire is divided by the sum of these absolute values. The above calculation formula is:

[0008] Where: β1(i,k) up —The control coefficient for the rate of increase in tire pressure at the current moment for the i-th tire; β1(i,k) down —The control coefficient for the rate of decrease in tire pressure at the current moment; further, it can be known that:

[0009] β1(i,k) up ≤1; β1(i,k) down ≤1.

[0010] In the above technical solution, the step of calculating the first change in air pressure at the current moment of each round based on the control coefficient for the rate of change of air pressure at the current moment and the maximum theoretical change in air pressure at the current moment includes two aspects: calculating the first change in air pressure at the current moment based on the control coefficient for the rate of increase of air pressure at the current moment and the maximum theoretical increase in air pressure at the current moment; and calculating the first change in air pressure at the current moment based on the control coefficient for the rate of decrease of air pressure at the current moment and the maximum theoretical decrease in air pressure at the current moment. The specific process is as follows: Calculating the first change in air pressure at the current moment: The first change in air pressure at the current moment is equal to the control coefficient for the rate of increase of air pressure at the current moment multiplied by the maximum theoretical increase in air pressure at the current moment; Calculating the first change in air pressure at the current moment: The first change in air pressure at the current moment is equal to the control coefficient for the rate of decrease of air pressure at the current moment multiplied by the maximum theoretical decrease in air pressure at the current moment; The above calculation formulas are: Where: ΔP1(i,k) up —The first change in tire pressure at the current moment for the i-th tire; ΔP1(i,k) down —The i-th tire's pressure is reduced by the first change amount at the current moment; furthermore, based on the steps of calculating the control coefficient for the rate of change of pressure change of each tire at the current moment, which is based on the relative magnitudes of the steady-state target pressure and the transient target pressure of each tire at the previous moment, it can be seen that: Furthermore, based on the steps for calculating the maximum theoretical pressure change at the current moment for each round, according to the minimum theoretical total number of steps required for the current pressure change, we can conclude that: The steps for calculating the total number of actual steps required to increase the tire pressure at the current moment based on the first change in tire pressure at the current moment, the steady-state target tire pressure at the current moment, and the transient target tire pressure at the previous moment include two aspects: calculating the total number of actual steps required to increase the tire pressure at the current moment based on the first change in tire pressure at the current moment, the steady-state target tire pressure at the current moment, and the transient target tire pressure at the previous moment; and calculating the total number of actual steps required to decrease the tire pressure at the current moment based on the first change in tire pressure at the current moment, the steady-state target tire pressure at the current moment, and the transient target tire pressure at the previous moment. The specific process is as follows: Calculate the total number of actual steps required to increase the air pressure of each tire at the current moment: The total number of actual steps required to increase the air pressure of each tire at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of the tire at the previous moment, divided by the first change in air pressure at the current moment; Calculate the total number of actual steps required to decrease the air pressure of each tire at the current moment: The total number of actual steps required to decrease the air pressure of each tire at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of the tire at the previous moment, divided by the first change in air pressure at the current moment; The above calculation formulas are: Where: X1(i,k)up —The actual total number of steps required to increase the air pressure of the i-th tire at the current moment; X1(i,k) d0wn — The actual total number of steps required for the air pressure of the i-th tire to decrease at the current moment.

[0011] In the above technical solution, the step of calculating the minimum actual total number of steps required for the change in tire pressure at the current moment based on the actual total number of steps required for the change in tire pressure at the current moment includes two aspects: calculating the minimum actual total number of steps required for the increase in tire pressure at the current moment based on the actual total number of steps required for the increase in tire pressure at the current moment, and calculating the minimum actual total number of steps required for the decrease in tire pressure at the current moment based on the actual total number of steps required for the decrease in tire pressure at the current moment. The specific process is as follows: Calculating the minimum actual total number of steps required for the increase in tire pressure at the current moment: The minimum actual total number of steps required for the increase in tire pressure at the current moment is equal to the maximum value of the actual total number of steps required for the increase in tire pressure at the current moment among tires whose steady-state target tire pressure is greater than or equal to their transient target tire pressure at the previous moment; Calculating the minimum actual total number of steps required for the decrease in tire pressure at the current moment: The minimum actual total number of steps required for the decrease in tire pressure at the current moment is equal to the maximum value of the actual total number of steps required for the decrease in tire pressure at the current moment among tires whose steady-state target tire pressure is less than their transient target tire pressure at the previous moment; The above calculation formula is: Where: X1(k) upmax —The minimum total number of actual steps required for the air pressure to increase at the current moment; X1(k) downmax —The minimum actual total number of steps required for the air pressure to decrease at the current moment.

[0012] In the above technical solution, the step of calculating the total number of steps actually required at the current moment based on the minimum actual total number of steps required for the change in air pressure at the current moment is based on the minimum actual total number of steps required for the increase in air pressure at the current moment and the minimum actual total number of steps required for the decrease in air pressure at the current moment. The specific process is as follows: the total number of steps actually required at the current moment is equal to the larger of the minimum actual total number of steps required for the increase in air pressure at the current moment and the minimum actual total number of steps required for the decrease in air pressure at the current moment. The calculation formula is: X1(k) downupmax =max(X1(k)) upmin , X1(k) downmin )

[0013] Where: X1(k) downupmax —The total number of steps that actually need to be executed at the current moment.

