Wheel state recognition method, device and equipment and storage medium

Abstract

The invention discloses a wheel state recognition method, device and equipment and a storage medium, and relates to the technical field of vehicle transmission systems. The method comprises the steps of obtaining a current motor rotating speed of a target vehicle under the condition that the current vehicle speed of the target vehicle is recognized to meet a wheel detection condition; if the current motor rotating speed meets the single-wheel jumping condition, the theoretical angular acceleration of a to-be-recognized wheel is determined according to the wheel kinetic moment and the wheel rotational inertia of the to-be-recognized wheel of the target vehicle; and determining the wheel state of the to-be-identified wheel according to the rotation-in shaft rotation speed set of the differential mechanism of the target vehicle, the theoretical angular acceleration and the first wheel speed set of the to-be-identified wheel, and the second wheel speed set of the candidate wheel of the target vehicle. According to the technical scheme, the wheel state of the single wheel is recognized in combination with the wheel information and the vehicle information in the running process of the vehicle, and the wheel state recognition efficiency and accuracy can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automotive engineering technology, in particular to the field of vehicle transmission system technology, and specifically to a wheel state recognition method, device, equipment and storage medium. Background Art

[0002] Tires are the source of all forces in the process of vehicle movement and are related to the driving safety of the vehicle. Tires support the entire weight of the vehicle, bear the load of the vehicle, and transmit forces and torques in other directions; transmit traction and braking torque, ensure good adhesion between the wheels and the road surface, and improve the power, braking and passability of the vehicle; tires and vehicle suspensions work together to mitigate the impact of the vehicle when driving and attenuate the vibrations generated.

[0003] As vehicles become more intelligent, intelligent tire monitoring technology becomes more and more important. Since the road surface on which vehicles travel cannot be built absolutely flat, the wheels of vehicles will frequently bounce when they are driving on the road. At present, conventional tire monitoring sensors only monitor the temperature and air pressure of tires to evaluate the wear of tires and the gas filling inside them, but cannot accurately determine whether the wheels are in a bouncing state. Summary of the invention

[0004] The present application provides a wheel state recognition method, device, equipment and storage medium to improve the efficiency and accuracy of wheel state recognition.

[0005] According to one aspect of the present application, a wheel state identification method is provided, the method comprising:

[0006] When it is identified that the current speed of the target vehicle meets the wheel detection condition, obtaining the current motor speed of the target vehicle;

[0007] If the current motor speed satisfies the single wheel bounce condition, determining the theoretical angular acceleration of the wheel to be identified according to the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle;

[0008] The wheel state of the wheel to be identified is determined based on the input shaft speed set of the differential of the target vehicle, the theoretical angular acceleration and the first wheel speed set of the wheel to be identified, and the second wheel speed set of the candidate wheels of the target vehicle.

[0009] According to another aspect of the present application, a wheel state recognition device is provided, the device comprising:

[0010] A speed acquisition module, used to acquire the current motor speed of the target vehicle when it is identified that the current speed of the target vehicle meets the wheel detection condition;

[0011] an acceleration determination module, configured to determine the theoretical angular acceleration of the wheel to be identified according to the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle if the current motor speed satisfies the single wheel bounce condition;

[0012] The state determination module is used to determine the wheel state of the wheel to be identified based on the input shaft speed set of the differential of the target vehicle, the theoretical angular acceleration and the first wheel speed set of the wheel to be identified, and the second wheel speed set of the candidate wheel of the target vehicle.

[0013] According to another aspect of the present application, an electronic device is provided, the electronic device comprising:

[0014] one or more processors;

[0015] A memory for storing one or more programs;

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement any one of the wheel state identification methods provided in the embodiments of the present application.

[0017] According to another aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, any one of the wheel state identification methods provided in the embodiments of the present application is implemented.

