Tire identification method, electronic device, vehicle and storage medium

Abstract

The application provides a spare tire identification method, an electronic device, a vehicle and a storage medium. The spare tire identification method comprises the following steps: determining a first wheel acceleration of a wheel corresponding to a maximum wheel speed; determining a second wheel acceleration of a wheel corresponding to a minimum wheel speed; determining a first wheel speed average value according to wheel speeds of wheels other than the minimum wheel speed; determining a second wheel speed average value according to wheel speeds of wheels other than the maximum wheel speed; and performing spare tire identification according to the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the first wheel speed average value and the second wheel speed average value to obtain a spare tire identification result. The application can realize spare tire identification without knowing the rolling circumference and the size of a full-size tire.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a spare tire identification method, an electronic device, a vehicle and a storage medium. BACKGROUND

[0002] Spare tire refers to the spare tire of a sedan, which has the same specifications as the original car tire, but on some cars, special color wheel spare tires, small spare tires, folding spare tires, zero pressure running tires and other forms of spare tires are used to remind the owner to check and replace the faulty tire in time.

[0003] In the prior art, the rolling circumference of the full-size tire is compared with the rolling circumference of the small spare tire, and if the difference is greater than a threshold value, it is identified as a small spare tire. This calculation method is complex and requires knowing the size of the full-size tire, which is not easy to implement. Therefore, how to identify the spare tire without knowing the rolling circumference and the size of the full-size tire is a problem that needs to be solved. SUMMARY

[0004] The embodiments of the present application provide a spare tire identification method, an electronic device, a vehicle and a storage medium, which can identify the spare tire without knowing the rolling circumference and the size of the full-size tire.

[0005] The first aspect of the embodiments of the present application provides a spare tire identification method, comprising:

[0006] determining a first wheel acceleration of a wheel corresponding to a maximum wheel speed;

[0007] determining a second wheel acceleration of a wheel corresponding to a minimum wheel speed;

[0008] determining a first wheel speed average value according to the wheel speeds of the wheels other than the minimum wheel speed;

[0009] determining a second wheel speed average value according to the wheel speeds of the wheels other than the maximum wheel speed;

[0010] performing spare tire identification according to the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the first wheel speed average value and the second wheel speed average value to obtain a spare tire identification result.

[0011] The second aspect of the embodiments of the present application provides a spare tire identification device, the device comprising: a first determination unit, a second determination unit and an identification unit, wherein,

[0012] The first determination unit is configured to determine a first wheel acceleration of a wheel corresponding to a maximum wheel speed; and determine a second wheel acceleration of a wheel corresponding to a minimum wheel speed;

[0013] The second determining unit is used to determine a first average wheel speed based on the wheel speeds of wheels other than the minimum wheel speed; and to determine a second average wheel speed based on the wheel speeds of wheels other than the maximum wheel speed.

[0014] The identification unit is used to identify the spare tire based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the average value of the first wheel speed, and the average value of the second wheel speed, and to obtain the spare tire identification result.

[0015] A third aspect of this application provides an electronic device including a processor and a memory, the memory being used to store a computer program, the computer program including program instructions, and the processor being configured to invoke the program instructions to execute the step instructions as described in the first aspect of this application.

[0016] A fourth aspect of this application provides a vehicle that includes electronic devices as described in the third aspect.

[0017] A fifth aspect of this application provides a computer-readable storage medium storing a computer program for electronic data interchange, wherein the computer program causes a computer to perform some or all of the steps described in the first aspect of this application.

[0018] A sixth aspect of this application provides a computer program product, wherein the computer program product includes a computer program operable to cause a computer to perform some or all of the steps described in the first aspect of this application. The computer program product may be a software installation package.

[0019] In this embodiment, the first wheel acceleration corresponding to the wheel with the maximum wheel speed is determined, and the second wheel acceleration corresponding to the wheel with the minimum wheel speed is determined. The average first wheel speed is determined based on the wheel speeds of other wheels besides the minimum wheel speed, and the average second wheel speed is determined based on the wheel speeds of other wheels besides the maximum wheel speed. Spare tire identification is performed based on the maximum wheel speed, minimum wheel speed, first wheel acceleration, second wheel acceleration, average first wheel speed, and average second wheel speed to obtain the spare tire identification result. By using the maximum wheel speed, minimum wheel speed, first wheel acceleration, second wheel acceleration, and the average first wheel speed and average second wheel speed generated by mutual verification between the four wheel speeds, some working conditions that cause wheel speed instability are avoided, making spare tire identification more accurate. It can not only achieve spare tire identification when the rolling circumference and the size of the full-size tire are unknown, but also achieve precise spare tire identification. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating a spare tire identification method provided in an embodiment of this application;

[0022] Figure 2 This is a vehicle system block diagram provided in an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of the connection structure of a piston pump provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the relevant connection structure of an electric motor provided in an embodiment of this application;

[0025] Figure 5 This is a flowchart illustrating another spare tire identification method provided in an embodiment of this application;

[0026] Figure 6 This is a schematic diagram of the structure of a spare tire identification device provided in an embodiment of this application;

[0027] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0030] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0031] In this embodiment of the application, braking depth can be understood as the braking depth of the brake pedal. A brake pedal sensor can be installed on the brake pedal to collect the braking depth of the brake pedal.

[0032] In this embodiment, the wheel sizes of vehicles are often uniform when they leave the factory; these wheel sizes can be referred to as standard sizes. A large spare tire refers to a wheel with a size larger than the standard size, and correspondingly, a small spare tire refers to a wheel with a size smaller than the standard size. Standard-size wheels can also be referred to as full-size tires.

[0033] Please see Figure 1 , Figure 1 This is a flowchart illustrating a spare tire identification method provided in an embodiment of this application. Figure 1 As shown, the spare tire identification method includes the following steps.

[0034] 101. Determine the first wheel acceleration corresponding to the maximum wheel speed.

