Vehicle wheel wear degree determination method, device, medium and vehicle

Abstract

The present disclosure relates to a method, device, medium and vehicle for determining the degree of wear of vehicle wheels, and relates to the field of autonomous driving. The method for determining the degree of wear of vehicle wheels comprises: obtaining the driving data of the vehicle on a curve; determining the lateral motion characteristic parameter of the vehicle in a first manner as a first characteristic value according to the reference value of the wheel lateral stiffness and the driving data; determining the lateral motion characteristic parameter of the vehicle in a second manner as a second characteristic value according to the driving data; and determining the degree of wear of the wheel according to the first characteristic value and the second characteristic value. The degree of wear of the vehicle wheel can be accurately, reliably and timely determined according to the first characteristic value and the second characteristic value, and the necessary processing can be carried out in a timely manner, thereby improving the safety of vehicle driving.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a method, device, medium and vehicle for determining the degree of wear of vehicle wheels. Background Art

[0002] Vehicles are a common means of transportation in people's daily lives. The wheels of vehicles are made of rubber and will wear out during the driving process. As the mileage of the vehicle increases, the degree of wheel wear increases and the life span decreases. In the case of severe wheel wear, if the wheel is not replaced in time, the vehicle is prone to tire blowout during driving, which is very dangerous. Therefore, it is necessary to determine the degree of wheel wear in a timely and reliable manner.

[0003] In the related art, the degree of wheel wear is usually determined by manual visual observation. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a method, device, medium and vehicle for determining the degree of wear of vehicle wheels.

[0005] According to a first aspect of an embodiment of the present disclosure, a method for determining a degree of wear of a vehicle wheel is provided, comprising:

[0006] Acquiring driving data of the vehicle on a curve;

[0007] Determining a lateral motion characteristic parameter of the vehicle in a first manner as a first characteristic value according to the reference value of the wheel cornering stiffness and the driving data;

[0008] Determine, according to the driving data, a lateral motion characteristic parameter of the vehicle in a second manner as a second characteristic value;

[0009] The degree of wear of the wheel is determined according to the first characteristic value and the second characteristic value.

[0010] Optionally, the lateral motion characteristic parameter is lateral acceleration.

[0011] Optionally, determining the degree of wear of the wheel according to the first characteristic value and the second characteristic value includes:

[0012] determining a difference between the first eigenvalue and the second eigenvalue;

[0013] The degree of wear of the wheel is determined based on the difference.

[0014] Optionally, the determining, according to the reference value of the wheel cornering stiffness and the driving data, a lateral motion characteristic parameter of the vehicle in a first manner as a first characteristic value comprises:

[0015] Determine the front wheel slip angle and the rear wheel slip angle of the vehicle according to the driving data;

[0016] A lateral motion characteristic parameter of the vehicle is determined as a first characteristic value based on a reference value of the front wheel cornering stiffness of the vehicle, a reference value of the rear wheel cornering stiffness of the vehicle, the front wheel slip angle, and the rear wheel slip angle.

[0017] Optionally, the determining, according to the driving data, a lateral motion characteristic parameter of the vehicle in a second manner as a second characteristic value includes:

[0018] A lateral motion characteristic parameter of the vehicle is determined according to the yaw angular velocity of the vehicle and the longitudinal speed of the vehicle as a second characteristic value.

[0019] Optionally, the acquiring the driving data of the vehicle on a curve includes:

[0020] If at least one of the following is satisfied, the driving data of the vehicle on the curve is obtained:

[0021] The position of the curve is a stored position;

[0022] The slope of the curve is less than a slope threshold;

[0023] The road surface flatness of the curve is greater than a flatness threshold;

[0024] The road surface adhesion coefficient of the curve is greater than an adhesion coefficient threshold;

[0025] The tire pressure of the vehicle when traveling on the curve is within a predetermined tire pressure range;

[0026] The lateral acceleration of the vehicle when traveling on the curve is less than an acceleration threshold;

[0027] When the vehicle is traveling on the curve, the steering wheel angle is within a predetermined angle range;

[0028] The longitudinal speed of the vehicle when traveling on the curve is within a predetermined speed range;

[0029] The weather when the vehicle travels on the curve is predetermined weather.

[0030] Optionally, the method further comprises:

[0031] A warning message is output according to the degree of wear of the wheel.