[0018] The present application obtains the current motor speed of the target vehicle when it is identified that the current speed of the target vehicle meets the wheel detection condition; if the current motor speed meets the single wheel bounce condition, the theoretical angular acceleration of the wheel to be identified is determined according to the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle; the wheel state of the wheel to be identified is determined according to the input shaft speed set of the differential of the target vehicle, the theoretical angular acceleration and the first wheel speed set of the wheel to be identified, and the second wheel speed set of the candidate wheel of the target vehicle. Through the above technical solution, the wheel state of a single wheel can be identified separately in combination with the wheel information and vehicle information of the vehicle during driving, so as to improve the efficiency and accuracy of wheel state recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of a wheel state identification method provided according to Embodiment 1 of the present application;

[0020] Figure 2 is a flow chart of a wheel state identification method provided according to Embodiment 2 of the present application;

[0021] Figure 3 is a structural schematic diagram of a wheel state identification device provided according to Embodiment 3 of the present application;

[0022] Figure 4 It is a schematic diagram of the structure of an electronic device for implementing the wheel state recognition method of an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] In addition, it should be noted that in the technical solution of this application, the collection, storage, use, processing, transmission, provision and disclosure of relevant data such as current vehicle speed and wheel detection conditions are in compliance with the relevant laws and regulations and do not violate public order and good morals.

[0026] Embodiment 1

[0027] Figure 1 This is a flow chart of a wheel state recognition method provided according to the first embodiment of the present application. This embodiment is applicable to the case of identifying the wheel state of a vehicle during driving, and can be performed by a wheel state recognition device. The wheel state recognition device can be implemented in the form of hardware and / or software. The wheel state recognition device can be configured in a computer device, such as a server. Figure 1 As shown, the method includes:

[0028] S110. When it is identified that the current speed of the target vehicle meets the wheel detection condition, obtain the current motor speed of the target vehicle.

[0029] The target vehicle refers to a specific vehicle that is currently in motion and is being monitored or analyzed. The current vehicle speed refers to the current vehicle speed of the target vehicle during motion. The wheel detection condition is artificially pre-set through a large number of experiments or empirical values. For example, the vehicle speed may be greater than 10 km / h. The current motor speed refers to the current motor rotation speed of the target vehicle, usually expressed in revolutions per minute, reflecting the output capacity of the motor.

[0030] Exemplarily, when it is identified that the current speed of the target vehicle is greater than 10 km / h, the current motor speed of the target vehicle is obtained.

[0031] S120: If the current motor speed satisfies the single wheel bounce condition, determine the theoretical angular acceleration of the wheel to be identified according to the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle.

[0032] Among them, the single wheel bounce condition is artificially preset through a large number of experiments or experience values; illustratively, the single wheel bounce condition may be that the current motor speed has a rapid change trend. The wheel to be identified refers to the driving wheel whose wheel state needs to be determined at present. Wheel torque refers to the torque acting on the wheel, which determines the rotation ability of the wheel; illustratively, when the target vehicle is in a driving state, the wheel torque may be the driving torque, and when the target vehicle is in a braking state, the wheel torque may be the braking torque. Wheel rotational inertia refers to the resistance of the wheel to changes in rotational state, reflecting the energy required by the wheel when rotating. The theoretical angular acceleration refers to the ideal angular acceleration of the wheel in a bouncing state.

[0033] Exemplarily, when the target vehicle is in a driving state, if the current motor speed does not have a rapid increasing trend, the theoretical angular acceleration of the wheel to be identified is determined based on the driving torque of the wheel to be identified and the wheel rotational inertia of the target vehicle; when the target vehicle is in a braking state, if the current motor speed does not have a rapid decreasing trend, the theoretical angular acceleration of the wheel to be identified is determined based on the braking torque of the wheel to be identified and the wheel rotational inertia of the target vehicle.

[0034] Optionally, if the current motor speed does not meet the single wheel jumping condition, the wheel states of the wheel to be identified and the candidate wheels are both determined to be in a jumping state.