[0035] In this embodiment, a wheel speed sensor can be used to detect the wheel speed of each wheel to determine the maximum wheel speed, and then the first wheel acceleration of the wheel corresponding to the maximum wheel speed can be determined.

[0036] In this embodiment of the application, the wheel speed sensor can be used to obtain the wheel speed of the wheel with the maximum wheel speed at the current moment, and the wheel speed at the moment before the current moment. The first wheel acceleration can be calculated using the wheel speeds at these two moments and the time length between these two moments.

[0037] The first wheel acceleration is the wheel acceleration of the wheel with the maximum wheel speed. Specifically, the wheel acceleration with the maximum wheel speed can be calculated using the following formula:

[0038] WS_V1Acc = (WS_V1 - WS_V1 before △t) / △t

[0039] Where WS_V1Acc represents the wheel acceleration at maximum wheel speed, WS_V1 is the wheel speed of the wheel with maximum wheel speed at the current moment, WS_V1 before △t is the wheel speed of the wheel with maximum wheel speed △t before the current moment, and △t represents the time length.

[0040] 102. Determine the second wheel acceleration corresponding to the minimum wheel speed.

[0041] In this embodiment of the application, the wheel speed of the wheel with the minimum wheel speed at the current moment and the wheel speed at the moment before the current moment can be obtained by using a wheel speed sensor. The second wheel acceleration can be calculated by using the wheel speeds at these two moments and the time length between these two moments.

[0042] The second wheel acceleration is the wheel acceleration of the wheel with the minimum wheel speed. Specifically, the wheel acceleration of the wheel with the minimum wheel speed can be calculated using the following formula:

[0043] WS_V4Acc = (WS_V4 - WS_V4 before △t) / △t

[0044] Where WS_V4Acc represents the wheel acceleration at the minimum wheel speed, WS_V4 is the wheel speed of the wheel with the minimum wheel speed at the current moment, WS_V4 before △t is the wheel speed of the wheel with the minimum wheel speed △t before the current moment, and △t represents the time length.

[0045] In practical implementation, the first and second rounds of acceleration can be used to filter out conditions such as speed bumps, bumpy roads, rapid acceleration, and rapid deceleration. Specifically, for example, if the wheel speed acceleration is less than a threshold, conditions such as speed bumps, bumpy roads, rapid acceleration, and rapid deceleration can be filtered out.

[0046] Optionally, before step 101, the following steps may also be included:

[0047] When the steering wheel angle is within a preset range and the specified sensor data is less than a first preset threshold, the wheel speeds of the four wheels of the vehicle are acquired and sorted to obtain the maximum wheel speed, the second largest wheel speed, the second smallest wheel speed, and the minimum wheel speed; the specified sensor data includes at least one of the following: braking depth and piston pump pressure.

[0048] In this embodiment, the electronic device can be a component of the vehicle control module. For example, the vehicle control module may include a control unit, specifically a vehicle control unit (VCU). For instance, the VCU can be connected to a master cylinder displacement sensor, a piston pump pressure sensor, a steering wheel angle sensor, and four wheel speed sensors via a controller area network (CAN) bus. Each of the four wheel speed sensors corresponds to one wheel. For example, a vehicle may include a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel; each of these corresponds to a wheel speed sensor. See details below. Figure 2 , Figure 2This is a vehicle system block diagram provided in an embodiment of this application. The control unit receives the braking signal from the master cylinder displacement sensor, the pressure signal from the piston pump pressure sensor, the wheel speed signal from the wheel speed sensor, and the steering wheel angle signal from the steering wheel angle sensor, and identifies the spare tire through software based on these signals.

[0049] The master cylinder displacement sensor can be used to collect brake pedal travel data. The piston pump pressure sensor can collect wheel cylinder pressure data. Four wheel speed sensors can collect the rotational speed of each wheel individually. The steering wheel angle sensor can be used to collect steering wheel angle data. Please refer to [link / reference]. Figure 3 The piston pump can be connected to a motor. The main circuit of the piston pump is equipped with a piston pump pressure sensor. The main circuit connects to four branch circuits, each branch circuit connecting to one wheel: the left front wheel, right front wheel, left rear wheel, and right rear wheel each correspond to one branch circuit. Please refer to [further details omitted]. Figure 4 The control unit can detect the brake pedal signal and whether the vehicle system is building up pressure. It can also drive the motor to drive the piston pump to generate piston pump pressure.

[0050] For example, in its implementation, the VCU can collect signals from the master cylinder displacement sensor to calculate the braking depth; collect signals from the piston pump pressure sensor to calculate the piston pump pressure; collect signals from four wheel speed sensors to calculate the left front wheel speed WS_FL, right front wheel speed WS_FR, left rear wheel speed WS_RL, and right rear wheel speed WS_RR; collect signals from the steering wheel angle sensor to calculate the steering wheel angle StrAng; and can also identify the spare tire based on the braking depth, piston pump pressure, left front wheel speed WS_FL, right front wheel speed WS_FR, left rear wheel speed WS_RL, right rear wheel speed WS_RR, and steering wheel angle StrAng.

[0051] In practical applications, under stable driving conditions (e.g., straight road, slow acceleration, without speed bumps or bumpy roads), the speeds of the four wheels should be relatively close. If non-full-size tires are installed, the speeds of the four wheels will be inconsistent.

[0052] In this embodiment, the preset range can be preset or defaulted to by the system, and the first preset threshold can also be preset or defaulted to by the system. In specific implementations, both the preset range and the first preset threshold can be calibrated according to the actual vehicle conditions. The specified sensor data can include at least one of the following: braking depth, piston pump pressure, etc., without limitation. The specified sensor data can be obtained by data acquisition from a specified sensor, and the specified sensor data can include at least one of the following: master cylinder displacement sensor, piston pump pressure sensor, etc., without limitation. When the specified sensor data only includes braking depth or piston pump pressure, the first preset threshold can be a single value; when the specified sensor data includes both braking depth and piston pump pressure, the first preset threshold can include two thresholds, one for braking depth and one for piston pump pressure. For example, when the steering wheel angle is 0, the steering wheel angle is within the preset range; or, for example, when the braking depth is 0 and the piston pump pressure is 0, the specified sensor data is less than the first preset threshold.