[0014] In the above technical solution, the specific process of calculating the pressure change of each tire at the current moment based on the total number of steps actually to be executed, the steady-state target air pressure of each tire, and the transient target air pressure of each tire at the previous moment is as follows: The pressure change of each tire at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of its tire at the previous moment, divided by the total number of steps actually to be executed at the current moment, that is: Where: ΔP1(i, k) updown —The change in tire pressure of the i-th tire at the current moment; further, by combining the minimum actual total number of steps required based on the current tire pressure change, we can calculate the total number of steps that actually need to be executed at the current moment: Furthermore, by combining the steps for calculating the minimum total number of actual steps required to change the tire pressure at the current moment based on the total number of actual steps required for the current tire pressure change, we can conclude that: Furthermore, combining this step with the calculation of the pressure change of each tire at the current moment based on the total number of steps actually required at the current moment, the steady-state target air pressure of each tire, and the transient target air pressure of each tire at the previous moment, we can conclude that: Furthermore, it can be simplified to: Furthermore, based on the control coefficients for the rate of change of air pressure at the current moment of each round and the maximum theoretical change of air pressure at the current moment of each round, the steps for calculating the first change of air pressure at the current moment of each round can be summarized as follows: That is, for tires whose steady-state target air pressure is greater than or equal to their previous instantaneous target air pressure, the change in air pressure at the current moment is less than or equal to the maximum increase in the tire's allowable air pressure during the working cycle; for tires whose steady-state target air pressure is less than their previous instantaneous target air pressure, the change in air pressure at the current moment is less than or equal to the maximum decrease in the tire's allowable air pressure during the working cycle.

[0015] In the above technical solution, the specific process of calculating the current transient target air pressure of each tire based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the air pressure change of each tire at the current moment is as follows: If the steady-state target air pressure of each tire is greater than or equal to the transient target air pressure of the tire at the previous moment: then the current transient target air pressure of the tire is equal to the transient target air pressure of the tire at the previous moment plus the air pressure change of the tire at the current moment; If the steady-state target air pressure of each tire is less than the transient target air pressure of the tire at the previous moment: then the current transient target air pressure of the tire is equal to the transient target air pressure of the tire at the previous moment minus the air pressure change of the tire at the current moment; the above calculation formula is:

[0016] Where: P(k) i—The transient target air pressure of the i-th tire at the current moment; further, update the transient target air pressure of each tire at the previous moment to the transient target air pressure of each tire at the current moment, i.e., P(k-1). i =P(k) i Furthermore, after multiple iterations, the transient target air pressure of each tire at the current moment is equal to the steady-state target air pressure of each tire, i.e., P(k). i =P i Furthermore, it can be seen that the time taken for the transient target tire pressure at the current moment to equal the steady-state target tire pressure is: time(i) updown —The transient target air pressure at the current moment is equal to the time taken for each tire to reach its steady-state target air pressure; Δt — task cycle; further, combining the steps for calculating the air pressure change of each tire at the current moment based on the total number of steps actually to be executed at the current moment, the steady-state target air pressure of each tire, and the transient target air pressure of each tire at the previous moment, we can know that: Furthermore, this can be simplified to: for i∈[1, n], time(i) is satisfied. updown =X1(k) downupmax *Δt; indicates that the time taken for each tire to reach its steady-state target pressure at the current moment is equal, meaning that the consistency of the tire's current instantaneous target pressure meets the requirements of the tire's steady-state target pressure.

[0017] The present invention also provides a tire pressure timing control device for multi-wheeled vehicles, which has a computer program that can execute a tire pressure timing control method for multi-wheeled vehicles.

[0018] The tire pressure time control method and device for multi-wheeled vehicles of the present invention have the following beneficial effects:

[0019] 1. The time taken for each tire to reach its steady-state target tire pressure at the current moment is the same, which means that the instantaneous target tire pressure at the current moment is consistent, thus achieving the steady-state target tire pressure. This avoids the problem of inconsistent tire pressure changes leading to different times of reaching the steady-state target tire pressure.

[0020] 2. For tires whose steady-state target pressure is greater than or equal to their previous instantaneous target pressure, the current pressure change is less than or equal to the maximum allowable increase in pressure over the tire's operating cycle. For tires whose steady-state target pressure is less than their previous instantaneous target pressure, the current pressure change is less than or equal to the maximum allowable decrease in pressure over the tire's operating cycle. This avoids the problem of tires operating beyond their capacity due to excessive pressure changes, which could lead to drastic tire damage. Attached Figure Description

[0021] Figure 1This is a schematic diagram illustrating the overall concept of the multi-wheeled vehicle tire pressure time control method of the present invention;

[0022] Figure 2 This is a schematic diagram illustrating the specific steps of the tire pressure time control method for multi-wheeled vehicles according to the present invention;

[0023] Figure 3 This is a schematic diagram of the tire pressure time control device for multi-wheeled vehicles according to the present invention. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, but these embodiments should not be construed as limiting the present invention.

[0025] See Figure 1 The present invention relates to a method for controlling tire pressure and time in multi-wheeled vehicles. The overall idea of ​​this method is as follows:

[0026] Based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the maximum allowable air pressure variation during the task cycle of each tire, calculate the theoretical total number of steps required for the current air pressure change of each tire. Based on the theoretical total number of steps required for the current air pressure change of each tire, calculate the minimum theoretical total number of steps required for the current air pressure change. Based on the minimum theoretical total number of steps required for the current air pressure change, calculate the maximum theoretical air pressure variation of each tire at the current moment. Based on the relative magnitudes of the steady-state target air pressure and the transient target air pressure of each tire at the previous moment, calculate the rate of change control coefficient for the current air pressure change of each tire. Based on the rate of change control coefficient for the current air pressure change of each tire and the maximum theoretical air pressure variation of each tire at the current moment, calculate the first change in air pressure of each tire at the current moment. Based on the first change in air pressure of each tire at the current moment, calculate the steady-state target air pressure of each tire. The calculation process involves: calculating the total number of actual steps required for the current tire pressure change based on the previous instantaneous target tire pressure; calculating the minimum total number of actual steps required for the current tire pressure change based on the previous instantaneous target tire pressure; calculating the total number of actual steps required for the current tire pressure change based on the minimum total number of actual steps required for the current tire pressure change; calculating the current tire pressure change based on the current tire pressure change, the steady-state target tire pressure, and the previous instantaneous target tire pressure; and finally, calculating the current instantaneous target tire pressure based on the previous instantaneous target tire pressure and the current tire pressure change. This demonstrates that the time taken for each tire to reach its current instantaneous target tire pressure to reach its steady-state target tire pressure is equal, indicating that the current instantaneous target tire pressure consistently reaches the tire's steady-state target.