[0035] Among them, the jumping state refers to the abnormal movement of the wheel during rotation, which is usually manifested as uneven changes or vibrations in wheel speed. This state may be caused by a variety of factors, such as wheel imbalance, damage or uneven tire wear.

[0036] Exemplarily, when the target vehicle is in a driving state, if the current motor speed tends to increase rapidly, the wheel states of the wheel to be identified and the candidate wheels are both determined to be in a jumping state; when the target vehicle is in a braking state, if the current motor speed tends to decrease rapidly, the wheel states of the wheel to be identified and the candidate wheels are both determined to be in a jumping state.

[0037] It is understandable that when the target vehicle is in the driving state, when the left and right driving wheels of the target vehicle jump at the same time, due to the instantaneous reduction of vehicle resistance, the whole vehicle transmission dynamics analysis shows that the motor driving torque is still output normally at this time, and the speed of the transmission system driven by the motor will have a rapid upward trend. If the time is too long, the motor speed is likely to rise to the upper limit of the speed limit, so first enter the state judgment of whether the left and right driving wheels jump at the same time. If the motor speed does not change rapidly, it can be determined that the left and right driving wheels do not jump at the same time. If the speed increases rapidly, it is considered that the left and right driving wheels jump at the same time. When the target vehicle is in the braking state, when the left and right driving wheels jump at the same time, due to the instantaneous reduction of vehicle resistance, the whole vehicle transmission dynamics analysis shows that the motor braking torque is still output normally at this time, and the speed of the transmission system driven by the motor will have a rapid downward trend. After a short time, the motor speed is likely to drop to 0, so first enter the state judgment of whether the left and right driving wheels jump at the same time. If the motor speed does not change rapidly, it can be determined that the left and right driving wheels do not jump at the same time. If the speed drops rapidly, it is considered that the left and right driving wheels jump at the same time.

[0038] S130, determining the wheel state of the wheel to be identified based on the input shaft speed set of the differential of the target vehicle, the theoretical angular acceleration and the first wheel speed set of the wheel to be identified, and the second wheel speed set of the candidate wheels of the target vehicle.

[0039] Among them, the differential refers to an important component in the vehicle transmission system, which is mainly used to balance the speed difference between the wheels when turning; since the inner wheel and the outer wheel have different travel distances when turning, the differential can make the wheels on both sides rotate at different speeds, thereby improving the stability and handling of the vehicle. The input shaft speed set of the differential refers to the speed data of the differential input shaft collected by the vehicle sensor, which affects the speed difference between the left and right wheels. The first wheel speed set refers to the wheel speed data of the wheel to be identified collected by the wheel speed sensor. The second wheel speed set refers to the wheel speed data of the candidate wheel collected by the wheel speed sensor. The candidate wheel refers to another driving wheel of the target vehicle that is different from the wheel to be identified; illustratively, the driving wheel of the target vehicle is the front drive left and right drive wheel. If the wheel to be identified is the left drive wheel, the candidate wheel is the right drive wheel.

[0040] In an optional embodiment, after determining the wheel state of the wheel to be identified, the current speed of the target vehicle can be obtained when the wheel state of the wheel to be identified is a jumping state; and the wheel torque of the target vehicle is adjusted according to the current speed of the target vehicle.

[0041] Furthermore, adjusting the wheel torque of the target vehicle according to the current speed of the target vehicle may be performed by converting the current speed of the target vehicle into wheel speed to obtain a first theoretical wheel speed of the wheel to be identified and a second theoretical wheel speed of the candidate wheel; based on the wheel speed and the transmission ratio of the differential, determining the theoretical input shaft speed of the differential according to the first theoretical wheel speed and the second theoretical wheel speed; and adjusting the wheel torque of the target vehicle according to the theoretical input shaft speed.

[0042] The first theoretical wheel speed refers to the ideal wheel speed of the wheel to be identified in the current state, and the second theoretical wheel speed refers to the ideal wheel speed of the candidate wheel in the current state.