[0053] In this embodiment, the vehicle can be identified as driving straight based on the steering wheel angle signal, and then identified as not applying pressure based on the brake pedal signal and / or the piston pump pressure signal. Specifically, the preset range can be understood as a small steering wheel rotation amplitude; that is, when the steering wheel angle is within the preset range, it can indicate that the vehicle is driving straight to a certain extent. When the steering wheel angle is within the preset range and the specified sensor data is less than a first preset threshold, conditions such as speed bumps, bumpy roads, rapid acceleration, and rapid deceleration can be filtered out, thus determining that the vehicle is in a stable condition, i.e., stable straight-line driving. In this case, if non-full-size tires are installed, the four wheel speeds may be inconsistent. Therefore, the wheel speeds of the four wheels can be obtained and sorted to obtain the maximum wheel speed, the second largest wheel speed, the second smallest wheel speed, and the minimum wheel speed. For example, sorting the four wheel speeds yields the maximum wheel speed WS_V1, the second largest wheel speed WS_V2, the second smallest wheel speed WS_V3, and the minimum wheel speed WS_V4. Furthermore, based on the difference in speed between the four wheels, it can be determined whether a particular wheel is a small spare tire or a large spare tire.

[0054] Conversely, if the steering wheel angle is not within the preset range, and / or the specified sensor data is not less than the first preset threshold, it indicates that the vehicle is not in a stable operating condition, and the process ends without performing the spare tire recognition operation.

[0055] 103. Determine the average first wheel speed based on the wheel speeds of the wheels other than the minimum wheel speed.

[0056] In this embodiment, the minimum wheel speed among the maximum wheel speed, the second largest wheel speed, the second smallest wheel speed, and the minimum wheel speed can be removed first, and the average of the remaining three wheel speeds can be calculated to obtain the first wheel speed average.

[0057] For example, the average first wheel speed is the average of the three wheel speeds excluding the minimum wheel speed. Specifically, the average first wheel speed can be calculated using the following formula:

[0058] VSBig = (WS_V1 + WS_V2 + WS_V3) / 3

[0059] Where VSBig represents the average first wheel speed, and WS_V1, WS_V2, and WS_V3 represent the maximum wheel speed, the second largest wheel speed, and the second smallest wheel speed, respectively.

[0060] 104. Determine the average second wheel speed based on the wheel speeds of the other wheels besides the maximum wheel speed.

[0061] In this embodiment, the maximum wheel speed among the maximum wheel speed, the second largest wheel speed, the second smallest wheel speed, and the minimum wheel speed can be removed first, and the average of the remaining three wheel speeds can be calculated to obtain the second average wheel speed.

[0062] For example, the average second wheel speed is the average of the three wheel speeds excluding the maximum wheel speed. Specifically, the average second wheel speed can be calculated using the following formula:

[0063] VSSml=(WS_V2+WS_V3+WS_V4) / 3

[0064] Where VSSml represents the average first wheel speed, and WS_V2, WS_V3, and WS_V4 represent the second largest wheel speed, the second smallest wheel speed, and the smallest wheel speed, respectively.

[0065] In practice, the results of speed measurement and estimation, namely the average speed of the first and second wheels, can be used to filter out unstable factors.

[0066] 105. Based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the average value of the first wheel speed, and the average value of the second wheel speed, the spare tire is identified to obtain the spare tire identification result.

[0067] In this embodiment of the application, the maximum wheel speed, minimum wheel speed, first wheel acceleration, second wheel acceleration, average first wheel speed, and average second wheel speed can be used to find a wheel among the four wheels whose wheel speed is consistently high or low, and then that wheel can be identified as a spare tire. Specifically, a tire whose wheel speed is consistently increasing is identified as a small spare tire, or a tire whose wheel speed is consistently decreasing is identified as a large spare tire.

[0068] Furthermore, after identifying non-full-size tires, the system can also remind the driver or limit the vehicle's maximum speed to improve vehicle safety. Different spare tires have different maximum speeds. Of course, the maximum speed is also affected by the external environment, and the specific value of the maximum speed can be determined based on the actual situation.

[0069] In this embodiment, the mutual verification between the four wheel speeds can be achieved without the need for additional devices, i.e., it is not necessary to know the rolling circumference of the wheel or the size of the full-size tire. Therefore, the algorithm is simple. In addition, it avoids some working conditions that cause wheel speed instability, making the system identification more accurate. Moreover, it can also identify large and small spare tires.

[0070] In this embodiment, the first wheel acceleration corresponding to the wheel with the maximum wheel speed is determined, and the second wheel acceleration corresponding to the wheel with the minimum wheel speed is determined. The average first wheel speed is determined based on the wheel speeds of other wheels besides the minimum wheel speed, and the average second wheel speed is determined based on the wheel speeds of other wheels besides the maximum wheel speed. Spare tire identification is performed based on the maximum wheel speed, minimum wheel speed, first wheel acceleration, second wheel acceleration, average first wheel speed, and average second wheel speed to obtain the spare tire identification result. By using the maximum wheel speed, minimum wheel speed, first wheel acceleration, second wheel acceleration, and the average first wheel speed and average second wheel speed generated by mutual verification between the four wheel speeds, some working conditions that cause wheel speed instability are avoided, making spare tire identification more accurate. It can not only achieve spare tire identification when the rolling circumference and the size of the full-size tire are unknown, but also achieve precise spare tire identification.