[0027] See Figure 2 The specific steps of the multi-wheeled vehicle tire pressure time control method of the present invention are as follows:

[0028] Step 1: Based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the maximum allowable increase in air pressure within the task cycle of each tire, calculate the theoretical total number of steps required to increase the air pressure of each tire at the current moment; based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the maximum allowable decrease in air pressure within the task cycle of each tire, calculate the theoretical total number of steps required to decrease the air pressure of each tire at the current moment.

[0029] Calculate the theoretical total number of steps required for the air pressure of each tire to increase at the current moment: The theoretical total number of steps required for the air pressure of each tire to increase at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of that tire at the previous moment, divided by the maximum value of the allowable air pressure increase during the task cycle of that tire;

[0030] Calculate the theoretical total number of steps required for the air pressure of each tire to decrease at the current moment: The theoretical total number of steps required for the air pressure of each tire to decrease at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of the tire at the previous moment, divided by the maximum value of the allowable air pressure decrease during the task cycle of that tire.

[0031] The above calculation formula is:

[0032]

[0033] Where: P i —The steady-state target tire pressure of the i-th tire; P(k-1) i —The transient target air pressure of the i-th tire at the previous moment; ΔP(i) upmax —The maximum allowable increase in tire pressure during the i-th tire's operational cycle; ΔP(i) downmax —The maximum allowable decrease in tire pressure during the task cycle for the i-th tire; X(i,k) up —The theoretical total number of steps required to increase the air pressure of the i-th tire at the current moment; X(i,k) down — The theoretical total number of steps required to reduce the air pressure of the i-th tire at the current moment; i — Tire number, i∈[1,n], n is the total number of tires in the vehicle.

[0034] Furthermore, it can be seen that:

[0035]

[0036] Step 2: Calculate the minimum theoretical total number of steps required to increase tire pressure at the current moment based on the theoretical total number of steps required to increase tire pressure at the current moment; calculate the minimum theoretical total number of steps required to decrease tire pressure at the current moment based on the theoretical total number of steps required to decrease tire pressure at the current moment.

[0037] The minimum theoretical total number of steps required to increase tire pressure at the previous moment is equal to the maximum theoretical total number of steps required to increase tire pressure at the current moment among tires whose steady-state target tire pressure is greater than or equal to their transient target tire pressure at the previous moment.

[0038] The minimum theoretical total number of steps required to reduce tire pressure at the previous moment is equal to the maximum theoretical total number of steps required to reduce tire pressure at the current moment among tires whose steady-state target tire pressure is less than their transient target tire pressure at the previous moment.

[0039] The above calculation formula is:

[0040]

[0041] Where: X(k) upmax —The minimum theoretical total number of steps required for the air pressure to increase at the current moment; X(k) downmax —The minimum theoretical total number of steps required for the air pressure to decrease at the current moment.

[0042] Furthermore, it can be seen that:

[0043]

[0044] Step 3: Calculate the maximum theoretical increase in air pressure at the current moment for each round based on the minimum theoretical total number of steps required for the air pressure to increase at the current moment; calculate the maximum theoretical increase and decrease in air pressure at the current moment for each round based on the minimum theoretical total number of steps required for the air pressure to decrease at the current moment.

[0045] The maximum theoretical increase in tire pressure at the current moment is equal to the absolute value of the difference between the steady-state target tire pressure and the transient target tire pressure at the previous moment, divided by the minimum theoretical total number of steps required to increase the tire pressure at the current moment.

[0046] The maximum theoretical decrease in tire pressure at the current moment is equal to the absolute value of the difference between the steady-state target tire pressure and the transient target tire pressure at the previous moment, divided by the minimum theoretical total number of steps required for the current tire pressure to be smaller.

[0047] The above calculation formula is:

[0048]

[0049] Where: ΔP(i, k) upmax —The maximum theoretical increase in tire pressure of the i-th tire at the current moment; ΔP(i, k) downmax —The maximum theoretical decrease in tire pressure at the current moment for the i-th tire;

[0050] Furthermore, according to step 2:

[0051]

[0052] Furthermore, according to step 1:

[0053]

[0054] Step 4: Calculate the control coefficient for the rate of increase of air pressure in each tire at the current moment based on the relative magnitude of the steady-state target air pressure and the transient target air pressure of each tire at the previous moment; calculate the control coefficient for the rate of decrease of air pressure in each tire at the current moment based on the relative magnitude of the steady-state target air pressure and the transient target air pressure of each tire at the previous moment.

[0055] The control coefficient for the rate of increase of tire pressure at the current moment is equal to the sum of the absolute values ​​of the difference between the steady-state target tire pressure and the instantaneous target tire pressure at the previous moment for tires whose steady-state target tire pressure is greater than or equal to their instantaneous target tire pressure at the previous moment, divided by the sum of the absolute values ​​of the difference between the steady-state target tire pressure and the instantaneous target tire pressure at the previous moment.

