Vehicle off-road performance evaluation method, device, equipment and medium

Abstract

A method, device, equipment, and medium for evaluating vehicle off-road performance, belonging to the field of automotive technology. The method comprises: after arranging each wheel of a vehicle to be tested on a rotating shaft equipped with an electromagnetic induction coil, controlling the current in each electromagnetic induction coil to simulate different wheel slip states; obtaining a first slip escape time for the vehicle to be tested for each wheel slip state, where the first slip escape time is the time it takes for the vehicle to be tested to escape from all rotating shafts; determining a target slip escape time for the vehicle to be tested by integrating all first slip escape times; obtaining a time escape threshold; and determining the off-road performance of the vehicle to be tested based on the time escape threshold and the target slip escape time. This application comprehensively considers multiple wheel slip states and systematically and comprehensively evaluates the vehicle's off-road performance, thereby overcoming technical problems such as one-sidedness and poor accuracy in the prior art and improving the accuracy of determining the off-road performance of the vehicle to be tested.

Description

Technical Field

[0001] The present application relates to the field of automotive technology, and in particular to a method, device, equipment and computer-readable storage medium for evaluating vehicle off-road performance. Background Art

[0002] With the improvement of living standards, people are increasingly enjoying the fun of off-road driving. Therefore, people's requirements for vehicles are no longer limited to a comfortable driving experience, but have increased their requirements for the vehicle's off-road performance. How to accurately evaluate the off-road performance of a vehicle is becoming increasingly important. In the related art, a vehicle is driven on a test site, and then the test personnel score and evaluate the vehicle's off-road performance. However, on the test site, the road adhesion coefficient of each wheel is almost the same, and the wheel slip state at this time is that all four wheels are in a slip state; in the real environment, not all wheels of the vehicle are on the road with the same adhesion coefficient, that is, there are wheel slip states such as single-wheel slip, double-wheel slip, and three-wheel slip. Therefore, the method of evaluating the off-road performance of a vehicle by driving the vehicle on a test site is one-sided and has poor accuracy. Summary of the Invention

[0003] The present application provides a vehicle off-road performance evaluation method, device, equipment and computer-readable storage medium, which can solve the technical problems existing in the prior art of evaluating the off-road performance of a vehicle when driving the vehicle on a test site, such as one-sidedness and poor accuracy.

[0004] In a first aspect, an embodiment of the present application provides a method for evaluating off-road performance of a vehicle, the method comprising:

[0005] After each wheel of the vehicle to be tested is arranged on a rotating shaft equipped with an electromagnetic induction coil, the current in each electromagnetic induction coil is controlled to simulate different wheel slip states, including a single-wheel slip state, a two-wheel slip state, a three-wheel slip state, and a four-wheel slip state;

[0006] For each wheel slip state, obtaining a first slip escape time of the vehicle to be tested, where the first slip escape time is the time it takes for the vehicle to be tested to escape from all rotating shafts;

[0007] Combining all first slip escape times, a target slip escape time for the vehicle to be tested is determined;

[0008] Get the escape time threshold;

[0009] The off-road performance of the vehicle to be tested is determined based on the escape time threshold and the target slip escape time.

[0010] In conjunction with the first aspect, in one embodiment, controlling the current in each electromagnetic induction coil to simulate a single-wheel slip state includes:

[0011] The real-time current in one electromagnetic induction coil is controlled so that the corresponding wheel is in a slipping state, and the real-time current in the remaining electromagnetic induction coils is controlled to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state.

[0012] In conjunction with the first aspect, in one embodiment, controlling the current in each electromagnetic induction coil to simulate a two-wheel slip state includes:

[0013] The real-time currents in the two electromagnetic induction coils are controlled so that the corresponding wheels are in a slipping state, and the real-time currents in the remaining electromagnetic induction coils are controlled to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state.