[0032] According to a second aspect of an embodiment of the present disclosure, a device for determining the degree of wear of a vehicle wheel is provided, the device comprising:

[0033] An acquisition module is configured to acquire driving data of the vehicle on a curve;

[0034] a first determining module configured to determine, according to the reference value of the wheel cornering stiffness and the driving data, a lateral motion characteristic parameter of the vehicle in a first manner as a first characteristic value;

[0035] A second determination module is configured to determine, according to the driving data, a lateral motion characteristic parameter of the vehicle in a second manner as a second characteristic value;

[0036] The third determination module is configured to determine the degree of wear of the wheel according to the first characteristic value and the second characteristic value.

[0037] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a first processor, the steps of the method for determining the degree of wear of a vehicle wheel provided in the first aspect of the present disclosure are implemented.

[0038] According to a fourth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising:

[0039] A second processor;

[0040] a second memory for storing instructions executable by the second processor;

[0041] Wherein, the second processor is configured as follows:

[0042] The steps of implementing the method for determining the degree of wear of vehicle wheels provided in the first aspect of the present disclosure are described.

[0043] The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: obtaining the driving data of the vehicle on the curve, determining the lateral motion characteristic parameter of the vehicle in a first manner as the first characteristic value according to the reference value of the wheel cornering stiffness and the driving data, determining the lateral motion characteristic parameter of the vehicle in a second manner as the second characteristic value according to the driving data, and determining the degree of wear of the wheel according to the first characteristic value and the second characteristic value. In this solution, the first characteristic value determined by the first manner is the lateral motion characteristic parameter of the vehicle passing through the curve simulated when the cornering stiffness of the wheel is the reference value; the second characteristic value determined by the second manner is the actual lateral motion characteristic parameter when the wheel passes through the curve. The difference between the first characteristic value and the second characteristic value reflects the difference between the reference value and the actual value of the cornering stiffness of the wheel. Therefore, the degree of wear of the vehicle wheel can be accurately, reliably and timely determined according to the first characteristic value and the second characteristic value, and the necessary processing can be carried out in time, thereby improving the safety of vehicle driving.

[0044] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0046] Figure 1 The figure is a flow chart of a method for determining the degree of wear of a vehicle wheel according to an exemplary embodiment.

[0047] Figure 2 The figure is a block diagram of a device for determining the degree of wear of a vehicle wheel according to an exemplary embodiment.

[0048] Figure 3 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0049] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0050] It should be noted that all actions of acquiring signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0051] Figure 1 FIG. 1 is a flow chart showing a method for determining the degree of wear of a vehicle wheel according to an exemplary embodiment. Figure 1 As shown, the method includes the following steps.

[0052] In step S101, the driving data of the vehicle on the curve is obtained.

[0053] The driving data of the vehicle may include, for example, the vehicle speed, etc., and the driving data of the vehicle may be acquired through sensors disposed in the vehicle.

[0054] In step S102, a lateral motion characteristic parameter of the vehicle is determined in a first manner according to a reference value of the wheel cornering stiffness and driving data as a first characteristic value.

[0055] The wheel cornering stiffness reflects the ability of the wheel to resist lateral deformation. As the wheel wears more, the wheel cornering stiffness gradually decreases. The degree of wheel wear can be determined based on the current cornering stiffness of the wheel. The higher the cornering stiffness of the wheel, the lower the degree of wheel wear, and the lower the cornering stiffness of the wheel, the higher the degree of wheel wear. The reference value of the wheel cornering stiffness is a value used for comparison with the current cornering stiffness of the wheel, and can be pre-set or user-adjustable. For example, the reference value of the wheel cornering stiffness can be the cornering stiffness value of the wheel in an unused state. Or it can also be the maximum cornering stiffness value of the wheel in a scrapped state.

[0056] When a vehicle is traveling on a curve, the vehicle tends to move in a lateral direction, and there is an interactive lateral friction force between the wheels and the ground. The lateral motion characteristic parameter of the vehicle is a parameter that reflects the motion characteristics of the vehicle in the lateral direction. The lateral motion characteristic parameter of the vehicle can be, for example, the lateral force exerted on the vehicle.