[0056] The control coefficient for the rate of decrease in tire pressure at the current moment is equal to the sum of the absolute values ​​of the difference between the steady-state target tire pressure and the instantaneous target tire pressure at the previous moment for tires where the steady-state target tire pressure is lower than the instantaneous target tire pressure at the previous moment, divided by the sum of the absolute values ​​of the difference between the steady-state target tire pressure and the instantaneous target tire pressure at the previous moment.

[0057] The above calculation formula is:

[0058]

[0059] Where: β1(i, k) up — The control coefficient for the rate of increase in tire pressure at the current moment for the i-th tire; β1(i,k) down —Control coefficient for the rate of decrease in tire pressure at the current moment;

[0060] Furthermore, we know that: β1(i, k) up ≤1; β1(i,k) down ≤1.

[0061] Step 5: Calculate the first change in air pressure at the current moment of each round based on the control coefficient for the rate of increase of air pressure at the current moment of each round and the maximum theoretical increase of air pressure at the current moment of each round; calculate the first change in air pressure at the current moment of each round based on the control coefficient for the rate of decrease of air pressure at the current moment of each round and the maximum theoretical decrease of air pressure at the current moment of each round.

[0062] The first change in air pressure at the current moment of each round is equal to the control coefficient of the rate of increase in air pressure at the current moment of each round multiplied by the maximum theoretical increase in air pressure at the current moment;

[0063] The first change in air pressure at the current moment of each round is equal to the control coefficient for the rate of decrease in air pressure at the current moment of each round multiplied by the theoretical maximum decrease in air pressure at the current moment.

[0064] The above calculation formula is:

[0065]

[0066] Where: ΔP1(i, k) up —The first change in tire pressure at the current moment for the i-th tire; ΔP1(i,k) down —The first change in tire pressure at the current moment;

[0067] Furthermore, according to step 4:

[0068]

[0069] Furthermore, according to step 3:

[0070]

[0071] Step 6: Calculate the total number of steps required to increase the air pressure of each tire at the current moment based on the first change in air pressure of each tire at the current moment, the steady-state target air pressure of each tire, and the transient target air pressure of each tire at the previous moment; calculate the total number of steps required to decrease the air pressure of each tire at the current moment based on the first change in air pressure of each tire at the current moment, the steady-state target air pressure of each tire, and the transient target air pressure of each tire at the previous moment.

[0072] The total number of steps required to increase the tire pressure at the current moment is equal to the absolute value of the difference between the steady-state target tire pressure and the transient target tire pressure at the previous moment, divided by the first change in tire pressure at the current moment.

[0073] The total number of steps required to reduce the tire pressure at the current moment is equal to the absolute value of the difference between the steady-state target tire pressure and the transient target tire pressure at the previous moment, divided by the first change in tire pressure at the current moment.

[0074] The above calculation formula is:

[0075]

[0076] Where: X1(i, k) up —The actual total number of steps required to increase the air pressure of the i-th tire at the current moment; X1(i, k) down — The actual total number of steps required for the air pressure of the i-th tire to decrease at the current moment.

[0077] Step 7: Calculate the minimum total number of actual steps required to increase tire pressure at the current moment, based on the total number of actual steps required to increase tire pressure at the current moment, and calculate the minimum total number of actual steps required to decrease tire pressure at the current moment, based on the total number of actual steps required to decrease tire pressure at the current moment.

[0078] The minimum total number of actual steps required to increase tire pressure at the current moment is equal to the maximum total number of actual steps required to increase tire pressure at the current moment among the tires whose steady-state target tire pressure is greater than or equal to their transient target tire pressure at the previous moment.

[0079] The minimum total number of actual steps required to reduce tire pressure at the current moment is equal to the maximum total number of actual steps required to reduce tire pressure at the current moment among the tires whose steady-state target tire pressure is lower than their transient target tire pressure at the previous moment.

[0080] The above calculation formula is:

[0081]

[0082] Where: X1(k) upmax —The minimum actual total number of steps required for the air pressure to increase at the current moment; X1(k) downmax —The minimum actual total number of steps required for the air pressure to decrease at the current moment.

[0083] Step 8: Calculate the total number of steps that actually need to be executed at the current moment based on the minimum actual total number of steps required to increase the air pressure at the current moment and the minimum actual total number of steps required to decrease the air pressure at the current moment.

[0084] The total number of steps actually required at the current moment is equal to the greater of the minimum actual total number of steps required to increase the air pressure at the current moment and the minimum actual total number of steps required to decrease the air pressure at the current moment. The calculation formula is as follows:

[0085] X1(k) downupmax =max(X1(k)) upmin , X1(k) downmin )

[0086] Where: X1(k) downupmax —The total number of steps that actually need to be executed at the current moment.

[0087] Step 9: Calculate the change in tire pressure at the current moment based on the total number of steps to be executed, the steady-state target tire pressure, and the transient target tire pressure at the previous moment.

[0088] The change in tire pressure at the current moment is equal to the absolute value of the difference between the steady-state target tire pressure and the transient target tire pressure at the previous moment, divided by the total number of steps actually required at the current moment. That is:

[0089]

[0090] Where: ΔP1(i, k) updown —The change in tire pressure at the current moment for the i-th tire.

[0091] Furthermore, combining this with step 8, we can see that:

[0092]

[0093] Furthermore, combining this with step 7, we can see that:

[0094]

[0095] Furthermore, combining this with step 9, we can see that:

[0096]

[0097] Furthermore, it can be simplified to:

[0098]

[0099] Furthermore, according to step 5:

[0100]

[0101] In other words, for tires whose steady-state target air pressure is greater than or equal to their previous instantaneous target air pressure, the current air pressure change is less than or equal to the maximum allowable increase in air pressure over the tire's operating cycle; for tires whose steady-state target air pressure is less than their previous instantaneous target air pressure, the current air pressure change is less than or equal to the maximum allowable decrease in air pressure over the tire's operating cycle. This avoids the problem of tire damage caused by drastic air pressure changes exceeding the tire's operating capacity.