[0071] Optionally, step 105 above, which identifies the spare tire based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the average value of the first wheel speed, and the average value of the second wheel speed, to obtain the spare tire identification result, may include the following steps:

[0072] 51. Determine the maximum wheel speed slip ratio based on the maximum wheel speed and the average value of the second wheel speed;

[0073] 52. Determine the minimum wheel speed slip ratio based on the first average wheel speed and the minimum wheel speed;

[0074] 53. The spare tire is identified based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the maximum wheel speed slip ratio, and the minimum wheel speed slip ratio to obtain the spare tire identification result.

[0075] In this embodiment of the application, the maximum wheel speed slip ratio can be determined based on the average of the maximum wheel speed and the second wheel speed, and the minimum wheel speed slip ratio can be determined based on the average of the first wheel speed and the minimum wheel speed. Here, acceleration is generally called slip, and deceleration is generally called slip.

[0076] Furthermore, the spare tire can be identified based on the maximum wheel speed, minimum wheel speed, first wheel acceleration, second wheel acceleration, maximum wheel speed slip ratio, and minimum wheel speed slip ratio. The spare tire identification result is obtained by combining the absolute deviation of wheel speed (the difference between different wheel speeds) and slip ratio / slip ratio to identify a wheel whose speed is consistently high or low among the four wheel speeds. If the wheel speed increases, the result is identified as a small spare tire, and if the wheel speed decreases, the result is identified as a large spare tire. Thus, the spare tire can be accurately identified, and it can be identified as a large or small spare tire.

[0077] Optionally, step 51 above, determining the maximum wheel speed slip ratio based on the maximum wheel speed and the average of the second wheel speed, may include the following steps:

[0078] 511. Determine the first difference between the maximum wheel speed and the average value of the second wheel speed;

[0079] 512. Determine the maximum wheel speed slip ratio based on the first difference and the second average wheel speed.

[0080] In this embodiment of the application, a first difference between the maximum wheel speed and the average value of the second wheel speed can be determined, and then the maximum wheel speed slip ratio can be determined according to the following formula: maximum wheel speed slip ratio = first difference / average value of the first wheel speed * 100.

[0081] For example, the maximum wheel speed slip ratio can be calculated using the following formula:

[0082] WS_V1Slip=(WS_V1-VSSml) / VSSml*100

[0083] Wherein, WS_V1Slip represents the maximum wheel speed slip ratio, WS_V1 represents the maximum wheel speed, and VSSml represents the average value of the second wheel speed.

[0084] Optionally, step 52 above, determining the minimum wheel speed slip ratio based on the first average wheel speed and the minimum wheel speed, may include the following steps:

[0085] 521. Determine the second difference between the first average wheel speed and the minimum wheel speed;

[0086] 522. Determine the minimum wheel speed slip ratio based on the second difference and the first average wheel speed.

[0087] In practice, the difference between the average first wheel speed and the minimum wheel speed can be calculated first to obtain the second difference. Then, the minimum wheel speed slip ratio can be determined according to the following formula: Minimum wheel speed slip ratio = Second difference / Average first wheel speed * 100.

[0088] For example, the minimum wheel speed slip ratio can be calculated using the following formula:

[0089] WS_V4Slip=(VSBig-WS_V4) / VSBig*100

[0090] Where WS_V4Slip represents the minimum wheel speed slip ratio, WS_V4 represents the minimum wheel speed, and VSBig represents the average value of the first wheel speed.

[0091] Further, optionally, step 53 above, which identifies the spare tire based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the maximum wheel speed slip ratio, and the minimum wheel speed slip ratio, to obtain the spare tire identification result, may include the following steps:

[0092] A1. Determine whether the acceleration of the first round is less than the second preset threshold and whether the acceleration of the second round is less than the third preset threshold;

[0093] A2. When the acceleration of the first wheel is less than the second preset threshold and the acceleration of the second wheel is less than the third preset threshold, determine whether the difference between the maximum wheel speed and the minimum wheel speed is greater than the fourth preset threshold and whether the minimum wheel speed is greater than the fifth preset threshold.

[0094] A3. When the difference between the maximum wheel speed and the minimum wheel speed is greater than the fourth preset threshold and the minimum wheel speed is greater than the fifth preset threshold, determine whether the maximum wheel speed slip ratio is greater than the sixth preset threshold and whether the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold.

[0095] A4. When the maximum wheel speed slip ratio is greater than the sixth preset threshold and the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold, determine a first duration during which the maximum wheel speed slip ratio is greater than the sixth preset threshold and the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold.

[0096] A5. Based on the first duration, identify the spare tire to obtain the spare tire identification result.

[0097] In this embodiment, the second, third, fourth, fifth, sixth, and seventh preset thresholds can all be preset or set by system default. The second and third preset thresholds can be equal or unequal, depending on the actual situation. In specific implementation, the second, third, fourth, fifth, sixth, and seventh preset thresholds can all be calibrated based on the actual vehicle conditions.

[0098] In practice, the system first checks whether the first-round acceleration is less than a second preset threshold and whether the second-round acceleration is less than a third preset threshold. If both the first-round acceleration and the second-round acceleration are less than the second and third preset thresholds, the system is considered to be in a stable operating condition. This method can filter out conditions such as speed bumps, uneven roads, rapid acceleration, and rapid deceleration, thereby improving the accuracy of spare tire identification. Conversely, if the first-round acceleration is not less than the second preset threshold and / or the second-round acceleration is not less than the third preset threshold, the process ends, and spare tire identification is not performed.

[0099] Next, it can be determined whether the difference between the maximum and minimum wheel speeds is greater than a fourth preset threshold and whether the minimum wheel speed is greater than a fifth preset threshold. If the difference between the maximum and minimum wheel speeds is greater than the fourth preset threshold and the minimum wheel speed is greater than the fifth preset threshold, it further indicates that there is a significant difference between wheel speeds under stable operating conditions, especially between the maximum and minimum wheel speeds. The minimum wheel speed needs to be greater than a certain threshold to ensure, to some extent, that no malfunction has occurred (e.g., tire blowout, air leak), thereby improving the accuracy of spare tire identification. Conversely, if the difference between the maximum and minimum wheel speeds is not greater than the fourth preset threshold and / or the minimum wheel speed is not greater than the fifth preset threshold, the process ends, and the spare tire identification operation is not performed.