[0057] The first method is to use the reference value of the wheel cornering stiffness to simulate the lateral motion characteristic parameters of the vehicle when traveling on a curve. When the first method is used to determine the first characteristic value, the driving data of the vehicle on the curve is appropriately used to obtain the lateral motion characteristic parameters of the vehicle corresponding to the reference value under the scenario of the driving data, rather than the actual lateral motion characteristic parameters of the vehicle. That is, if the wheel cornering stiffness is the reference value, the determined lateral motion characteristic parameters of the vehicle under the scenario of the driving data are the first characteristic values.

[0058] In step S103, a lateral motion characteristic parameter of the vehicle is determined in a second manner according to the driving data as a second characteristic value.

[0059] The motion parameters of the vehicle can mostly be determined in more than one way. The second way is different from the first way. In the second way, the lateral motion characteristic parameters of the vehicle are not determined based on the reference value of the wheel cornering stiffness. Based on the driving data of the vehicle during the curve, the lateral motion characteristic parameters of the vehicle determined by the second way can be considered as the actual lateral motion characteristic parameters of the wheel, that is, the second characteristic value can be considered as the actual lateral motion characteristic parameters of the wheel.

[0060] In step S104, the degree of wear of the wheel is determined according to the first characteristic value and the second characteristic value.

[0061] The difference between the first eigenvalue and the second eigenvalue reflects the difference between the reference value and the actual value of the wheel cornering stiffness. If the first eigenvalue is greater than the second eigenvalue, the reference value of the wheel cornering stiffness is greater than the actual value, and vice versa, the reference value of the wheel cornering stiffness is less than the actual value. The smaller the actual cornering stiffness value of the wheel, the more serious the wheel wear. Exemplarily, the first eigenvalue and the second eigenvalue can be compared to generate a comparison result, and the degree of wheel wear can be determined based on the comparison result.

[0062] Through the above technical solution, the first characteristic value determined by the first method is a characteristic parameter of the lateral motion of the vehicle when passing through the curve when the cornering stiffness of the wheel is a reference value; the second characteristic value determined by the second method is an actual characteristic parameter of the lateral motion when the wheel passes through the curve. The difference between the first characteristic value and the second characteristic value reflects the difference between the reference value and the actual value of the cornering stiffness of the wheel. Therefore, the degree of wear of the vehicle wheel can be accurately, reliably and timely determined according to the first characteristic value and the second characteristic value, and necessary processing can be carried out in time accordingly, thereby improving the safety of vehicle driving.

[0063] In yet another embodiment, the lateral motion characteristic parameter is lateral acceleration.

[0064] The lateral acceleration is the component of the acceleration in the lateral direction when the vehicle is driving on a curved road, which reflects the motion characteristics of the vehicle in the lateral direction. The lateral acceleration can be used as the lateral motion characteristic parameter of the vehicle.

[0065] In this embodiment, the lateral acceleration is used as the lateral motion characteristic parameter of the vehicle, which can intuitively and appropriately reflect the lateral motion of the vehicle.

[0066] In yet another embodiment, determining the degree of wear of the wheel according to the first characteristic value and the second characteristic value includes:

[0067] determining a difference between the first eigenvalue and the second eigenvalue;

[0068] The degree of wheel wear is determined based on the difference.

[0069] The difference between the first eigenvalue and the second eigenvalue reflects the difference between the reference value and the actual value of the wheel cornering stiffness. The larger the difference, the greater the difference between the reference value and the actual value of the wheel cornering stiffness. After determining the difference between the first eigenvalue and the second eigenvalue, the degree of wheel wear can be determined based on the difference.

[0070] Different reference values ​​of wheel cornering stiffness have different methods for determining wheel wear degree based on the difference. If the reference value of wheel cornering stiffness is the cornering stiffness value of the wheel in an unused state, then the difference between the first eigenvalue and the second eigenvalue reflects the difference between the cornering stiffness value of the wheel in an unused state and the actual value of the cornering stiffness of the wheel. The difference is greater than or equal to zero. The degree of wear corresponding to the gradual increase of the difference from zero is gradually increasing from no wear to wear. For example, if the value of the first eigenvalue is 5 and the value of the second eigenvalue can range from [0, 5], then the range of the difference can be [0, 5]. A difference of 0 indicates that the wheel is not worn, and the larger the difference, the greater the wear.