[0102] Step 10: Calculate the current transient target air pressure of each tire based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the air pressure change of each tire at the current moment.

[0103] If the steady-state target air pressure of each tire is greater than or equal to the transient target air pressure of that tire at the previous moment, then the transient target air pressure of that tire at the current moment is equal to the transient target air pressure of that tire at the previous moment plus the change in air pressure of that tire at the current moment.

[0104] If the steady-state target air pressure of each tire is less than the instantaneous target air pressure of that tire at the previous moment, then the instantaneous target air pressure of that tire at the current moment is equal to the instantaneous target air pressure of that tire at the previous moment minus the change in air pressure of that tire at the current moment.

[0105] The above calculation formula is:

[0106]

[0107] Where: P(k) i —The transient target air pressure of the i-th tire at the current moment.

[0108] Furthermore, update the transient target air pressure of each tire from the previous moment to the transient target air pressure of each tire at the current moment, i.e., P(k-1). i =P(k) i

[0109] Furthermore, after multiple iterations, the transient target air pressure of each tire at the current moment is equal to the steady-state target air pressure of each tire, i.e., P(k). i =P i

[0110] Furthermore, it can be seen that the time taken for the transient target tire pressure at the current moment to equal the steady-state target tire pressure is:

[0111]

[0112] time(i) updown —The transient target air pressure at the i-th current moment is equal to the time taken for each tire to reach the steady-state target air pressure; Δt —the mission cycle.

[0113] Furthermore, combining this with step 9, we can see that:

[0114]

[0115] Furthermore, this can be simplified to: for i∈[1, n], time(i) is satisfied. updown =X1(k) downupmax *Δt

[0116] This means that the time taken for each tire to reach its steady-state target pressure at the current moment is the same, which means that the current moment's instantaneous target pressure of each tire meets the requirements of the steady-state target pressure. This avoids the problem of inconsistent times for each tire to reach its steady-state target pressure due to uncoordinated pressure changes.

[0117] See Figure 3 The present invention provides a tire pressure time control device for multi-wheeled vehicles, comprising the following parts:

[0118] Theoretical Total Steps Module: Calculates the theoretical total number of steps required for the current pressure change of each tire based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the maximum allowable air pressure change during the task cycle of each tire.

[0119] Minimum Theoretical Total Steps Module: Calculates the minimum theoretical total steps required for the current tire pressure change based on the theoretical total steps required for the current tire pressure change;

[0120] The module for calculating the maximum theoretical change in air pressure: Calculates the maximum theoretical change in air pressure for each round based on the minimum total theoretical steps required for the change in air pressure at the current moment;

[0121] Fast / slow change control coefficient module: Calculates the fast / slow change control coefficient of air pressure change for each tire at the current moment based on the relative magnitude of the steady-state target air pressure of each tire and the transient target air pressure of each tire at the previous moment;

[0122] The first change in air pressure module calculates the first change in air pressure at the current moment of each round based on the control coefficient of the rate of change of air pressure at the current moment of each round and the maximum theoretical change of air pressure at the current moment of each round.

[0123] Actual Total Steps Module: Based on the first change in air pressure of each tire at the current moment, the steady-state target air pressure of each tire, and the transient target air pressure of each tire at the previous moment, the actual total number of steps required for the change in air pressure of each tire at the current moment is calculated.

[0124] Minimum Actual Total Steps Module: Calculates the minimum actual total steps required for the change in tire pressure at the current moment based on the actual total steps required for the change in tire pressure at the current moment;

[0125] The total steps module calculates the total number of steps that actually need to be executed at the current moment based on the minimum actual total number of steps required for the change in air pressure at the current moment.

[0126] The second air pressure change module calculates the air pressure change of each tire at the current moment based on the total number of steps that actually need to be executed at the current moment, the steady-state target air pressure of each tire, and the transient target air pressure of each tire at the previous moment.

[0127] Transient target air pressure module: Based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the air pressure change of each tire at the current moment, the transient target air pressure of each tire at the current moment is calculated. This results in the fact that the time taken for each tire to reach the steady-state target air pressure of each tire at the current moment is equal, that is, the consistency of the transient target air pressure of the tire at the current moment meets the requirements of the steady-state target air pressure of the tire.

[0128] The technical advantages of the tire pressure time control method and device for multi-wheeled vehicles of the present invention are as follows:

[0129] 1. The time taken for each tire to reach its steady-state target tire pressure at the current moment is the same, which means that the instantaneous target tire pressure at the current moment is consistent, thus achieving the steady-state target tire pressure. This avoids the problem of inconsistent tire pressure changes leading to different times of reaching the steady-state target tire pressure.

[0130] 2. For tires whose steady-state target pressure is greater than or equal to their previous instantaneous target pressure, the current pressure change is less than or equal to the maximum allowable increase in pressure over the tire's operating cycle. For tires whose steady-state target pressure is less than their previous instantaneous target pressure, the current pressure change is less than or equal to the maximum allowable decrease in pressure over the tire's operating cycle. This avoids the problem of tires operating beyond their capacity due to excessive pressure changes, which could lead to drastic tire damage.