[0100] Next, we can determine whether the maximum wheel speed slip ratio is greater than the sixth preset threshold and whether the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold. If the maximum wheel speed slip ratio is greater than the sixth preset threshold and the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold, it indicates that one of the four wheel speeds is too high. That is, we can use this method to find the wheel with the higher wheel speed among the four wheel speeds, which is identified as the small spare tire (the wheel speed has increased). In order to ensure the randomness of the judgment, we can determine the first duration during which the maximum wheel speed slip ratio is greater than the sixth preset threshold and the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold. That is, we use the duration during which one of the four wheel speeds is continuously higher to further identify the spare tire. Specifically, we identify the spare tire based on the first duration to obtain the spare tire identification result. In this way, we can use the method of continuously higher wheel speed among the four wheel speeds to identify the spare tire, which can avoid the randomness of the spare tire identification result, thereby improving the accuracy of spare tire identification. Conversely, if the maximum wheel speed slip ratio is not greater than the sixth preset threshold, and / or the difference between the second largest wheel speed and the minimum wheel speed is not less than the seventh preset threshold, the process ends and the spare tire identification operation is not performed.

[0101] Optionally, step A5 above, which involves identifying the spare tire based on the duration to obtain the spare tire identification result, may be implemented in the following manner:

[0102] When the first duration is longer than the first preset duration, the wheel corresponding to the maximum wheel speed is identified as a small tire.

[0103] The first preset duration can be set in advance or set by the system default.

[0104] In this embodiment, when the first duration exceeds the first preset duration, it indicates that one of the four wheel speeds has a consistently high wheel speed. In practical applications, due to the difference between the spare tire's size and the standard size, the wheel speed of the spare tire will differ significantly from the wheel speeds of the other wheels. Either the wheel with the highest wheel speed is the spare tire, or the wheel with the lowest wheel speed is the spare tire. If a wheel has a consistently high wheel speed, it indicates the presence of a small spare tire, and the wheel with the highest wheel speed can be identified as the small tire. Using the method of identifying a spare tire by having one wheel speed consistently high among the four wheel speeds avoids the randomness of the spare tire identification result, thereby improving the accuracy of spare tire identification. Conversely, if the first duration is not greater than the first preset duration, the process ends, and the spare tire identification operation is not performed.

[0105] Optionally, the following steps may also be included:

[0106] B1. When the maximum wheel speed slip ratio is not greater than the sixth preset threshold, and / or the difference between the second largest wheel speed and the minimum wheel speed is not less than the seventh preset threshold, determine whether the minimum wheel speed slip ratio is greater than the eighth preset threshold and whether the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold.

[0107] B2. When the minimum wheel speed slip ratio is greater than the eighth preset threshold and the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold, determine a second duration for which the minimum wheel speed slip ratio is greater than the eighth preset threshold and the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold.

[0108] B3. Based on the second duration, identify the spare tire to obtain the spare tire identification result.

[0109] In this embodiment, both the eighth and ninth preset thresholds can be preset or set by system default. Specifically, both the eighth and ninth preset thresholds can be calibrated based on the actual vehicle conditions.

[0110] In this embodiment of the application, if the maximum wheel speed slip ratio is not greater than the sixth preset threshold, it indicates that there may be a wheel with a low wheel speed; similarly, if the difference between the second largest wheel speed and the minimum wheel speed is not less than the seventh preset threshold, it indicates that there may be a wheel with a low wheel speed; similarly, if the maximum wheel speed slip ratio is not greater than the sixth preset threshold and the difference between the second largest wheel speed and the minimum wheel speed is not less than the seventh preset threshold, it indicates that there may be a wheel with a low wheel speed. Furthermore, it can be determined whether the minimum wheel speed slip ratio is greater than the eighth preset threshold and whether the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold. When the minimum wheel speed slip ratio is greater than the eighth preset threshold and the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold, it indicates that one of the four wheel speeds is too low. The wheel corresponding to the low wheel speed can be identified in this way, i.e., it is identified as the large spare tire (wheel speed decreases). In order to ensure the randomness of the judgment, a second duration can be determined where the minimum wheel speed slip ratio is greater than the eighth preset threshold and the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold. That is, the spare tire identification is further performed by using the duration of the continuous low wheel speed among the four wheel speeds. Specifically, the spare tire identification is performed based on the second duration to obtain the spare tire identification result. In this way, the spare tire can be identified by using the method of a continuous low wheel speed among the four wheel speeds, which can avoid the randomness of the spare tire identification result and thus improve the accuracy of spare tire identification.

[0111] Conversely, if the minimum wheel speed slip ratio is not greater than the eighth preset threshold, and / or the difference between the maximum wheel speed and the second smallest wheel speed is not less than the ninth preset threshold, the process ends and the spare tire identification operation is not performed.

[0112] Optionally, step B3 above, which involves identifying the spare tire based on the second duration to obtain the spare tire identification result, can be implemented in the following manner:

[0113] When the second duration is longer than the second preset duration, the wheel corresponding to the minimum wheel speed is identified as a large tire.

[0114] The second preset duration can be set in advance or be the system default. The first and second preset durations can be equal or unequal.

[0115] In this embodiment, if the second duration is longer than the second preset duration, it indicates that one of the four wheel speeds has a consistently low wheel speed. In practical applications, due to the difference in size between the spare tire and the regular tire, there will be a significant difference between the spare tire's wheel speed and the wheel speeds of the other wheels. That is, either the wheel with the highest wheel speed or the wheel with the lowest wheel speed is the spare tire. If a wheel has a consistently low wheel speed, it indicates the presence of a large spare tire, and the wheel with the lowest wheel speed can be identified as the large tire. Using the method of identifying a spare tire by having one of the four wheel speeds consistently low avoids the randomness of the spare tire identification result, thereby improving the accuracy of spare tire identification. Conversely, if the second duration is not greater than the second preset duration, the process ends, and the spare tire identification operation is not performed.