[0071] If the reference value of the wheel cornering stiffness is the maximum value of the wheel cornering stiffness when the wheel is scrapped, then the difference between the first eigenvalue and the second eigenvalue reflects the difference between the actual value of the wheel cornering stiffness and the maximum value of the wheel cornering stiffness when the wheel is scrapped. The difference can be greater than, less than or equal to zero. When the difference is less than zero, it means that the wear degree of the wheel is small and has not reached the scrap level. The closer the difference is to zero, the greater the wear degree of the wheel. When the difference is greater than zero, it means that the wear degree of the wheel is large and has exceeded the scrap level. The larger the value of the difference is, the greater the wear degree of the wheel is. For example, if the value of the first eigenvalue is 3 and the value of the second eigenvalue can be in the range of [0, 5], then the range of the difference can be [3, -2]. A difference of -2 means that the wheel is not worn. The larger the difference is, the greater the wear is. A difference of more than 0 means that the wear of the wheel has reached the scrap level.

[0072] The degree of wear of the wheel can be divided into multiple levels, and different values ​​can be used to represent different levels. The corresponding relationship between the difference and the degree of wear can be pre-calibrated, and the degree of wear corresponding to the determined difference can be found by a table lookup method in the corresponding relationship as the determined degree of wear of the wheel.

[0073] In this embodiment, the degree of wear of the wheel can be quickly determined according to the difference between the first characteristic value and the second characteristic value.

[0074] In yet another embodiment, the method of determining the degree of wear of the wheel according to the difference includes:

[0075] If the difference is greater than a predetermined first difference threshold, it is determined that the wheel is slightly worn;

[0076] If the difference is greater than a predetermined second difference threshold, it is determined that the wheel is severely worn, and the first difference threshold is less than the second difference threshold.

[0077] The larger the difference is, the greater the difference between the reference value of the wheel cornering stiffness and the actual value of the wheel cornering stiffness is. When the difference is greater than a predetermined first difference threshold, the difference between the actual value of the wheel cornering stiffness and the reference value is small, and it can be determined that the wheel is slightly worn. When the difference is greater than a predetermined second difference threshold, the difference between the actual value of the wheel cornering stiffness and the reference value is large, and it can be determined that the wheel is severely worn.

[0078] In yet another embodiment, the lateral motion characteristic parameter of the vehicle is determined in a first manner based on the reference value of the wheel cornering stiffness and the driving data as the first characteristic value, including:

[0079] Determine the front wheel slip angle and the rear wheel slip angle of the vehicle according to the driving data;

[0080] A lateral motion characteristic parameter of the vehicle is determined as a first characteristic value based on a reference value of the front wheel cornering stiffness of the vehicle, a reference value of the rear wheel cornering stiffness of the vehicle, a front wheel slip angle, and a rear wheel slip angle.

[0081] The driving data of the vehicle may include the longitudinal speed of the vehicle, the lateral speed of the vehicle, the front wheel turning angle of the vehicle, the yaw rate, etc. The sideslip angle of the vehicle, that is, the sideslip angle of the center of mass of the vehicle, may be determined according to the driving data of the vehicle.

[0082] The vehicle's sideslip angle can be calculated using the following formula:

[0083]

[0084] Wherein, β represents the sideslip angle of the vehicle; Vy represents the lateral speed of the vehicle; and Vx represents the longitudinal speed of the vehicle.

[0085] After the sideslip angle of the vehicle is determined, the front wheel sideslip angle and the rear wheel sideslip angle of the vehicle may be determined according to the sideslip angle of the vehicle.

[0086] The front wheel slip angle can be calculated according to the following formula:

[0087]

[0088] Among them, α1 represents the sideslip angle of the front wheel; a represents the distance between the center of mass of the vehicle and the front axle of the vehicle; ω represents the yaw rate of the vehicle; and θ represents the front wheel turning angle of the vehicle.

[0089] The rear wheel slip angle of the vehicle can be calculated according to the following formula:

[0090]

[0091] Among them, α2 represents the rear wheel slip angle; b represents the distance between the vehicle's center of mass and the vehicle's rear axle.

[0092] After the front wheel slip angle and rear wheel slip angle of the vehicle are determined, the front wheel lateral force can be determined according to the reference values ​​of the front wheel slip angle and the front wheel cornering stiffness of the vehicle, and the rear wheel lateral force can be determined according to the reference values ​​of the rear wheel slip angle and the rear wheel cornering stiffness of the vehicle.

