Wheel state identification method, device, equipment and storage medium

Abstract

The present application discloses a wheel state identification method, device, equipment and storage medium, which relates to the technical field of vehicle transmission systems. The method includes: 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 meets the single wheel bounce condition, then according to the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle, determining the theoretical angular acceleration of the wheel to be identified; 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, determining the wheel state of the wheel to be identified. Through the above technical solution, the wheel information and vehicle information of the vehicle during driving are combined to respectively identify the wheel state of a single wheel, which can improve the efficiency and accuracy of wheel state identification.

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 acting on a vehicle's motion and are crucial to its safety. They support the vehicle's entire weight, bearing its load and transmitting forces and torque in other directions. They transmit traction and braking torque, ensuring good adhesion between the wheels and the road, improving the vehicle's power, braking, and maneuverability. Together with the vehicle's suspension, they mitigate impacts and attenuate vibrations during driving.

[0003] As vehicles become increasingly intelligent, intelligent tire monitoring technology becomes increasingly important. Because roads aren't perfectly smooth, wheels frequently bounce during normal driving. Conventional tire monitoring sensors currently monitor tire temperature and pressure to assess tire wear and internal air content, but are unable to accurately determine whether a wheel is bouncing. Summary of the Invention

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

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

[0006] When it is determined 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 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;

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

[0012] A 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, 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 recognition 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 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 target vehicle's differential, 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 can be identified separately by combining the wheel information and vehicle information of the vehicle during driving, thereby improving the efficiency and accuracy of wheel state recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a flow chart of a wheel status identification method provided according to the first embodiment of the present application;

[0020] Figure 2 This is a flow chart of a wheel status identification method provided according to the second embodiment of the present application;

[0021] Figure 3 This is a structural diagram of a wheel state recognition device provided according to the third embodiment of the present application;

[0022] Figure 4 It is a structural diagram 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 present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this 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 sequential order. 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 a sequence 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 provisions of relevant laws and regulations and do not violate public order and good morals.

[0026] Example 1

[0027] Figure 1 This is a flow chart of a wheel state recognition method provided in accordance with 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, and 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 determined that the current speed of the target vehicle meets the wheel detection condition, the current motor speed of the target vehicle is obtained.

[0029] The target vehicle refers to the specific vehicle currently in motion and being monitored or analyzed. The current vehicle speed refers to the current speed of the target vehicle while in motion. Wheel detection conditions are pre-set based on extensive experimentation or empirical data; for example, a vehicle speed greater than 10 km / h may be used. The current motor speed refers to the current motor rotational speed of the target vehicle, typically expressed in revolutions per minute, reflecting the motor's output capacity.

[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; for example, 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. The wheel torque refers to the torque acting on the wheel, which determines the rotation ability of the wheel; for example, 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. The wheel moment of inertia refers to the resistance of the wheel to changes in the rotation state, reflecting the energy required by the wheel when rotating. The theoretical angular acceleration refers to the ideal angular acceleration of the wheel in the 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 and wheel rotational inertia of the wheel to be identified 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 and wheel rotational inertia of the wheel to be identified of the target vehicle.

[0034] Optionally, if the current motor speed does not meet the single wheel beating condition, the wheel states of the wheel to be identified and the candidate wheels are both determined to be in a beating 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 the wheel speed. This state may be caused by various factors, such as wheel imbalance, damage or uneven tire wear.

[0036] For example, when the target vehicle is in a driving state, if the current motor speed has a trend of rapidly increasing, 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 has a trend of rapidly decreasing, 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 understood that when the target vehicle is in a driving state, when the left and right drive wheels of the target vehicle bounce simultaneously, due to the instantaneous reduction in vehicle resistance, the vehicle transmission dynamics analysis shows that the motor drive torque is still being output normally, and the speed of the drive train 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 speed limit. Therefore, the state determination of whether the left and right drive wheels are bouncing simultaneously is first performed. If the motor speed does not change rapidly, it can be determined that the left and right drive wheels are not bouncing simultaneously. If the speed increases rapidly, it is considered that the left and right drive wheels are bouncing simultaneously. When the target vehicle is in a braking state, when the left and right drive wheels are bouncing simultaneously, due to the instantaneous reduction in vehicle resistance, the vehicle transmission dynamics analysis shows that the motor brake torque is still being output normally, and the speed of the drive train driven by the motor will have a rapid downward trend. After a short time, the motor speed is likely to drop to 0. Therefore, the state determination of whether the left and right drive wheels are bouncing simultaneously is first performed. If the motor speed does not change rapidly, it can be determined that the left and right drive wheels are not bouncing simultaneously. If the speed drops rapidly, it is considered that the left and right drive wheels are bouncing simultaneously.