[0116] In this embodiment, the above thresholds and durations are calibrated based on the actual vehicle conditions. Specifically, the mapping relationship between the vehicle parameters and the thresholds or durations can be pre-configured, and the corresponding thresholds or durations can be determined based on the mapping relationship. The vehicle parameters may include at least one of the following: vehicle model, vehicle configuration parameters, vehicle age, vehicle maintenance status, vehicle mileage, etc., which are not limited here.

[0117] Of course, the above thresholds and durations can be related not only to the actual vehicle conditions, but also to the actual environment. The actual environment can include at least one of the following: weather, road surface material, road surface water conditions, etc., which are not limited here. Different environments can also have a certain impact on the various thresholds and durations, and the specific impact can be determined based on the actual situation.

[0118] For another example, please refer to [link / reference]. Figure 5 , Figure 5 This is a flowchart illustrating another spare tire identification method provided in an embodiment of this application. Figure 5 As shown, the method may include the following steps:

[0119] S1. Determine whether the steering wheel angle is within a preset range and whether the data from the specified sensor is less than a first preset threshold. If Y, proceed to step S2; if N, proceed to step S12.

[0120] S2. Obtain the wheel speeds of the four wheels of the vehicle and sort them to get the maximum wheel speed, the second largest wheel speed, the second smallest wheel speed, and the minimum wheel speed.

[0121] S3. Determine the first wheel acceleration corresponding to the maximum wheel speed, and determine the second wheel acceleration corresponding to the minimum wheel speed.

[0122] S4. Determine the average value of the first wheel speed based on the maximum wheel speed, the second largest wheel speed, and the second smallest wheel speed. Determine the average value of the second wheel speed based on the second largest wheel speed, the second smallest wheel speed, and the minimum wheel speed.

[0123] S5. Determine the maximum wheel speed slip ratio based on the average of the maximum wheel speed and the second wheel speed, and determine the minimum wheel speed slip ratio based on the average of the first wheel speed and the minimum wheel speed.

[0124] S6. Determine whether the acceleration in the first round is less than the second preset threshold and whether the acceleration in the second round is less than the third preset threshold. If Y, proceed to step S7; if N, proceed to step S12.

[0125] S7. Determine whether the difference between the maximum wheel speed and the minimum wheel speed is greater than the fourth preset threshold and whether the minimum wheel speed is greater than the fifth preset threshold. If Y, proceed to step S8; if N, proceed to step S12.

[0126] S8. Determine whether the maximum wheel speed slip ratio is greater than the sixth preset threshold and whether the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold. If Y, proceed to step S9; if N, proceed to step S10.

[0127] S9. Determine the first duration during which the maximum wheel speed slip ratio is greater than the sixth preset threshold and the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold. Based on the first duration, identify the spare tire and obtain the spare tire identification result.

[0128] S10. Determine whether the minimum wheel speed slip ratio is greater than the eighth preset threshold and whether the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold. If Y, proceed to step S11; if N, proceed to step S12.

[0129] S11. Determine the second duration when the minimum wheel speed slip ratio is greater than the eighth preset threshold and the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold. Based on the second duration, identify the spare tire and obtain the spare tire identification result.

[0130] S12, End.

[0131] In this embodiment, on the one hand, by ensuring that the steering wheel angle is within a preset range and the specified sensor data is less than a first preset threshold, conditions such as speed bumps, bumpy roads, rapid acceleration, and rapid deceleration can be filtered out, thus determining that the vehicle is in a stable condition, such as stable straight-line driving. When a spare tire is present, the four wheel speeds may be inconsistent. On the other hand, by utilizing the maximum wheel speed, the second largest wheel speed, the second smallest wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, and the average first and second wheel speeds generated through mutual verification between the four wheel speeds, some conditions that cause wheel speed instability are avoided. Furthermore, by combining the absolute deviation of wheel speed and the slip ratio / slip ratio, it is determined whether one of the four tires has a wheel speed that is too high or too low. This makes spare tire identification more accurate, enabling not only spare tire identification without knowing the rolling circumference or the size of the full-size tire, but also precise spare tire identification.

[0132] The above describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the electronic device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0133] This application embodiment can divide the electronic device into functional units according to the above method example. For example, each function can be divided into a separate functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0134] For those consistent with the above, please refer to Figure 6 , Figure 6 This is a schematic diagram of a spare tire identification device provided in an embodiment of this application. The spare tire identification device 600 may include: a first determining unit 601, a second determining unit 602, and an identification unit 603, wherein...

[0135] The first determining unit 601 is used to determine the first wheel acceleration of the wheel corresponding to the maximum wheel speed; and to determine the second wheel acceleration of the wheel corresponding to the minimum wheel speed.

[0136] The second determining unit 602 is used to determine a first average wheel speed based on the wheel speeds of wheels other than the minimum wheel speed; and to determine a second average wheel speed based on the wheel speeds of wheels other than the maximum wheel speed.

[0137] The identification unit 603 is used to identify the spare tire based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the average value of the first wheel speed, and the average value of the second wheel speed, and to obtain the spare tire identification result.

[0138] Optionally, the spare tire identification device 600 is further specifically used for:

[0139] When the steering wheel angle is within a preset range and the specified sensor data is less than a first preset threshold, the wheel speeds of the four wheels of the vehicle are acquired and sorted to obtain the maximum wheel speed, the second largest wheel speed, the second smallest wheel speed, and the minimum wheel speed; the specified sensor data includes at least one of the following: braking depth and piston pump pressure.