[0014] In conjunction with the first aspect, in one embodiment, controlling the current in each electromagnetic induction coil to simulate a three-wheel slip state includes:

[0015] The real-time currents in the three electromagnetic induction coils are controlled so that the corresponding wheels are in a slipping state, and the real-time currents in the remaining electromagnetic induction coils are controlled to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state.

[0016] In conjunction with the first aspect, in one embodiment, controlling the current in each electromagnetic induction coil to simulate the four-wheel slip state of the vehicle includes:

[0017] The real-time current in the four electromagnetic induction coils is controlled to put the corresponding wheels in a slipping state.

[0018] In conjunction with the first aspect, in one embodiment, the step of integrating all first slip escape times to determine a target slip escape time for the vehicle to be tested includes:

[0019] Adding the first slip escape times to obtain a sum, and using the sum as a target slip escape time for the vehicle to be tested;

[0020] or

[0021] Adding the first slip escape times to obtain a sum;

[0022] According to the number of the first slip escape times, the sum is averaged to obtain an average value, and the average value is used as the target slip escape time for the vehicle to be tested.

[0023] In conjunction with the first aspect, in one embodiment, determining the off-road performance of the vehicle to be tested based on the escape time threshold and the target slip escape time includes:

[0024] When the target slip escape time is less than or equal to the escape time threshold, determining that the off-road performance of the vehicle to be tested meets the preset requirement;

[0025] When the target slip escape time is greater than the escape time threshold, it is determined that the off-road performance of the vehicle to be tested does not meet the preset requirement.

[0026] In a second aspect, an embodiment of the present application provides a vehicle off-road performance evaluation device, the vehicle off-road performance evaluation device comprising:

[0027] a control module for controlling the current in each electromagnetic induction coil after each wheel of the vehicle to be tested is arranged on a rotating shaft equipped with an electromagnetic induction coil, so as to simulate different wheel slip states, including a single-wheel slip state, a two-wheel slip state, a three-wheel slip state, and a four-wheel slip state;

[0028] A first obtaining module is configured to obtain a first slip escape time of the vehicle to be tested for each wheel slip state, wherein the first slip escape time is the time taken for the vehicle to be tested to escape from all rotating shafts;

[0029] A first determining module is used to determine a target slip escape time for the vehicle to be tested by integrating all first slip escape times;

[0030] The second acquisition module is used to obtain the escape time threshold;

[0031] The second determination module is used to determine the off-road performance of the vehicle to be tested based on the escape time threshold and the target slip escape time.

[0032] In a third aspect, an embodiment of the present application provides a vehicle off-road performance evaluation device, which includes a processor, a memory, and a vehicle off-road performance evaluation program stored on the memory and executable by the processor, wherein when the vehicle off-road performance evaluation program is executed by the processor, the steps of the vehicle off-road performance evaluation method as described in any one of the first aspects are implemented.

[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a vehicle off-road performance evaluation program is stored. When the vehicle off-road performance evaluation program is executed by a processor, the steps of the vehicle off-road performance evaluation method as described in any one of the first aspects are implemented.

[0034] The beneficial effects of the technical solutions provided in the embodiments of the present application include:

[0035] After arranging each wheel of the vehicle to be tested on a rotating shaft equipped with an electromagnetic induction coil, the current in each electromagnetic induction coil is controlled to simulate different wheel slip states, which include: single-wheel slip state, double-wheel slip state, three-wheel slip state and four-wheel slip state; then, for each wheel slip state, the first slip escape time of the vehicle to be tested is obtained, and the first slip escape time is the time when the vehicle to be tested is separated from all rotating shafts; further, all the first slip escape times are combined to determine the target slip escape time of the vehicle to be tested; the escape time threshold is obtained; finally, based on the escape time threshold and the target slip escape time, the off-road performance of the vehicle to be tested is determined. The present application comprehensively considers multiple wheel slip states and systematically and comprehensively evaluates the off-road performance of the vehicle, which can overcome the technical problems such as one-sidedness and poor accuracy in the prior art and improve the accuracy of determining the off-road performance of the vehicle to be tested. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flow chart of the first embodiment of the vehicle off-road performance evaluation method of the present application;

[0037] Figure 2 This is a schematic diagram of the functional modules of an embodiment of a vehicle off-road performance evaluation device of the present application;

[0038] Figure 3 This is a schematic diagram of the hardware structure of the vehicle off-road performance evaluation device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0041] In a first aspect, an embodiment of the present application provides a method for evaluating the off-road performance of a vehicle.