[0043] Exemplarily, the transmission ratio of the wheel speed to the differential can be expressed by the following formula:

[0044] N=N L +N R / 2;

[0045] Where N refers to the input shaft speed of the differential. L Refers to the left drive wheel speed. N R It refers to the wheel speed of the right drive wheel.

[0046] It is understandable that if it is recognized that the vehicle's wheels are in a bouncing state, the entire vehicle will record the current vehicle speed, convert the speed into the speed that each wheel should have and the speed of the differential input shaft, and then control the driving and braking torque through the power system, with the speed of the differential input shaft calculated at that moment as the target for control to ensure that the speed of the transmission system does not change suddenly, ensure the safety of components, and reduce the noise and speed impact of the entire vehicle. When the vehicle exits the bouncing state, the above-mentioned control transitions to the normal control mode to ensure the comfort of the entire vehicle.

[0047] In another optional implementation, after the wheel state of the wheel to be identified is determined, if the wheel state of the wheel to be identified is a jumping state, the jumping state may be sent to the brake system of the target vehicle.

[0048] It is understandable that when the vehicle wheels are in a bouncing state, the ABS (Anti-lock Braking System) and ASR (Acceleration Slip Regulation) of the braking system will misidentify it, resulting in torque limiting operation. If the bouncing state is identified and the state is sent to the ABS and ASR systems, the braking lock mechanism and drive anti-skid mechanism will not be activated at this time, which effectively avoids the false triggering of the ABS and ASR systems.

[0049] The embodiment of the present application obtains the current motor speed of the target vehicle when it is identified that the current speed of the target vehicle meets the wheel detection condition; if the current motor speed meets the single wheel bounce condition, the theoretical angular acceleration of the wheel to be identified is determined based on the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle; the wheel state of the wheel to be identified is determined based on the input shaft speed set of the differential of the target vehicle, the theoretical angular acceleration and the first wheel speed set of the wheel to be identified, and the second wheel speed set of the candidate wheels of the target vehicle. Through the above technical solution, the wheel state of a single wheel is identified separately in combination with the wheel information and vehicle information of the vehicle during driving, which can improve the efficiency and accuracy of wheel state recognition.

[0050] Embodiment 2

[0051] Figure 2 This is a flow chart of a wheel state identification method provided in accordance with the second embodiment of the present application. Based on the technical solutions of the above embodiments, this embodiment refines "determining the wheel state of the wheel to be identified based on the input shaft speed set of the differential of the target vehicle, the theoretical angular acceleration and the first wheel speed set of the wheel to be identified, and the second wheel speed set of the candidate wheels of the target vehicle" into "determining the actual angular acceleration of the wheel to be identified based on the first wheel speed set of the wheel to be identified; comparing the actual angular acceleration and the theoretical angular acceleration of the wheel to be identified to obtain an acceleration comparison result; determining the wheel state of the wheel to be identified based on the first wheel speed set, the acceleration comparison result, the input shaft speed set of the differential in the target vehicle, and the second wheel speed set of the candidate wheels". It should be noted that for the parts not described in detail in the embodiments of the present application, please refer to the relevant statements of other embodiments. Figure 2 As shown, the method includes:

[0052] S210. When it is identified that the current speed of the target vehicle meets the wheel detection condition, obtain the current motor speed of the target vehicle.

[0053] S220: If the current motor speed satisfies the single wheel bounce condition, determine the theoretical angular acceleration of the wheel to be identified according to the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle.

[0054] Exemplarily, the theoretical angular acceleration can be determined by the following formula:

[0055] T+T f = J * dw;

[0056] Where T is the wheel torque. f It refers to the resistance torque of the road surface. When the wheel is in a bouncing state, the resistance torque can be defaulted to 0. J refers to the moment of inertia of the wheel. dw refers to the angular acceleration of the wheel.

[0057] S230: Determine the actual angular acceleration of the wheel to be identified according to the first wheel speed set of the wheel to be identified.

[0058] The actual angular acceleration refers to the rate of change of the wheel speed of the wheel to be identified in the current state.