[0140] Optionally, in the process of identifying the spare tire based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the average value of the first wheel speed, and the average value of the second wheel speed, and obtaining the spare tire identification result, the identification unit 603 is specifically used for:

[0141] The maximum wheel speed slip ratio is determined based on the maximum wheel speed and the average value of the second wheel speed.

[0142] The minimum wheel speed slip ratio is determined based on the first average wheel speed and the minimum wheel speed.

[0143] The spare tire is identified based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the maximum wheel speed slip ratio, and the minimum wheel speed slip ratio, to obtain the spare tire identification result.

[0144] Optionally, in the process of identifying the spare tire based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the maximum wheel speed slip ratio, and the minimum wheel speed slip ratio to obtain the spare tire identification result, the identification unit 603 is specifically used for:

[0145] Determine whether the first round acceleration is less than a second preset threshold and whether the second round acceleration is less than a third preset threshold;

[0146] When the acceleration of the first wheel is less than the second preset threshold and the acceleration of the second wheel is less than the third preset threshold, determine whether the difference between the maximum wheel speed and the minimum wheel speed is greater than the fourth preset threshold and whether the minimum wheel speed is greater than the fifth preset threshold;

[0147] When the difference between the maximum wheel speed and the minimum wheel speed is greater than the fourth preset threshold and the minimum wheel speed is greater than the fifth preset threshold, it is determined whether the maximum wheel speed slip ratio is greater than the sixth preset threshold and whether the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold.

[0148] When the maximum wheel speed slip ratio is greater than the sixth preset threshold and the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold, a first duration for which the maximum wheel speed slip ratio is greater than the sixth preset threshold and the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold is determined.

[0149] The spare tire is identified based on the first duration, and the spare tire identification result is obtained.

[0150] Optionally, in the process of identifying the spare tire based on the duration and obtaining the spare tire identification result, the identification unit 603 is specifically used for:

[0151] When the first duration is longer than the first preset duration, the wheel corresponding to the maximum wheel speed is identified as a small tire.

[0152] Optionally, the identification unit 603 is further specifically used for:

[0153] When the maximum wheel speed slip ratio is not greater than the sixth preset threshold, and / or the difference between the second largest wheel speed and the minimum wheel speed is not less than the seventh preset threshold, determine whether the minimum wheel speed slip ratio is greater than the eighth preset threshold and whether the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold.

[0154] When the minimum wheel speed slip ratio is greater than the eighth preset threshold and the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold, a second duration for which the minimum wheel speed slip ratio is greater than the eighth preset threshold and the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold is determined.

[0155] The spare tire is identified based on the second duration, and the spare tire identification result is obtained.

[0156] Optionally, in the step of identifying the spare tire based on the second duration and obtaining the spare tire identification result, the identification unit 603 is specifically used for:

[0157] When the second duration is longer than the second preset duration, the wheel corresponding to the minimum wheel speed is identified as a large tire.

[0158] Optionally, in determining the maximum wheel speed slip ratio based on the maximum wheel speed and the average of the second wheel speed, the second determining unit 602 is specifically used for:

[0159] Determine a first difference between the maximum wheel speed and the average value of the second wheel speed;

[0160] The maximum wheel speed slip ratio is determined based on the first difference and the second average wheel speed.

[0161] Optionally, in determining the minimum wheel speed slip ratio based on the first average wheel speed and the minimum wheel speed, the second determining unit 602 is specifically used for:

[0162] Determine a second difference between the first average wheel speed and the minimum wheel speed;

[0163] The minimum wheel speed slip ratio is determined based on the second difference and the first average wheel speed.

[0164] In this embodiment, the first wheel acceleration corresponding to the wheel with the maximum wheel speed is determined, and the second wheel acceleration corresponding to the wheel with the minimum wheel speed is determined. The average first wheel speed is determined based on the wheel speeds of other wheels besides the minimum wheel speed, and the average second wheel speed is determined based on the wheel speeds of other wheels besides the maximum wheel speed. Spare tire identification is performed based on the maximum wheel speed, minimum wheel speed, first wheel acceleration, second wheel acceleration, average first wheel speed, and average second wheel speed to obtain the spare tire identification result. By using the maximum wheel speed, minimum wheel speed, first wheel acceleration, second wheel acceleration, and the average first wheel speed and average second wheel speed generated by mutual verification between the four wheel speeds, some working conditions that cause wheel speed instability are avoided, making spare tire identification more accurate. It can not only achieve spare tire identification when the rolling circumference and the size of the full-size tire are unknown, but also achieve precise spare tire identification.

[0165] It is understood that the functions of each program module of the spare tire identification device 600 in this embodiment can be specifically implemented according to the methods in the above method embodiments. The specific implementation process can be referred to the relevant descriptions in the above method embodiments, and will not be repeated here.

[0166] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 7As shown, the electronic device 700 includes a processor 701 and a memory 702, which are interconnected via a communication bus 703. The communication bus 703 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The communication bus 703 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 7 The bus is represented by a single thick line, but this does not indicate that there is only one bus or one type of bus. Memory 702 stores computer programs, which include program instructions. Processor 701 is configured to call these program instructions, which include instructions for execution. Figures 1 to 6 It includes some or all of the steps in the methods.

[0167] Processor 701 can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of programs in the above scheme. Specifically, processor 701 can be a VCU.

[0168] The memory 702 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory may exist independently and be connected to the processor via a bus. The memory may also be integrated with the processor.

[0169] In addition, the electronic device 700 may also include general components such as communication interfaces (e.g., USB interfaces, microphone interfaces, etc.) and antennas, which will not be described in detail here.