[0093] The front wheel lateral force can be calculated according to the following formula:

[0094] Fy1=k1×α1 (4)

[0095] Among them, Fy1 represents the lateral force of the front wheel of the vehicle; k1 represents the reference value of the front wheel cornering stiffness.

[0096] The rear wheel lateral force can be calculated according to the following formula:

[0097] Fy2=k2×α2 (5)

[0098] Among them, Fy2 represents the lateral force of the rear wheel; k2 represents the reference value of the rear wheel cornering stiffness.

[0099] When the lateral motion characteristic parameter is lateral acceleration, after the front wheel lateral force and the rear wheel lateral force are determined, the lateral acceleration of the vehicle can be determined according to the front wheel lateral force and the rear wheel lateral force as the first characteristic value.

[0100] The first characteristic value of the vehicle can be calculated according to the following formula:

[0101]

[0102] Wherein, Ay1 represents the first characteristic value of the vehicle, and m represents the mass of the vehicle.

[0103] The above formulas (1) to (6) utilize a linear two-degree-of-freedom vehicle model.

[0104] In this embodiment, the first characteristic value of the vehicle can be accurately and quickly determined based on the reference value of the front wheel cornering stiffness of the vehicle, the reference value of the rear wheel cornering stiffness of the vehicle, the front wheel slip angle and the rear wheel slip angle.

[0105] In yet another embodiment, the above-mentioned determining the lateral motion characteristic parameter of the vehicle as the second characteristic value in a second manner according to the driving data includes:

[0106] A lateral motion characteristic parameter of the vehicle is determined according to the yaw angular velocity of the vehicle and the longitudinal speed of the vehicle as a second characteristic value.

[0107] The yaw rate is the angular velocity of the vehicle body rotating around the vertical axis during the vehicle turning process. The yaw rate of the vehicle can be obtained through sensors installed in the vehicle, and the vehicle position can be obtained through GPS information. The longitudinal speed of the vehicle can be determined according to the position change of the vehicle at different times. In the case where the lateral motion characteristic parameter of the vehicle is the lateral acceleration, the lateral acceleration of the vehicle can be calculated according to the following formula as the second characteristic value of the vehicle:

[0108] Ay2=Vx×ω (7)

[0109] Wherein, Ay2 represents the second characteristic value of the vehicle.

[0110] In this embodiment, the second characteristic value of the vehicle can be accurately and quickly determined according to the yaw angular velocity of the vehicle and the longitudinal speed of the vehicle.

[0111] In yet another embodiment, the above-mentioned obtaining of the driving data of the vehicle on a curve includes:

[0112] If at least one of the following is satisfied, the driving data of the vehicle on the curve is obtained:

[0113] The position of the curve is the stored position;

[0114] The slope of the curve is less than the slope threshold;

[0115] The road surface smoothness of the curve is greater than the smoothness threshold;

[0116] The road adhesion coefficient of the curve is greater than the adhesion coefficient threshold;

[0117] The tire pressure of the vehicle when driving on a curve is within the predetermined tire pressure range;

[0118] The lateral acceleration of the vehicle when traveling on a curve is less than the acceleration threshold;

[0119] When the vehicle is traveling on a curve, the steering wheel angle is within a predetermined angle range;

[0120] The longitudinal speed of the vehicle when traveling on a curve is within a predetermined speed range;

[0121] The weather when the vehicle is traveling on the curve is the predetermined weather.

[0122] The positions of the curves suitable for determining the degree of wheel wear can be stored in advance. For example, the curve radians, road surface types, etc. of the positions that meet the predetermined conditions can be determined based on the GPS positioning data, and these curve positions can be stored in advance.

[0123] The driving data can be recorded during the driving of the vehicle, and when the predetermined conditions are met, the determination of the degree of wheel wear can be triggered. For example, the determination can be started at a predetermined time interval (e.g., every month) when the vehicle is powered on, or at a predetermined mileage (e.g., every 100 km the vehicle travels), or when a user instruction is received (the user can send an instruction through the interactive interface), the determination can be started at the vehicle power on.

[0124] When determining the degree of wheel wear, the vehicle's driving data may be screened in advance. The screened driving data that meets the conditions is used to perform the determination to reduce errors. The screening conditions may include one or more of the above conditions, and the specific analysis is as follows.