[0059] For example, when the current state of the target vehicle is a braking state, when the wheel to be identified is in a bouncing state, the resistance torque T of the road surface at this time is f It can be considered to be 0, and the braking torque still exists, so the wheel speed will decrease rapidly with an angular acceleration of dw. At this time, the actual angular acceleration of the wheel can be calculated based on the wheel speed collected by the wheel speed sensor. When the current state of the target vehicle is the driving state, when the wheel to be identified is in a jumping state, the resistance torque Tf of the road surface at this time can be considered to be 0. It can be seen from the formula that at this time, the jumping wheel of the vehicle only has driving force, so the wheel speed will increase rapidly with an angular acceleration of dw. At this time, the actual angular acceleration of the wheel can be calculated based on the wheel speed collected by the wheel speed sensor.

[0060] S240: Compare the actual angular acceleration of the wheel to be identified with the theoretical angular acceleration to obtain an acceleration comparison result.

[0061] The acceleration comparison result is used to describe the difference between the actual angular acceleration and the theoretical angular acceleration.

[0062] S250, determining the wheel state of the wheel to be identified according to the first wheel speed set, the acceleration comparison result, the input shaft speed set of the differential in the target vehicle and the second wheel speed set of the candidate wheel.

[0063] Optionally, a differential operation is performed on the first wheel speed set to obtain a first wheel speed change trend of the wheel to be identified; a differential operation is performed on the second wheel speed set to obtain a second wheel speed change trend of the candidate wheel of the target vehicle; a differential operation is performed on the input shaft speed set of the differential of the target vehicle to obtain the speed change trend of the differential; the wheel state of the wheel to be identified is determined based on the acceleration comparison result, the first wheel speed change trend, the second wheel speed change trend and the speed change trend.

[0064] The first wheel speed change trend is used to describe the change in the wheel speed of the wheel to be identified, which can be an increase or decrease. The second wheel speed change trend is used to describe the change in the wheel speed of the candidate wheel, which can be an increase or decrease. The speed change trend is used to describe the change in the speed of the input shaft of the differential, which can be an increase or decrease.

[0065] Furthermore, the wheel state of the wheel to be identified is determined to be a jumping state if the acceleration comparison result satisfies a first jumping condition, and the first wheel speed change trend, the second wheel speed change trend and the speed change trend meet the second jumping condition; if the acceleration comparison result does not meet the first jumping condition, and / or the first wheel speed change trend, the second wheel speed change trend and the speed change trend do not meet the second jumping condition, then the wheel state of the wheel to be identified is determined to be a normal driving state.

[0066] The first jumping condition is artificially pre-set through a large number of experiments or actual conditions, and may be that the actual angular acceleration is greater than the theoretical angular acceleration. The second jumping condition is artificially pre-set through a large number of experiments or actual conditions.

[0067] Exemplarily, when the current state of the target vehicle is the driving state, if the actual angular acceleration is greater than the angular acceleration calculated according to the actual driving force, and at the same time, the wheel speed of the candidate wheel remains unchanged, the wheel to be identified has no resistance, and the wheel speed of the wheel to be identified increases instantly. Correspondingly, the input shaft speed of the differential drops rapidly and approaches 0. At this time, it can be determined that the wheel to be identified is in a jumping state. When the current state of the target vehicle is the braking state, if the actual angular acceleration is greater than the angular acceleration calculated according to the actual driving force, and at the same time, the wheel speed of the candidate wheel remains unchanged, the wheel to be identified has no resistance, and the wheel speed of the wheel to be identified drops instantly. Correspondingly, the input shaft speed of the differential rises rapidly and approaches twice the wheel speed of the candidate wheel. At this time, it can be determined that the wheel to be identified is in a jumping state.