[0170] In this embodiment, the first wheel acceleration corresponding to the wheel with the maximum wheel speed is determined, and the second wheel acceleration corresponding to the wheel with the minimum wheel speed is determined. The average first wheel speed is determined based on the wheel speeds of other wheels besides the minimum wheel speed, and the average second wheel speed is determined based on the wheel speeds of other wheels besides the maximum wheel speed. Spare tire identification is performed based on the maximum wheel speed, minimum wheel speed, first wheel acceleration, second wheel acceleration, average first wheel speed, and average second wheel speed to obtain the spare tire identification result. By using the maximum wheel speed, minimum wheel speed, first wheel acceleration, second wheel acceleration, and the average first wheel speed and average second wheel speed generated by mutual verification between the four wheel speeds, some working conditions that cause wheel speed instability are avoided, making spare tire identification more accurate. It can not only achieve spare tire identification when the rolling circumference and the size of the full-size tire are unknown, but also achieve precise spare tire identification.

[0171] This application embodiment also provides a vehicle, the vehicle including as follows: Figure 7 The described electronic device.

[0172] This application also provides a computer-readable storage medium storing a computer program for electronic data interchange that causes a computer to perform some or all of the steps of any of the spare tire identification methods described in the above method embodiments.

[0173] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0174] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0175] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0176] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0177] Furthermore, the functional units in the various embodiments of the application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.

[0178] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0179] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: a flash drive, a read-only memory, a random access memory, a magnetic disk, or an optical disk, etc.

[0180] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for identifying a spare tire, characterized in that, include: Determine the first-wheel acceleration of the wheel corresponding to the maximum wheel speed; Determine the second-wheel acceleration of the wheel corresponding to the minimum wheel speed; The first average wheel speed is determined based on the wheel speeds of the other wheels besides the minimum wheel speed; The second average wheel speed is determined based on the wheel speeds of the other wheels besides the maximum wheel speed; Spare tire identification is performed based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the average value of the first wheel speed, and the average value of the second wheel speed, to obtain the spare tire identification result.

2. The method according to claim 1, characterized in that, The method further includes: When the steering wheel angle is within a preset range and the specified sensor data is less than a first preset threshold, the wheel speeds of the four wheels of the vehicle are acquired and sorted to obtain the maximum wheel speed, the second largest wheel speed, the second smallest wheel speed, and the minimum wheel speed; the specified sensor data includes at least one of the following: braking depth and piston pump pressure.

3. The method according to claim 2, characterized in that, The process of identifying the spare tire based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the average value of the first wheel speed, and the average value of the second wheel speed, to obtain the spare tire identification result, includes: The maximum wheel speed slip ratio is determined based on the maximum wheel speed and the average value of the second wheel speed. The minimum wheel speed slip ratio is determined based on the first average wheel speed and the minimum wheel speed. The spare tire is identified based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the maximum wheel speed slip ratio, and the minimum wheel speed slip ratio, to obtain the spare tire identification result.

4. The method according to claim 3, characterized in that, The process of identifying the spare tire based on the maximum wheel speed, the minimum wheel speed, the first wheel acceleration, the second wheel acceleration, the maximum wheel speed slip ratio, and the minimum wheel speed slip ratio, to obtain the spare tire identification result, includes: Determine whether the first round acceleration is less than a second preset threshold and whether the second round acceleration is less than a third preset threshold; When the acceleration of the first wheel is less than the second preset threshold and the acceleration of the second wheel is less than the third preset threshold, determine whether the difference between the maximum wheel speed and the minimum wheel speed is greater than the fourth preset threshold and whether the minimum wheel speed is greater than the fifth preset threshold; When the difference between the maximum wheel speed and the minimum wheel speed is greater than the fourth preset threshold and the minimum wheel speed is greater than the fifth preset threshold, it is determined whether the maximum wheel speed slip ratio is greater than the sixth preset threshold and whether the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold. When the maximum wheel speed slip ratio is greater than the sixth preset threshold and the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold, a first duration for which the maximum wheel speed slip ratio is greater than the sixth preset threshold and the difference between the second largest wheel speed and the minimum wheel speed is less than the seventh preset threshold is determined. The spare tire is identified based on the first duration, and the spare tire identification result is obtained.

5. The method according to claim 4, characterized in that, The process of identifying the spare tire based on the duration, and obtaining the spare tire identification result, includes: When the first duration is longer than the first preset duration, the wheel corresponding to the maximum wheel speed is identified as a small tire.

6. The method according to claim 4 or 5, characterized in that, The method further includes: When the maximum wheel speed slip ratio is not greater than the sixth preset threshold, and / or the difference between the second largest wheel speed and the minimum wheel speed is not less than the seventh preset threshold, determine whether the minimum wheel speed slip ratio is greater than the eighth preset threshold and whether the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold. When the minimum wheel speed slip ratio is greater than the eighth preset threshold and the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold, a second duration for which the minimum wheel speed slip ratio is greater than the eighth preset threshold and the difference between the maximum wheel speed and the second smallest wheel speed is less than the ninth preset threshold is determined. The spare tire is identified based on the second duration, and the spare tire identification result is obtained.

7. The method according to claim 6, characterized in that, The step of identifying the spare tire based on the second duration to obtain the spare tire identification result includes: When the second duration is longer than the second preset duration, the wheel corresponding to the minimum wheel speed is identified as a large tire.

8. The method according to any one of claims 2-5, characterized in that, The step of determining the maximum wheel speed slip ratio based on the maximum wheel speed and the average of the second wheel speed includes: Determine a first difference between the maximum wheel speed and the average value of the second wheel speed; The maximum wheel speed slip ratio is determined based on the first difference and the second average wheel speed.

9. The method according to any one of claims 2-5, characterized in that, The step of determining the minimum wheel speed slip ratio based on the first average wheel speed and the minimum wheel speed includes: Determine a second difference between the first average wheel speed and the minimum wheel speed; The minimum wheel speed slip ratio is determined based on the second difference and the first average wheel speed.

10. An electronic device, characterized in that, The device includes a processor and a memory, the memory being used to store a computer program, the computer program including program instructions, and the processor being configured to invoke the program instructions to perform the method as described in any one of claims 1 to 9.

11. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 10.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1 to 9.

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