[0125] If the slope of the curve is too large, the error of the vehicle lateral characteristic parameter determined by the vehicle's driving data on the curve is large. When the slope of the curve is less than the slope threshold (e.g., 10°), it can be considered that the error of the vehicle lateral characteristic parameter determined by the vehicle's driving data is small.

[0126] The lower the road surface flatness of the curve (the more uneven), the greater the error of the vehicle lateral characteristic parameters determined by the vehicle's driving data on the curve. When the road surface flatness of the curve is greater than the flatness threshold (for example, 3 mm), it can be considered that the error of the vehicle lateral characteristic parameters determined by the vehicle's driving data on the curve is small.

[0127] The smaller the road adhesion coefficient of the curve, the smaller the road friction when the vehicle is traveling on the curve, the easier it is for the vehicle to slip, and the larger the error of the vehicle lateral characteristic parameter determined by the vehicle's driving data. When the road adhesion coefficient of the curve is greater than the adhesion coefficient threshold (for example, 0.8), the error of the vehicle lateral characteristic parameter determined by the vehicle's driving data on the curve is small.

[0128] When the tire pressure of the wheel is within the normal range, the error in determining the degree of wheel wear is small. If the tire pressure of the vehicle is not within the predetermined tire pressure range (eg, 2.5 bar to 3.0 bar), it can be considered that the error in the determined vehicle lateral characteristic parameter is large.

[0129] When the lateral acceleration of the vehicle when traveling on a curve is greater than or equal to an acceleration threshold (eg, 0.4g), it can be considered that the vehicle's driving state is unstable and the error of the vehicle's lateral characteristic parameters determined from the vehicle's driving data on the curve is large.

[0130] When a vehicle is traveling on a curve, if the vehicle speed is not within a predetermined speed range (e.g., 20 kph to 80 kph), it is considered that the vehicle speed is too slow or too fast. At this time, the error of the vehicle lateral characteristic parameters determined by the vehicle's driving data on the curve is relatively large.

[0131] When the vehicle is traveling on a curve, if the steering wheel angle of the vehicle is within a predetermined angle range, it can be considered that the error of the vehicle lateral characteristic parameter determined at the angle is small. The angle range can be, for example, 15° to 90°.

[0132] If the weather when the vehicle is traveling on the curve is the predetermined weather, it can be considered that the error caused by the weather when determining the degree of wheel wear is small. The predetermined weather can be, for example, sunny or cloudy. The weather when the vehicle is traveling on the curve can be obtained by receiving a message sent by a meteorological server, or by obtaining it through the Internet of Vehicles.

[0133] In this embodiment, the driving data is screened according to the above conditions so that the accuracy of the determined wheel wear degree is higher.

[0134] In yet another embodiment, the above method further includes: outputting an alarm message according to the degree of wear of the wheel.

[0135] Different types of alarm messages can be output according to the degree of wheel wear. For example, if the wheel is slightly worn, a pop-up message can be output on the vehicle's central control display screen: "The wheel is slightly worn, please check it in time." If the wheel is severely worn, a pop-up message can be output on the vehicle's central control display screen: "The wheel is severely worn, please replace it in time."

[0136] In this embodiment, an alarm message is output according to the degree of wear of the vehicle, so that the user can take corresponding solutions to different degrees of wear in a timely manner, thereby improving safety.

[0137] Based on the same inventive concept, the present disclosure also provides a device for determining the degree of wear of vehicle wheels. Figure 2 is a block diagram of a device for determining the degree of wear of a vehicle wheel according to an exemplary embodiment. Figure 2 As shown, the vehicle wheel wear degree determination device 400 includes an acquisition module 401 , a first determination module 402 , a second determination module 403 and a third determination module 404 .

[0138] The acquisition module 401 is configured to acquire the driving data of the vehicle on a curve.

[0139] The first determination module 402 is configured to determine the lateral motion characteristic parameter of the vehicle as the first characteristic value in a first manner according to the reference value of the wheel cornering stiffness and the driving data.

[0140] The second determination module 403 is configured to determine the lateral motion characteristic parameter of the vehicle as the second characteristic value in a second manner according to the driving data.

[0141] The third determination module 404 is configured to determine the degree of wear of the wheel according to the first characteristic value and the second characteristic value.

[0142] Optionally, the lateral motion characteristic parameter is lateral acceleration.

[0143] Optionally, the third determining module 404 includes a first determining submodule and a second determining submodule.