[0131] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0132] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A method for controlling tire pressure and time in a multi-wheeled vehicle, characterized in that: The specific process of this method is as follows: Based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the maximum allowable air pressure variation during the task cycle of each tire, calculate the theoretical total number of steps required for the current air pressure change of each tire. Based on the theoretical total number of steps required for the current air pressure change of each tire, calculate the minimum theoretical total number of steps required for the current air pressure change. Based on the minimum theoretical total number of steps required for the current air pressure change, calculate the maximum theoretical air pressure variation of each tire at the current moment. Based on the relative magnitudes of the steady-state target air pressure and the transient target air pressure of each tire at the previous moment, calculate the rate of change control of the current air pressure variation of each tire. The control coefficients are used to calculate the first change in air pressure for each tire at the current moment, based on the control coefficients for the rate of change of air pressure at each tire at the current moment and the maximum theoretical change in air pressure for each tire at the current moment. Based on the first change in air pressure for each tire at the current moment, the steady-state target air pressure of each tire and the transient target air pressure of each tire at the previous moment are used to calculate the total number of actual steps required for the air pressure change of each tire at the current moment. Based on the total number of actual steps required for the air pressure change of each tire at the current moment, the minimum total number of actual steps required for the air pressure change at the current moment is calculated. Based on the minimum total number of actual steps required for the air pressure change at the current moment, the total number of steps actually to be executed at the current moment is calculated. Based on the total number of steps actually required at the current moment, the steady-state target air pressure of each tire, and the transient target air pressure of each tire at the previous moment, the change in air pressure of each tire at the current moment is calculated. Then, based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the change in air pressure of each tire at the current moment, the transient target air pressure of each tire at the current moment is calculated. This shows that the time taken for each tire to reach its steady-state target air pressure is equal, meaning that the consistency of the transient target air pressure of the tires at the current moment meets the requirements for the steady-state target air pressure. The step-by-step calculation based on the steady-state target air pressure of each tire, the previous moment's transient target air pressure, and the change in air pressure of each tire at the previous moment... The calculation of the theoretical total number of steps required for the current tire pressure change, based on the transient target air pressure and the maximum allowable air pressure change of each tire during the task cycle, includes two aspects: calculating the theoretical total number of steps required for the current tire pressure increase based on the steady-state target air pressure, the transient target air pressure of each tire at the previous moment, and the maximum allowable air pressure increase during the task cycle; and calculating the theoretical total number of steps required for the current tire pressure decrease based on the steady-state target air pressure, the transient target air pressure of each tire at the previous moment, and the maximum allowable air pressure decrease during the task cycle. The specific process is as follows: Calculate the theoretical total number of steps required for the air pressure of each tire to increase at the current moment: The theoretical total number of steps required for the air pressure of each tire to increase at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of that tire at the previous moment, divided by the maximum value of the allowable air pressure increase during the task cycle of that tire; Calculate the theoretical total number of steps required for the air pressure of each tire to decrease at the current moment: The theoretical total number of steps required for the air pressure of each tire to decrease at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of that tire at the previous moment, divided by the maximum value of the allowable air pressure decrease during the task cycle of that tire; The above calculation formula is: in: ——No. The steady-state target tire pressure; ——No. The instantaneous target air pressure of a tire at a given moment; ——No. The maximum allowable increase in tire pressure during the task cycle; ——No. The maximum allowable decrease in tire pressure during the task cycle; ——No. The theoretical total number of steps required to increase the air pressure of a tire at the current moment; ——No. The theoretical total number of steps required for the tire pressure to decrease at the current moment; — Tire serial number, , Total number of tires to inflate for the entire vehicle; Furthermore, it can be seen that: The step of calculating the minimum theoretical total number of steps required for the change in tire pressure at the current moment based on the theoretical total number of steps required for the change in tire pressure at the current moment includes two aspects: calculating the minimum theoretical total number of steps required for the increase in tire pressure at the current moment based on the theoretical total number of steps required for the increase in tire pressure at the current moment, and calculating the minimum theoretical total number of steps required for the decrease in tire pressure at the current moment based on the theoretical total number of steps required for the decrease in tire pressure at the current moment. The specific process is as follows: Minimum theoretical total number of steps required to increase air pressure at the current moment: The minimum theoretical total number of steps required to increase air pressure at the current moment is equal to the maximum theoretical total number of steps required to increase air pressure at the current moment among the tires whose steady-state target air pressure is greater than or equal to their transient target air pressure at the previous moment. The minimum theoretical total number of steps required to increase air pressure at the current moment: The minimum theoretical total number of steps required to decrease air pressure at the current moment is equal to the maximum theoretical total number of steps required to decrease air pressure at the current moment among the tires whose steady-state target air pressure is less than their transient target air pressure at the previous moment. The above calculation formula is: in: —The minimum theoretical total number of steps required for the air pressure to increase at the current moment; —The minimum theoretical total number of steps required for the air pressure to decrease at the current moment; Furthermore, it can be seen that: 。 2. The method for controlling tire pressure and time of a multi-wheeled vehicle according to claim 1, characterized in that: The step of calculating the maximum theoretical change in air pressure at each round based on the minimum theoretical total number of steps required for the change in air pressure at the current moment includes two aspects: calculating the maximum theoretical increase in air pressure at each round based on the minimum theoretical total number of steps required for the increase in air pressure at the current moment, and calculating the maximum theoretical decrease in air pressure at each round based on the minimum theoretical total number of steps required for the decrease in air pressure at the current moment. The specific process is as follows: Calculate the maximum theoretical increase in air pressure for each tire at the current moment: The maximum theoretical increase in air pressure for each tire at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of the tire at the previous moment, divided by the minimum theoretical total number of steps required for the air pressure to increase at the current moment; Calculate the maximum theoretical decrease in air pressure for each tire at the current moment: The maximum theoretical decrease in air pressure for each tire at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of the tire at the previous moment, divided by the minimum theoretical total number of steps required for the air pressure to be smaller at the current moment; The above calculation formula is: in: ——No. The maximum theoretical increase in tire pressure at the current moment; ——No. The maximum theoretical decrease in tire pressure at the current moment; Furthermore, based on the steps for calculating the minimum theoretical total number of steps required to change the tire pressure at the current moment, according to the theoretical total number of steps required for the current tire pressure change, we can conclude that: Furthermore, based on the theoretical total number of steps required to calculate the current tire pressure change at each moment, using the steady-state target tire pressure, the transient target tire pressure at the previous moment, and the maximum allowable tire pressure change during the task cycle, it can be seen that: 。 3. The tire pressure time control method for multi-wheeled vehicles according to claim 2, characterized in that: The step of calculating the rate of change control coefficient for the air pressure of each tire at the current moment based on the relative magnitudes of the steady-state target air pressure and the transient target air pressure of each tire at the previous moment includes two aspects: calculating the rate of increase control coefficient for the air pressure of each tire at the current moment based on the relative magnitudes of the steady-state target air pressure and the transient target air pressure of each tire at the previous moment, and calculating the rate of decrease control coefficient for the air pressure of each tire at the current moment based on the relative magnitudes of the steady-state target air pressure and the transient target air pressure of each tire at the previous moment. The specific process is as follows: Calculate the control coefficient for the rate of increase of air pressure in each tire at the current moment: The control coefficient for the rate of increase of air pressure in each tire at the current moment is equal to the sum of the absolute values ​​of the difference between the steady-state target air pressure and the instantaneous target air pressure of each tire at the previous moment, when the steady-state target air pressure of each tire is greater than or equal to the instantaneous target air pressure of each tire at the previous moment, divided by the sum of the absolute values ​​of the difference between the steady-state target air pressure and the instantaneous target air pressure of each tire at the previous moment. Calculate the control coefficient for the rate of decrease of air pressure in each tire at the current moment: The control coefficient for the rate of decrease of air pressure in each tire at the current moment is equal to the sum of the absolute values ​​of the difference between the steady-state target air pressure and the instantaneous target air pressure of each tire in tires where the steady-state target air pressure is less than the instantaneous target air pressure of the tire at the previous moment, divided by the sum of the absolute values ​​of the difference between the steady-state target air pressure and the instantaneous target air pressure of the tire at the previous moment. The above calculation formula is: in: ——No. The control coefficient for the rate of increase in tire pressure at the current moment; ——No. The control coefficient for the rate of decrease in tire pressure at the current moment; Furthermore, it can be seen that: ; .