[0042] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle off-road performance evaluation method of this application. Figure 1 As shown in FIG, the vehicle off-road performance evaluation method includes:

[0043] Step 110: After placing each wheel of the vehicle to be tested on a rotating shaft equipped with an electromagnetic induction coil, control the current in each electromagnetic induction coil to simulate different wheel slip states, including a single-wheel slip state, a two-wheel slip state, a three-wheel slip state, and a four-wheel slip state.

[0044] It should be noted that before executing the vehicle off-road performance evaluation method of the present application, each wheel of the vehicle to be tested needs to be arranged on a rotating shaft equipped with an electromagnetic induction coil, where the rotating shaft can also be understood as a pulley set.

[0045] In specific implementations, the current in each electromagnetic induction coil is controlled to control the rotational resistance of each rotating shaft. This resistance simulates the road adhesion coefficient of each wheel, enabling the simulation of different wheel slip states, such as single-wheel slip, two-wheel slip, three-wheel slip, and four-wheel slip. By controlling the current in each electromagnetic induction coil, wheel slip and road slip are simulated, verifying whether the vehicle under test can pass the corresponding road surface under different wheel slip states. Furthermore, the time it takes for the vehicle under test to disengage from all rotating shafts is used to evaluate the vehicle's off-road performance.

[0046] Step 120: For each wheel slip state, obtain a first slip escape time of the vehicle to be tested, where the first slip escape time is the time it takes for the vehicle to be tested to escape from all rotating shafts;

[0047] Furthermore, for each wheel slip condition, after each wheel of the test vehicle is placed on a rotating shaft equipped with an electromagnetic induction coil, a timer starts at the start of the test and ends when the test vehicle is free of all rotating shafts. The timer is used to obtain the first slip escape time of the test vehicle.

[0048] Step 130: Determine a target slip escape time for the vehicle to be tested by integrating all first slip escape times;

[0049] The target slip escape time of the vehicle to be tested is determined by comprehensively considering the first slip escape time in the single-wheel slip state, the first slip escape time in the double-wheel slip state, the first slip escape time in the three-wheel slip state and the first slip escape time in the four-wheel slip state.

[0050] In one embodiment, the first slip escape times may be added together to obtain a sum, and the sum may be used as the target slip escape time for the vehicle to be tested.

[0051] or

[0052] Adding the first slip escape times to obtain a sum;

[0053] According to the number of the first slip escape times, the sum is averaged to obtain an average value, and the average value is used as the target slip escape time for the vehicle to be tested.

[0054] In this embodiment, when determining the target slip escape time of the vehicle to be tested, various wheel slip states are comprehensively considered, which can effectively avoid the problem of one-sidedness in evaluating the off-road performance of the vehicle.

[0055] Step 140: Obtaining a time threshold for escaping from distress;

[0056] The escape time threshold is a value that can be flexibly set based on actual needs. For example, the escape time threshold of the vehicle to be tested can be determined based on the escape time of competing models of the same level.

[0057] Step 150: Determine the off-road performance of the vehicle to be tested based on the escape time threshold and the target slip escape time.

[0058] The escape time threshold and the target slip escape time are compared to obtain a comparison result. Based on the comparison result, the off-road performance of the vehicle to be tested is determined. It is understood that when the comparison result shows that the target slip escape time is less than or equal to the escape time threshold, it is determined that the off-road performance of the vehicle to be tested meets the preset requirements; when the comparison result shows that the target slip escape time is greater than the escape time threshold, it is determined that the off-road performance of the vehicle to be tested does not meet the preset requirements.