[0144] The first determination submodule is configured to determine a difference between the first eigenvalue and the second eigenvalue.

[0145] The second determination submodule is configured to determine the degree of wear of the wheel according to the difference.

[0146] Optionally, the first determining module 402 includes a third determining submodule and a fourth determining submodule.

[0147] The third determination submodule is configured to determine a front wheel slip angle and a rear wheel slip angle of the vehicle according to the driving data.

[0148] The fourth determination submodule is configured to determine a lateral motion characteristic parameter of the vehicle as a first characteristic value based on a reference value of the front wheel cornering stiffness of the vehicle, a reference value of the rear wheel cornering stiffness of the vehicle, a front wheel slip angle, and a rear wheel slip angle.

[0149] Optionally, the second determining module 403 includes a fifth determining submodule.

[0150] The fifth determination submodule is configured to determine a lateral motion characteristic parameter of the vehicle as a second characteristic value according to the yaw angular velocity of the vehicle and the longitudinal speed of the vehicle.

[0151] Optionally, the acquisition module 401 includes an acquisition submodule.

[0152] The acquisition submodule is configured to acquire the driving data of the vehicle on a curve if at least one of the following is satisfied:

[0153] The position of the curve is the stored position;

[0154] The slope of the curve is less than the slope threshold;

[0155] The road surface smoothness of the curve is greater than the smoothness threshold;

[0156] The road adhesion coefficient of the curve is greater than the adhesion coefficient threshold;

[0157] The tire pressure of the vehicle when driving on a curve is within the predetermined tire pressure range;

[0158] The lateral acceleration of the vehicle when traveling on a curve is less than the acceleration threshold;

[0159] When the vehicle is traveling on a curve, the steering wheel angle is within a predetermined angle range;

[0160] The longitudinal speed of the vehicle when traveling on a curve is within a predetermined speed range;

[0161] The weather when the vehicle is traveling on the curve is the predetermined weather.

[0162] Optionally, the vehicle wheel wear degree determining device 400 further includes an output module.

[0163] The output module is configured to output a warning message according to the degree of wear of the wheel.

[0164] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0165] Adopting the above technical scheme, in this scheme, the first characteristic value determined by the first method is the lateral motion characteristic parameter of the vehicle simulated when the cornering stiffness of the wheel is the reference value; the second characteristic value determined by the second method is the actual lateral motion characteristic parameter when the wheel passes the corner. The difference between the first characteristic value and the second characteristic value reflects the difference between the reference value and the actual value of the cornering stiffness of the wheel. Therefore, the wear degree of the vehicle wheel can be accurately, reliably and timely determined according to the first characteristic value and the second characteristic value, and the necessary processing can be carried out in time, thereby improving the safety of vehicle driving.

[0166] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a first processor, implement the steps of the method for determining the degree of wear of a vehicle wheel provided by the present disclosure.

[0167] The present disclosure also provides a vehicle, comprising a second processor and a second memory for storing instructions executable by the second processor, wherein the second processor is configured to implement the steps of the method for determining the degree of wear of vehicle wheels provided in the present disclosure.

[0168] Figure 3 600 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0169] Reference Figure 3, the vehicle 600 may include various subsystems, for example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 600 may be interconnected by wire or wireless means.

[0170] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, among others.

[0171] The perception system 620 may include several sensors for sensing information about the environment around the vehicle 600. For example, the perception system 620 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0172] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0173] The drive system 640 may include components that provide powered motion for the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0174] Some or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one second processor 651 and a second memory 652, and the second processor 651 may execute instructions 653 stored in the second memory 652.

[0175] The second processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0176] The second memory 652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0177] In addition to the instructions 653 , the second memory 652 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in the second memory 652 may be used by the computing platform 650 .

[0178] In the embodiment of the present disclosure, the second processor 651 may execute instruction 653 to complete all or part of the steps of the above-mentioned method for determining the degree of wear of vehicle wheels.

[0179] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and the computer program has a code portion for executing the above-mentioned vehicle wheel wear degree determination method when executed by the programmable device.