4. The tire pressure time control method for multi-wheeled vehicles according to claim 3, characterized in that: The step of calculating the first change in air pressure at the current moment of each round, based on the control coefficients for the rate of change of air pressure at the current moment and the maximum theoretical change of air pressure at the current moment of each round, includes two aspects: calculating the first change in air pressure increase at the current moment of each round based on the control coefficients for the rate of increase of air pressure at the current moment and the maximum theoretical increase of air pressure at the current moment of each round; and calculating the first change in air pressure decrease at the current moment of each round based on the control coefficients for the rate of decrease of air pressure at the current moment and the maximum theoretical decrease of air pressure at the current moment of each round. The specific process is as follows: Calculate the first change in air pressure at the current moment for each round: The first change in air pressure at the current moment for each round is equal to the control coefficient of the rate of increase in air pressure at the current moment for each round multiplied by the maximum theoretical increase in air pressure at the current moment; Calculate the first change in air pressure at the current moment for each round: The first change in air pressure at the current moment for each round is equal to the control coefficient of the rate of decrease in air pressure at the current moment for each round multiplied by the maximum theoretical decrease in air pressure at the current moment; The above calculation formula is: in: ——No. The first change in tire pressure at the current moment; ——No. The first change in tire pressure at the current moment; Furthermore, based on the steps of calculating the control coefficient for the rate of change of tire pressure at the current moment, which is based on the relative magnitudes of the steady-state target tire pressure and the transient target tire pressure at the previous moment, it can be concluded that: Furthermore, based on the steps for calculating the maximum theoretical pressure change at the current moment for each round, according to the minimum theoretical total number of steps required for the current pressure change, we can conclude that: The process of calculating the total number of actual steps required for the change in tire pressure at the current moment based on the first change in tire pressure at the current moment, the steady-state target tire pressure at the current moment, and the transient target tire pressure at the previous moment includes two aspects: calculating the total number of actual steps required for increasing tire pressure at the current moment based on the first change in tire pressure at the current moment, the steady-state target tire pressure at the current moment, and the transient target tire pressure at the previous moment; and calculating the total number of actual steps required for decreasing tire pressure at the current moment based on the first change in tire pressure at the current moment, the steady-state target tire pressure at the current moment, and the transient target tire pressure at the previous moment. The specific process is as follows: Calculate the total number of actual steps required for the tire pressure to increase at the current moment: The total number of actual steps required for the tire pressure to increase at the current moment is equal to the absolute value of the difference between the steady-state target pressure of each tire and the transient target pressure of the tire at the previous moment, divided by the first change in pressure at the current moment. Calculate the total number of actual steps required to reduce the air pressure of each tire at the current moment: The total number of actual steps required to reduce the air pressure of each tire at the current moment is equal to the absolute value of the difference between the steady-state target air pressure of each tire and the transient target air pressure of the tire at the previous moment, divided by the first change in air pressure at the current moment. The above calculation formula is: in: ——No. The actual total number of steps required for the tire pressure to increase at the current moment; ——No. The actual total number of steps required for the tire pressure to decrease at the current moment.