[0059] In this embodiment, after each wheel of the vehicle to be tested is arranged on a rotating shaft equipped with an electromagnetic induction coil, the current in each electromagnetic induction coil is controlled to simulate different wheel slip states, which include: single-wheel slip state, double-wheel slip state, three-wheel slip state and four-wheel slip state; then, for each wheel slip state, the first slip escape time of the vehicle to be tested is obtained, and the first slip escape time is the time when the vehicle to be tested is separated from all rotating shafts; further, all the first slip escape times are combined to determine the target slip escape time of the vehicle to be tested; the escape time threshold is obtained; finally, based on the escape time threshold and the target slip escape time, the off-road performance of the vehicle to be tested is determined. The present application comprehensively considers multiple wheel slip states and systematically and comprehensively evaluates the off-road performance of the vehicle, which can overcome the technical problems such as one-sidedness and poor accuracy in the prior art and improve the accuracy of determining the off-road performance of the vehicle to be tested.

[0060] Furthermore, in one embodiment, controlling the current in each electromagnetic induction coil to simulate a single-wheel slip state includes:

[0061] The real-time current in one electromagnetic induction coil is controlled so that the corresponding wheel is in a slipping state, and the real-time current in the remaining electromagnetic induction coils is controlled to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state.

[0062] During specific implementation, the real-time current in the electromagnetic induction coil of a single rotating shaft is dynamically controlled to put the wheel in a slipping state, and the current in the electromagnetic induction coils of the other three rotating shafts is controlled to the maximum current value to provide a sufficiently large driving force to prevent the other three wheels from slipping.

[0063] Among them, the current in the electromagnetic induction coil of the rotating shaft corresponding to each wheel is equivalent to the current of the rotating shaft arranged under the wheel for supporting the wheel, which is simply described as the current of the wheel supporting the rotating shaft below.

[0064] Single wheel slip states include:

[0065] 1) When the left front wheel is slipping and the right front wheel, left rear wheel and right rear wheel are not slipping, the calculation formula for the real-time current of the left front wheel, right front wheel, left rear wheel and right rear wheel supporting the rotating shaft is:

[0066]

[0067] Among them: I fl The real-time current of the left front wheel supporting the rotating shaft; I fr The real-time current of the right front wheel supporting the rotating shaft; I rl The real-time current of the left rear wheel supporting the rotating shaft; I rr is the real-time current of the right rear wheel supporting the rotating shaft; △V fl K11 is the first control coefficient of the single wheel slip state; K12 is the second control coefficient of the single wheel slip state; t1 is the single wheel slip escape time, ie the first slip escape time; I max is the maximum current value.

[0068] Furthermore, K11 and K12 are calibration values; I max This is the maximum value allowed for the system circuit.

[0069] Furthermore, ΔV fl =V fl -min(V fr ,V rl ,V rr );

[0070] Where: V fl is the left front wheel speed; V fr is the right front wheel speed; V rl is the left rear wheel speed; V rr is the right rear wheel speed.

[0071] 2) When the right front wheel is slipping and the left front wheel, left rear wheel and right rear wheel are not slipping, the calculation formula for the real-time current of the left front wheel, right front wheel, left rear wheel and right rear wheel supporting the rotating shaft is:

[0072]

[0073] Where: △V fr is the right front speed difference;

[0074] Furthermore, ΔV fr =V fr -min(V fl ,V rl ,V rr );

[0075] 3) The left rear wheel slips, the right front wheel, left front wheel, and right rear wheel do not slip, and the calculation formula for the real-time current of the left front wheel, right front wheel, left rear wheel, and right rear wheel supporting the rotating shaft is:

[0076]

[0077] Where: △V rl is the left rear speed difference;

[0078] Furthermore, ΔV rl =V rl -min(V fl ,V fr ,V rr );

[0079] 4) When the right rear wheel is slipping and the right front wheel, left front wheel, and left rear wheel are not slipping, the real-time current calculation formula of the left front wheel, right front wheel, left rear wheel, and right rear wheel supporting the rotating shaft is:

[0080]

[0081] Where: △V rr is the right rear speed difference;

[0082] Furthermore, ΔV rr =V rr -min(V fl ,V fr ,V rl ).