[0180] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0181] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for determining the degree of wear of vehicle wheels, It is characterized in that include: Acquiring driving data of the vehicle on a curve; Determine the front wheel slip angle and the rear wheel slip angle of the vehicle according to the driving data; Determining a lateral motion characteristic parameter of the vehicle as a first characteristic value according to a reference value of a front wheel cornering stiffness of the vehicle, a reference value of a rear wheel cornering stiffness of the vehicle, the front wheel slip angle, and the rear wheel slip angle; Determining a lateral motion characteristic parameter of the vehicle as a second characteristic value according to the yaw angular velocity of the vehicle and the longitudinal speed of the vehicle; determining the degree of wear of the wheel according to the first characteristic value and the second characteristic value; Wherein, determining the degree of wear of the wheel according to the first characteristic value and the second characteristic value includes: determining a difference between the first eigenvalue and the second eigenvalue; determining the degree of wear of the wheel according to the difference; The first eigenvalue is calculated according to the following formula: in, Ay1 represents the first eigenvalue, m represents the mass of the vehicle, Fj represents the lateral force of the front wheel of the vehicle, F2 represents the rear wheel lateral force of the vehicle; The second eigenvalue is calculated according to the following formula: in, Ay2 represents the second eigenvalue; ω represents the yaw rate of the vehicle; Vx Indicates the longitudinal speed of the vehicle.

2. The method according to claim 1, It is characterized in that The lateral motion characteristic parameter is lateral acceleration.

3. The method according to claim 1, It is characterized in that The obtaining of the driving data of the vehicle on the curve includes: If at least one of the following is satisfied, the driving data of the vehicle on the curve is obtained: The position of the curve is a stored position; The slope of the curve is less than a slope threshold; The road surface flatness of the curve is greater than a flatness threshold; The road surface adhesion coefficient of the curve is greater than an adhesion coefficient threshold; The tire pressure of the vehicle when traveling on the curve is within a predetermined tire pressure range; The lateral acceleration of the vehicle when traveling on the curve is less than an acceleration threshold; When the vehicle is traveling on the curve, the steering wheel angle is within a predetermined angle range; The longitudinal speed of the vehicle when traveling on the curve is within a predetermined speed range; The weather when the vehicle travels on the curve is predetermined weather.

4. The method according to claim 1, It is characterized in that The method further comprises: A warning message is output according to the degree of wear of the wheel.

5. A device for determining the degree of wear of vehicle wheels, It is characterized in that The device comprises: An acquisition module is configured to acquire driving data of the vehicle on a curve; a first determining module configured to determine, according to the reference value of the wheel cornering stiffness and the driving data, a lateral motion characteristic parameter of the vehicle in a first manner as a first characteristic value; A second determination module is configured to determine, according to the driving data, a lateral motion characteristic parameter of the vehicle in a second manner as a second characteristic value; a third determination module, configured to determine the degree of wear of the wheel according to the first characteristic value and the second characteristic value; Wherein, the third determination module includes: A first determining submodule is configured to determine a difference between the first eigenvalue and the second eigenvalue; a second determination submodule, configured to determine the degree of wear of the wheel according to the difference; Wherein, the first determining module includes: A third determination submodule is configured to determine a front wheel slip angle and a rear wheel slip angle of the vehicle according to the driving data; a fourth determination submodule, configured to determine a lateral motion characteristic parameter of the vehicle as the first characteristic value according to a reference value of a front wheel cornering stiffness of the vehicle, a reference value of a rear wheel cornering stiffness of the vehicle, the front wheel slip angle, and the rear wheel slip angle; Wherein, the second determining module includes: a fifth determination submodule, configured to determine a lateral motion characteristic parameter of the vehicle as the second characteristic value according to the yaw angular velocity of the vehicle and the longitudinal speed of the vehicle; The fourth determining submodule calculates the first eigenvalue according to the following formula: in, Ay1 represents the first eigenvalue, m represents the mass of the vehicle, Fj represents the lateral force of the front wheel of the vehicle, F2 represents the rear wheel lateral force of the vehicle; The fifth determining submodule calculates the second characteristic value according to the following formula: in, Ay2 represents the second eigenvalue; ω represents the yaw rate of the vehicle; Vx Indicates the longitudinal speed of the vehicle.

6. A computer-readable storage medium having computer program instructions stored thereon, It is characterized in that When the program instructions are executed by the first processor, the steps of the method described in any one of claims 1 to 4 are implemented.

7. A vehicle, It is characterized in that include: A second processor; a second memory for storing instructions executable by the second processor; Wherein, the second processor is configured as follows: Implement the steps of the method described in any one of claims 1 to 4.

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