[0068] The embodiment of the present application obtains the current motor speed of the target vehicle when it is identified that the current speed of the target vehicle meets the wheel detection condition; if the current motor speed meets the single wheel bounce condition, the theoretical angular acceleration of the wheel to be identified is determined according to the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle; the actual angular acceleration of the wheel to be identified is determined according to the first wheel speed set of the wheel to be identified; the actual angular acceleration of the wheel to be identified is compared with the theoretical angular acceleration to obtain an acceleration comparison result; the wheel state of the wheel to be identified is determined according to the first wheel speed set, the acceleration comparison result, the input shaft speed set of the differential in the target vehicle and the second wheel speed set of the candidate wheel. Through the above technical scheme, the wheel state of a single wheel is identified respectively in combination with the wheel information and vehicle information of the vehicle during driving, which can improve the efficiency and accuracy of wheel state recognition.

[0069] Embodiment 3

[0070] Figure 3 This is a schematic diagram of the structure of a wheel state recognition device provided in accordance with the third embodiment of the present application, which can be applied to the situation of identifying the wheel state of a vehicle during driving. The wheel state recognition device can be implemented in the form of hardware and / or software, and the wheel state recognition device can be configured in a computer device, such as a server. Figure 3 As shown, the device comprises:

[0071] The speed acquisition module 310 is used to acquire the current motor speed of the target vehicle when it is identified that the current speed of the target vehicle meets the wheel detection condition;

[0072] The acceleration determination module 320 is used to determine the theoretical angular acceleration of the wheel to be identified according to the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle if the current motor speed meets the single wheel bounce condition;

[0073] The state determination module 330 is used to determine the wheel state of the wheel to be identified based on the input shaft speed set of the differential of the target vehicle, the theoretical angular acceleration and the first wheel speed set of the wheel to be identified, and the second wheel speed set of the candidate wheels of the target vehicle.

[0074] The embodiment of the present application obtains the current motor speed of the target vehicle when it is identified that the current speed of the target vehicle meets the wheel detection condition; if the current motor speed meets the single wheel bounce condition, the theoretical angular acceleration of the wheel to be identified is determined based on the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle; the wheel state of the wheel to be identified is determined based on the input shaft speed set of the differential of the target vehicle, the theoretical angular acceleration and the first wheel speed set of the wheel to be identified, and the second wheel speed set of the candidate wheels of the target vehicle. Through the above technical solution, the wheel state of a single wheel is identified separately in combination with the wheel information and vehicle information of the vehicle during driving, which can improve the efficiency and accuracy of wheel state recognition.

[0075] Optionally, the state determination module 330 includes:

[0076] an acceleration determination unit, configured to determine an actual angular acceleration of the wheel to be identified according to a first wheel speed set of the wheel to be identified;

[0077] An acceleration comparison unit is used to compare the actual angular acceleration of the wheel to be identified with the theoretical angular acceleration to obtain an acceleration comparison result;

[0078] The state determination unit is used to determine the wheel state of the wheel to be identified based on the first wheel speed set, the acceleration comparison result, the input shaft speed set of the differential in the target vehicle and the second wheel speed set of the candidate wheel.

[0079] Optionally, the state determination unit includes:

[0080] A first trend determination subunit is used to perform a differential operation on the first wheel speed set to obtain a first wheel speed change trend of the wheel to be identified;

[0081] A second trend determination subunit, used for performing a differential operation on the second wheel speed set to obtain a second wheel speed change trend of the candidate wheels of the target vehicle;

[0082] A third trend determination subunit is used to perform a differential operation on the input shaft speed set of the differential of the target vehicle to obtain a speed change trend of the differential;

[0083] The state determination subunit is used to determine the wheel state of the wheel to be identified according to the acceleration comparison result, the first wheel speed change trend, the second wheel speed change trend and the rotation speed change trend.

[0084] Optionally, a state determination subunit is used to:

[0085] If the acceleration comparison result satisfies the first beating condition, and the first wheel speed change trend, the second wheel speed change trend and the rotation speed change trend satisfy the second beating condition, then it is determined that the wheel state of the wheel to be identified is a beating state;

[0086] If the acceleration comparison result does not meet the first beating condition, and / or the first wheel speed change trend, the second wheel speed change trend and the rotation speed change trend do not meet the second beating condition, it is determined that the wheel state of the wheel to be identified is a normal driving state.