[0083] In this embodiment, the real-time current in one electromagnetic induction coil is controlled so that the corresponding wheel is in a slipping state, and the real-time current in the remaining electromagnetic induction coils is controlled to a maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state, thereby simulating a single-wheel slipping state in a wheel slipping state.

[0084] Furthermore, in one embodiment, controlling the current in each electromagnetic induction coil to simulate a two-wheel slip state includes:

[0085] The real-time currents in the two electromagnetic induction coils are controlled so that the corresponding wheels are in a slipping state, and the real-time currents in the remaining electromagnetic induction coils are controlled to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state.

[0086] During specific implementation, the real-time current in the electromagnetic induction coils of the two rotating shafts is dynamically controlled to put the two wheels in a slipping state, and the current in the electromagnetic induction coils of the other two rotating shafts is controlled to the maximum current value to provide a sufficiently large driving force to prevent the other two wheels from slipping.

[0087] The two-wheel slip state includes:

[0088] 1) The left front wheel and the right front wheel slide, and the left rear wheel and the right rear wheel do not slide. The calculation formula for the real-time current of the left front wheel, right front wheel, left rear wheel, and right rear wheel supporting the rotating shaft is:

[0089]

[0090] Where: K21 is the first control coefficient of the two-wheel slip state; K22 is the second control coefficient of the two-wheel slip state; t2 is the time to escape from the two-wheel slip;

[0091] Furthermore, K21 and K22 are calibration values, △V fl The calculation method of is the same as above and will not be repeated here.

[0092] 2) The left rear wheel and the right rear wheel slip, the left front wheel and the right front wheel do not slip, and the calculation formula for the real-time current of the left front wheel, right front wheel, left rear wheel, and right rear wheel supporting the rotating shaft is:

[0093]

[0094] 3) The left front wheel and the right rear wheel slip, the right front wheel and the left rear wheel do not slip, and the calculation formula for the real-time current of the left front wheel, right front wheel, left rear wheel, and right rear wheel supporting the rotating shaft is:

[0095]

[0096] 4) The right front wheel and the left rear wheel slip, the left front wheel and the right rear wheel do not slip, and the calculation formula for the real-time current of the left front wheel, right front wheel, left rear wheel, and right rear wheel supporting the rotating shaft is:

[0097]

[0098] It should be noted that the two-wheel sliding mode can also include the following two modes: the left front wheel and the left rear wheel slide, and the right front wheel and the right rear wheel do not slide; the right front wheel and the right rear wheel slide, and the left front wheel and the left rear wheel do not slide.

[0099] In this embodiment, by controlling the real-time currents in two electromagnetic induction coils so that their corresponding wheels are in a slipping state, and controlling the real-time currents in the remaining electromagnetic induction coils to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state, a dual-wheel slipping state in a wheel slipping state can be simulated.

[0100] Furthermore, in one embodiment, controlling the current in each electromagnetic induction coil to simulate the three-wheel slip state includes:

[0101] The real-time currents in the three electromagnetic induction coils are controlled so that the corresponding wheels are in a slipping state, and the real-time currents in the remaining electromagnetic induction coils are controlled to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state.

[0102] During specific implementation, the real-time current in the electromagnetic induction coils of the three rotating shafts is dynamically controlled to put them in a slipping state, and the current in the electromagnetic induction coil of the remaining rotating shaft is controlled to be the maximum current value to provide a sufficiently large driving force to prevent the remaining wheel from slipping.