5. The tire pressure time control method for multi-wheeled vehicles according to claim 4, characterized in that: The step of calculating the minimum total number of actual steps required for the change in tire pressure at the current moment based on the total number of actual steps required for the change in tire pressure at the current moment includes two aspects: calculating the minimum total number of actual steps required for the increase in tire pressure at the current moment based on the total number of actual steps required for the increase in tire pressure at the current moment, and calculating the minimum total number of actual steps required for the decrease in tire pressure at the current moment based on the total number of actual steps required for the decrease in tire pressure at the current moment. The specific process is as follows: Calculate the minimum actual total number of steps required for the air pressure to increase at the current moment: The minimum actual total number of steps required for the air pressure to increase at the current moment is equal to the maximum actual total number of steps required for the air pressure to increase at the current moment among the tires whose steady-state target air pressure is greater than or equal to their transient target air pressure at the previous moment. Calculate the minimum actual total number of steps required to reduce air pressure at the current moment: The minimum actual total number of steps required to reduce air pressure at the current moment is equal to the maximum actual total number of steps required to reduce air pressure at the current moment among the tires whose steady-state target air pressure is lower than their transient target air pressure at the previous moment. The above calculation formula is: in: —The minimum total number of actual steps required for the air pressure to increase at the current moment; —The minimum actual total number of steps required for the air pressure to decrease at the current moment.

6. The tire pressure time control method for multi-wheeled vehicles according to claim 5, characterized in that: The step of calculating the total number of steps actually required at the current moment based on the minimum actual total number of steps required for the change in air pressure at the current moment is based on the minimum actual total number of steps required for the increase in air pressure at the current moment and the minimum actual total number of steps required for the decrease in air pressure at the current moment. The specific process is as follows: The total number of steps actually required at the current moment is equal to the larger of the minimum actual total number of steps required to increase the air pressure at the current moment and the minimum actual total number of steps required to decrease the air pressure at the current moment. The above calculation formula is: in: —The total number of steps that actually need to be executed at the current moment.

7. The tire pressure time control method for multi-wheeled vehicles according to claim 6, characterized in that: The specific process for calculating the change in tire pressure at the current moment based on the total number of steps actually required, the steady-state target tire pressure, and the transient target tire pressure of the previous moment is as follows: The change in tire pressure at the current moment is equal to the absolute value of the difference between the steady-state target tire pressure and the transient target tire pressure at the previous moment, divided by the total number of steps actually required at the current moment. in: ——No. The change in tire pressure at the current moment; Furthermore, by combining the calculation of the total number of steps actually required at the current moment based on the minimum actual total number of steps required for the current pressure change, we can conclude that: Furthermore, by combining the steps for calculating the minimum total number of actual steps required to change the tire pressure at the current moment based on the total number of actual steps required for the current tire pressure change, we can conclude that: Furthermore, combining this step with the calculation of the pressure change of each tire at the current moment based on the total number of steps actually required at the current moment, the steady-state target air pressure of each tire, and the transient target air pressure of each tire at the previous moment, we can conclude that: Furthermore, it can be simplified to: Furthermore, based on the control coefficients for the rate of change of air pressure at the current moment of each round and the maximum theoretical change of air pressure at the current moment of each round, the steps for calculating the first change of air pressure at the current moment of each round can be summarized as follows: That is, for tires whose steady-state target air pressure is greater than or equal to their previous instantaneous target air pressure, the change in air pressure at the current moment is less than or equal to the maximum increase in the tire's allowable air pressure during the working cycle; for tires whose steady-state target air pressure is less than their previous instantaneous target air pressure, the change in air pressure at the current moment is less than or equal to the maximum decrease in the tire's allowable air pressure during the working cycle.

8. The tire pressure time control method for multi-wheeled vehicles according to claim 7, characterized in that: The specific process for calculating the current transient target air pressure of each tire based on the steady-state target air pressure of each tire, the transient target air pressure of each tire at the previous moment, and the change in air pressure of each tire at the current moment is as follows: The steady-state target air pressure of each tire is greater than or equal to the instantaneous target air pressure of that tire at the previous moment: If the steady-state target air pressure of each tire is greater than or equal to the instantaneous target air pressure of that tire at the previous moment, then the instantaneous target air pressure of that tire at the current moment is equal to the instantaneous target air pressure of that tire at the previous moment plus the change in air pressure of that tire at the current moment. If the steady-state target air pressure of each tire is less than the instantaneous target air pressure of that tire at the previous moment, then the instantaneous target air pressure of that tire at the current moment is equal to the instantaneous target air pressure of that tire at the previous moment minus the change in air pressure of that tire at the current moment. The above calculation formula is: in: ——No. The instantaneous target tire pressure at the current moment; Furthermore, update the transient target tire pressure of each tire from the previous moment to the transient target tire pressure of the current moment, that is... Furthermore, after multiple iterations, the transient target air pressure of each tire at the current moment equals the steady-state target air pressure of each tire, that is... Furthermore, it can be seen that the time taken for the transient target tire pressure at the current moment to equal the steady-state target tire pressure is: ——No. The instantaneous target air pressure at any given moment is equal to the time taken for each tire to reach its steady-state target air pressure. —Task cycle; Furthermore, by combining the steps for calculating the pressure change of each tire at the current moment based on the total number of steps actually required, the steady-state target tire pressure, and the transient target tire pressure of each tire at the previous moment, it can be concluded that: Furthermore, it can be simplified to: For All satisfy Therefore, it can be concluded that the time taken for each tire to reach its steady-state target tire pressure at the current moment is the same, meaning that the consistency of the tire's current instantaneous target tire pressure meets the requirements of the tire's steady-state target tire pressure.

9. A tire pressure timing control device for a multi-wheeled vehicle, comprising a computer program, characterized in that: The computer program is capable of executing the tire pressure timing control method for multi-wheeled vehicles as described in any one of claims 1 to 8.

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