[0087] Optionally, the device further comprises a torque adjustment module, for:

[0088] After determining the wheel state of the wheel to be identified, if the wheel state of the wheel to be identified is a jumping state, obtaining the current speed of the target vehicle;

[0089] The wheel torque of the target vehicle is adjusted according to the current speed of the target vehicle.

[0090] Optional torque adjustment module, specifically for:

[0091] Convert the current speed of the target vehicle into wheel speed to obtain a first theoretical wheel speed of the wheel to be identified and a second theoretical wheel speed of the candidate wheel;

[0092] Based on the wheel speed and the transmission ratio of the differential, determining a theoretical input shaft speed of the differential according to the first theoretical wheel speed and the second theoretical wheel speed;

[0093] The wheel torque of the target vehicle is adjusted according to the theoretical input shaft speed.

[0094] Optionally, the device further includes a state transmission module, which is used to:

[0095] After determining the wheel state of the wheel to be identified, in the case that the wheel state of the wheel to be identified is a jumping state, the jumping state is sent to the brake system of the target vehicle.

[0096] Optionally, the acceleration determination module 320 is further configured to:

[0097] If the current motor speed does not meet the single wheel jumping condition, the wheel states of the wheel to be identified and the candidate wheels are both determined to be in a jumping state.

[0098] The wheel state identification device provided in the embodiments of the present application can execute the wheel state identification method provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects for executing each wheel state identification method.

[0099] Embodiment 4

[0100] Figure 44 is a schematic diagram of the structure of the electronic device 410 that implements the wheel state recognition method of the embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present application described and / or required herein.

[0101] like Figure 4 As shown, the electronic device 410 includes at least one processor 411, and a memory connected to the at least one processor 411 in communication, such as a read-only memory (ROM) 412, a random access memory (RAM) 413, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 411 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 412 or the computer program loaded from the storage unit 418 to the random access memory (RAM) 413. In RAM413, various programs and data required for the operation of the electronic device 410 can also be stored. The processor 411, ROM412 and RAM413 are connected to each other via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0102] Multiple components in the electronic device 410 are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, a mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a disk, an optical disk, etc.; and a communication unit 419, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 419 allows the electronic device 410 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0103] The processor 411 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 411 executes the various methods and processes described above, such as the wheel state recognition method.

[0104] In some embodiments, the wheel state identification method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 410 via the ROM 412 and / or the communication unit 419. When the computer program is loaded into the RAM 413 and executed by the processor 411, one or more steps of the wheel state identification method described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured as a wheel state identification method in any other appropriate manner (e.g., by means of firmware).

[0105] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] The computer programs for implementing the method of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable wheel state recognition device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0107] In the context of the present application, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device or equipment. A computer readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium may be a machine readable signal medium. A more specific example of a machine readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0108] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0109] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0110] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0111] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document is not limited here.

[0112] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A wheel state recognition method, It is characterized in that include: When it is identified that the current speed of the target vehicle meets the wheel detection condition, obtaining the current motor speed of the target vehicle; If the current motor speed satisfies the single wheel bounce condition, determining the theoretical angular acceleration of the wheel to be identified according to the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle; The wheel state of the wheel to be identified is determined based on the input shaft speed set of the differential of the target vehicle, the theoretical angular acceleration and the first wheel speed set of the wheel to be identified, and the second wheel speed set of the candidate wheels of the target vehicle.