[0103] The three-wheel slip states include:

[0104] 1) The left front wheel, right front wheel, and left rear wheel slide, and the right rear wheel does not slide. The calculation formula for the real-time current of the left front wheel, right front wheel, left rear wheel, and right rear wheel supporting the rotating shaft is:

[0105]

[0106] Where: K31 is the first control coefficient of the three-wheel slip state; K32 is the second control coefficient of the three-wheel slip state; t3 is the time to escape from the three-wheel slip;

[0107] Furthermore, K31 and K32 are calibration values.

[0108] 2) The left front wheel, right front wheel, and right rear wheel slide, and the left rear wheel does not slide. The calculation formula for the real-time current of the left front wheel, right front wheel, left rear wheel, and right rear wheel supporting the rotating shaft is:

[0109]

[0110] 3) The right front wheel, left rear wheel, and right rear wheel slide, the left front wheel does not slide, and the calculation formula for the real-time current of the left front wheel, right front wheel, left rear wheel, and right rear wheel supporting the rotating shaft is:

[0111]

[0112] 4) The left front wheel, left rear wheel, and right rear wheel slide, while the right front wheel does not slide. The calculation formula for the real-time current of the left front wheel, right front wheel, left rear wheel, and right rear wheel supporting the rotating shaft is:

[0113]

[0114] In this embodiment, by controlling the real-time currents in three electromagnetic induction coils so that the corresponding wheels are in a slipping state, and controlling the real-time currents in the remaining electromagnetic induction coils to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state, a three-wheel slipping state in a wheel slipping state can be simulated.

[0115] Furthermore, in one embodiment, controlling the current in each electromagnetic induction coil to simulate the four-wheel slip state of the vehicle includes:

[0116] The real-time current in the four electromagnetic induction coils is controlled to put the corresponding wheels in a slipping state.

[0117] During specific implementation, the real-time currents in the electromagnetic induction coils of the four rotating shafts are dynamically controlled to keep them in a slipping state.

[0118] Four-wheel slip conditions include:

[0119] The left front wheel, right front wheel, left rear wheel, and right rear wheel all slip, and the calculation formula for the real-time current of the left front wheel, right front wheel, left rear wheel, and right rear wheel supporting the rotating shaft is:

[0120]

[0121] Wherein: K41 is the first control coefficient of the four-wheel slip state; K42 is the second control coefficient of the four-wheel slip state; t4 is the four-wheel slip escape time;

[0122] Furthermore, K41 and K42 are calibration values, wherein the calculation formula of each speed difference is as follows:

[0123]

[0124] In this embodiment, the real-time currents in the four electromagnetic induction coils are controlled to place the corresponding wheels in a slipping state, thereby simulating a four-wheel slipping state.

[0125] In a second aspect, an embodiment of the present application also provides a vehicle off-road performance evaluation device.

[0126] In one embodiment, referring to Figure 2 , Figure 2 This is a functional module diagram of an embodiment of the vehicle off-road performance evaluation device of the present application. Figure 2 As shown, the vehicle off-road performance evaluation device 200 includes:

[0127] The control module 210 is configured to control the current in each electromagnetic induction coil after each wheel of the vehicle to be tested is arranged on a rotating shaft equipped with an electromagnetic induction coil, so as to simulate different wheel slip states, including a single-wheel slip state, a two-wheel slip state, a three-wheel slip state, and a four-wheel slip state.

[0128] A first obtaining module 220 is configured to obtain a first slip escape time of the vehicle under test for each wheel slip state, wherein the first slip escape time is the time it takes for the vehicle under test to escape from all rotating shafts;

[0129] A first determining module 230 is configured to determine a target slip escape time for the vehicle under test by integrating all first slip escape times;

[0130] The second acquisition module 240 is used to obtain the escape time threshold;

[0131] The second determining module 250 is configured to determine the off-road performance of the vehicle to be tested based on the escape time threshold and the target slip escape time.

[0132] Furthermore, in one embodiment, the control module 210 is specifically configured to:

[0133] The real-time current in one electromagnetic induction coil is controlled so that the corresponding wheel is in a slipping state, and the real-time current in the remaining electromagnetic induction coils is controlled to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state.

[0134] Furthermore, in one embodiment, the control module 210 is specifically configured to:

[0135] The real-time currents in the two electromagnetic induction coils are controlled so that the corresponding wheels are in a slipping state, and the real-time currents in the remaining electromagnetic induction coils are controlled to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state.

[0136] Furthermore, in one embodiment, the control module 210 is specifically configured to:

[0137] The real-time currents in the three electromagnetic induction coils are controlled so that the corresponding wheels are in a slipping state, and the real-time currents in the remaining electromagnetic induction coils are controlled to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state.

[0138] Furthermore, in one embodiment, the control module 210 is specifically configured to:

[0139] The real-time current in the four electromagnetic induction coils is controlled to put the corresponding wheels in a slipping state.

[0140] Furthermore, in one embodiment, the first determining module 230 is specifically configured to:

[0141] Adding the first slip escape times to obtain a sum, and using the sum as a target slip escape time for the vehicle to be tested;

[0142] or

[0143] Adding the first slip escape times to obtain a sum;

[0144] According to the number of the first slip escape times, the sum is averaged to obtain an average value, and the average value is used as the target slip escape time for the vehicle to be tested.

[0145] Furthermore, in one embodiment, the second determining module 250 is specifically configured to:

[0146] When the target slip escape time is less than or equal to the escape time threshold, determining that the off-road performance of the vehicle to be tested meets the preset requirement;

[0147] When the target slip escape time is greater than the escape time threshold, it is determined that the off-road performance of the vehicle to be tested does not meet the preset requirement.

[0148] Among them, the functional implementation of each module in the above-mentioned vehicle off-road performance evaluation device corresponds to the various steps in the above-mentioned vehicle off-road performance evaluation method embodiment, and their functions and implementation processes are no longer detailed here.

[0149] In a third aspect, an embodiment of the present application provides a vehicle off-road performance evaluation device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0150] Reference Figure 3 , Figure 3 FIG2 is a schematic diagram of the hardware structure of the vehicle off-road performance evaluation device involved in the embodiment of the present application. In the embodiment of the present application, the vehicle off-road performance evaluation device may include a processor, a memory, a communication interface, and a communication bus.

[0151] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0152] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces, used to interconnect components within the vehicle off-road performance evaluation device, as well as interfaces used to interconnect the vehicle off-road performance evaluation device with other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet, fiber optic, and ATM interfaces; user devices can include displays and keyboards.

[0153] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0154] The processor may be a general-purpose processor that can invoke a vehicle off-road performance evaluation program stored in a memory and execute the vehicle off-road performance evaluation method provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the vehicle off-road performance evaluation program is invoked can be referenced to the various embodiments of the vehicle off-road performance evaluation method of the present application and will not be further described here.

[0155] Those skilled in the art will understand that Figure 3 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0156] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0157] The computer-readable storage medium of the present application stores a vehicle off-road performance evaluation program, wherein when the vehicle off-road performance evaluation program is executed by a processor, the steps of the vehicle off-road performance evaluation method as described above are implemented.

[0158] Among them, the method implemented when the vehicle off-road performance evaluation program is executed can refer to the various embodiments of the vehicle off-road performance evaluation method of the present application, and will not be repeated here.

[0159] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0160] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0161] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0162] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0163] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0164] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of the present application.

[0165] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for evaluating off-road performance of a vehicle, characterized in that: The vehicle off-road performance evaluation method comprises: After each wheel of the vehicle to be tested is arranged on a rotating shaft equipped with an electromagnetic induction coil, the current in each electromagnetic induction coil is controlled to simulate different wheel slip states, including a single-wheel slip state, a two-wheel slip state, a three-wheel slip state, and a four-wheel slip state; For each wheel slip state, obtaining a first slip escape time of the vehicle to be tested, where the first slip escape time is the time it takes for the vehicle to be tested to escape from all rotating shafts; Combining all first slip escape times, a target slip escape time for the vehicle to be tested is determined; Get the escape time threshold; The off-road performance of the vehicle to be tested is determined based on the escape time threshold and the target slip escape time.