2. The method according to claim 1, It is characterized in that Determining the wheel state of the wheel to be identified based on the input shaft speed set of the differential of the target vehicle, the theoretical angular acceleration and the first wheel speed set of the wheel to be identified, and the second wheel speed set of the candidate wheel of the target vehicle includes: determining the actual angular acceleration of the wheel to be identified according to the first wheel speed set of the wheel to be identified; Comparing the actual angular acceleration of the wheel to be identified with the theoretical angular acceleration to obtain an acceleration comparison result; The wheel state of the wheel to be identified is determined according to the first wheel speed set, the acceleration comparison result, the input shaft speed set of the differential in the target vehicle and the second wheel speed set of the candidate wheels.

3. The method according to claim 2, It is characterized in that The step of determining the wheel state of the wheel to be identified according to the first wheel speed set, the acceleration comparison result, the input shaft speed set of the differential in the target vehicle, and the second wheel speed set of the candidate wheel comprises: Performing a differential operation on the first wheel speed set to obtain a first wheel speed change trend of the wheel to be identified; Performing a differential operation on the second wheel speed set to obtain a second wheel speed change trend of the candidate wheels of the target vehicle; Performing a differential operation on the input shaft speed set of the differential of the target vehicle to obtain a speed change trend of the differential; The wheel state of the wheel to be identified is determined according to the acceleration comparison result, the first wheel speed change trend, the second wheel speed change trend and the rotation speed change trend.

4. The method according to claim 3, It is characterized in that The determining the wheel state of the wheel to be identified according to the acceleration comparison result, the first wheel speed change trend, the second wheel speed change trend and the rotation speed change trend comprises: If the acceleration comparison result satisfies a first beating condition, and the first wheel speed change trend, the second wheel speed change trend and the rotation speed change trend satisfy a second beating condition, determining that the wheel state of the wheel to be identified is a beating state; If the acceleration comparison result does not meet the first beating condition, and / or the first wheel speed change trend, the second wheel speed change trend and the rotation speed change trend do not meet the second beating condition, it is determined that the wheel state of the wheel to be identified is a normal driving state.

5. The method according to claim 1, It is characterized in that After determining the wheel state of the wheel to be identified, the method further includes: When the wheel state of the wheel to be identified is a jumping state, obtaining the current speed of the target vehicle; The wheel torque of the target vehicle is adjusted according to the current vehicle speed of the target vehicle.

6. The method according to claim 5, It is characterized in that The step of adjusting the wheel torque of the target vehicle according to the current speed of the target vehicle includes: Converting the current speed of the target vehicle into wheel speeds to obtain a first theoretical wheel speed of the wheel to be identified and a second theoretical wheel speed of the candidate wheel; Based on the transmission ratio of the wheel speed and the differential, determining the theoretical input shaft speed of the differential according to the first theoretical wheel speed and the second theoretical wheel speed; The wheel torque of the target vehicle is adjusted according to the theoretical input shaft speed.

7. The method according to claim 1, It is characterized in that After determining the wheel state of the wheel to be identified, the method further includes: When the wheel state of the wheel to be identified is a jumping state, the jumping state is sent to the braking system of the target vehicle.

8. The method according to claim 1, It is characterized in that The method further comprises: If the current motor speed does not meet the single wheel jumping condition, the wheel states of the wheel to be identified and the candidate wheel are both determined to be jumping states.

9. A wheel status recognition device, It is characterized in that include: A speed acquisition module, used to acquire the current motor speed of the target vehicle when it is identified that the current speed of the target vehicle meets the wheel detection condition; an acceleration determination module, configured to determine the theoretical angular acceleration of the wheel to be identified according to the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle if the current motor speed satisfies the single wheel bounce condition; The state determination module is used to determine the wheel state of the wheel to be identified based on the input shaft speed set of the differential of the target vehicle, the theoretical angular acceleration and the first wheel speed set of the wheel to be identified, and the second wheel speed set of the candidate wheel of the target vehicle.

10. An electronic device, It is characterized in that include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the wheel state recognition method as described in any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the program is executed by a processor, the wheel state recognition method as described in any one of claims 1 to 8 is implemented.

12. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the wheel state recognition method according to any one of claims 1 to 8 is implemented.

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