2. The vehicle off-road performance evaluation method according to claim 1, wherein: Control the current in each electromagnetic induction coil to simulate single-wheel slip, including: The real-time current in one electromagnetic induction coil is controlled so that the corresponding wheel is in a slipping state, and the real-time current in the remaining electromagnetic induction coils is controlled to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state.

3. The vehicle off-road performance evaluation method according to claim 1, wherein: Control the current in each electromagnetic induction coil to simulate the two-wheel slip state, including: The real-time currents in the two electromagnetic induction coils are controlled so that the corresponding wheels are in a slipping state, and the real-time currents in the remaining electromagnetic induction coils are controlled to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state.

4. The vehicle off-road performance evaluation method according to claim 1, wherein: Control the current in each electromagnetic induction coil to simulate the three-wheel slip state, including: The real-time currents in the three electromagnetic induction coils are controlled so that the corresponding wheels are in a slipping state, and the real-time currents in the remaining electromagnetic induction coils are controlled to be the maximum current value so that the wheels corresponding to the remaining electromagnetic induction coils are in a non-slipping state.

5. The vehicle off-road performance evaluation method according to claim 1, wherein: Control the current in each electromagnetic induction coil to simulate the four-wheel slip state of the vehicle, including: The real-time current in the four electromagnetic induction coils is controlled to put the corresponding wheels in a slipping state.

6. The vehicle off-road performance evaluation method according to claim 1, wherein: The step of integrating all first slip escape times to determine a target slip escape time for the vehicle to be tested includes: Adding the first slip escape times to obtain a sum, and using the sum as a target slip escape time for the vehicle to be tested; or Adding the first slip escape times to obtain a sum; According to the number of the first slip escape times, the sum is averaged to obtain an average value, and the average value is used as the target slip escape time for the vehicle to be tested.

7. The vehicle off-road performance evaluation method according to claim 1, wherein: The determining of the off-road performance of the vehicle to be tested based on the escape time threshold and the target slip escape time includes: When the target slip escape time is less than or equal to the escape time threshold, determining that the off-road performance of the vehicle to be tested meets the preset requirement; When the target slip escape time is greater than the escape time threshold, it is determined that the off-road performance of the vehicle to be tested does not meet the preset requirement.

8. A vehicle off-road performance evaluation device, characterized in that: The vehicle off-road performance evaluation device comprises: a control module for controlling the current in each electromagnetic induction coil after each wheel of the vehicle to be tested is arranged on a rotating shaft equipped with an electromagnetic induction coil, so as to simulate different wheel slip states, including a single-wheel slip state, a two-wheel slip state, a three-wheel slip state, and a four-wheel slip state; A first obtaining module is configured to obtain a first slip escape time of the vehicle to be tested for each wheel slip state, wherein the first slip escape time is the time taken for the vehicle to be tested to escape from all rotating shafts; A first determining module is used to determine a target slip escape time for the vehicle to be tested by integrating all first slip escape times; The second acquisition module is used to obtain the escape time threshold; The second determination module is used to determine the off-road performance of the vehicle to be tested based on the escape time threshold and the target slip escape time.

9. A vehicle off-road performance evaluation device, characterized in that: The vehicle off-road performance evaluation device includes a processor, a memory, and a vehicle off-road performance evaluation program stored in the memory and executable by the processor, wherein when the vehicle off-road performance evaluation program is executed by the processor, the steps of the vehicle off-road performance evaluation method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a vehicle off-road performance evaluation program, wherein when the vehicle off-road performance evaluation program is executed by the processor, the steps of the vehicle off-road performance evaluation method according to any one of claims 1 to 7 are implemented.

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