[0038] S130. Determine the wheel state of the wheel to be identified based on the input shaft speed set of the target vehicle's differential, 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's transmission system, mainly used to balance the speed difference between the wheels when turning; since the inner and outer wheels travel different 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 differential's input shaft speed set 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; for example, the driving wheels of the target vehicle are the front-wheel drive left and right driving wheels. If the wheel to be identified is the left driving wheel, the candidate wheel is the right driving 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 can be 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 can 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] For example, the wheel speed and the transmission ratio of the differential can be expressed by the following formula:

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

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

[0046] It is understandable that if it is identified 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, to ensure that the speed of the transmission system does not change suddenly, ensure the safety of the components, and reduce the noise and speed impact of the entire vehicle. When the vehicle exits the bouncing state, the above control transitions to the normal control mode to ensure the comfort of the entire vehicle.

[0047] In another optional implementation, after determining the wheel state of the wheel to be identified, if the wheel state of the wheel to be identified is a beating state, the beating 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 the 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 can be identified separately by combining the wheel information and vehicle information of the vehicle during driving, thereby improving the efficiency and accuracy of wheel state recognition.

[0050] Example 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 wheel 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 wheel". 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 determined 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 based on the wheel torque and wheel rotational inertia of the wheel to be identified of the target vehicle.

[0054] For example, 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 The resistance torque of the road surface is 0. When the wheel is in a bouncing state, the resistance torque can be set to 0 by default. J is the moment of inertia of the wheel. dw is 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 the braking state, when the wheel to be identified is in the jumping 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. In this case, the wheel speed will rapidly decrease at 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. If the target vehicle is currently in the driving state, when the wheel to be identified is in a bouncing state, the road resistance torque Tf can be considered to be 0. The formula shows that the bouncing wheel of the vehicle only has driving force at this time, so the wheel speed will rapidly increase at 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 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.

[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 a speed change trend of the differential; and 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 describes 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 describes the change in the wheel speed of the candidate wheel, which can be an increase or decrease. The speed change trend describes the change in the differential input shaft speed, which can be an increase or decrease.

[0065] Furthermore, based on the acceleration comparison result, the first wheel speed change trend, the second wheel speed change trend and the speed change trend, the wheel state of the wheel to be identified is determined to be a jumping state if the acceleration comparison result meets the 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 beating condition is artificially pre-set based on 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 beating condition is artificially pre-set based on a large number of experiments or actual conditions.

[0067] For example, if the target vehicle is currently in a driving state, and the actual angular acceleration is greater than the angular acceleration calculated based on the actual driving force, and the candidate wheel's speed remains unchanged, the wheel to be identified has no resistance, so the wheel speed of the wheel to be identified increases instantaneously. Accordingly, the differential's input shaft speed decreases rapidly and approaches zero. At this point, it can be determined that the wheel to be identified is in a jumping state. If the target vehicle is currently in a braking state, and the actual angular acceleration is greater than the angular acceleration calculated based on the actual driving force, and the candidate wheel's speed remains unchanged, and the wheel to be identified has no resistance, so the wheel speed of the wheel to be identified decreases instantaneously. Accordingly, the differential's input shaft speed increases rapidly and approaches twice the candidate wheel's speed. At this point, 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 based on 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 based on 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 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. 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, which can improve the efficiency and accuracy of wheel state recognition.

[0069] Example 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 is applicable to the case 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 includes:

[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] an acceleration determination module 320 for determining a theoretical angular acceleration of the wheel to be identified based on 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;

[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 wheel 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 can be identified separately by combining the wheel information and vehicle information of the vehicle during driving, thereby improving 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 based on 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, configured 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, configured to perform 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 configured 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 based on the acceleration comparison result, the first wheel speed change trend, the second wheel speed change trend and the rotation speed change trend.

[0084] Optionally, the state determination subunit is specifically 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 rotational speed change trend satisfy the second beating condition, then the wheel state of the wheel to be identified is determined to be 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 includes 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] Determining a theoretical input shaft speed of the differential based on the wheel speed and the transmission ratio of the differential and 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, configured to:

[0095] After determining the wheel state of the wheel to be identified, if the wheel state of the wheel to be identified is a beating state, the beating 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 beating condition, the wheel states of the wheel to be identified and the candidate wheels are both determined to be in a beating state.

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

[0099] Example 4

[0100] Figure 44 is a schematic diagram of the structure of an electronic device 410 that implements the wheel state recognition method of an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, 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 assistants, 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 merely 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. Various programs and data required for the operation of the electronic device 410 can also be stored in the RAM 413. The processor 411, ROM 412 and RAM 413 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 electronic device 410 are connected to I / O interface 415, including an input unit 416, such as a keyboard, mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a magnetic disk, optical disk, etc.; and a communication unit 419, such as a network card, modem, wireless communication transceiver, etc. The communication unit 419 allows electronic device 410 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0103] Processor 411 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. 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 can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as storage unit 418. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 410 via ROM 412 and / or communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the wheel state identification method described above can be performed. Alternatively, in other embodiments, processor 411 can be configured as the wheel state identification method by any other appropriate means (e.g., by means of firmware).

[0105] Various embodiments of the systems and techniques described 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), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes 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] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable wheel state recognition device, so that when executed by the processor, the computer programs implement the functions / operations specified in the flowcharts and / or block diagrams. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0107] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium can 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 can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can 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 can 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0109] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer with a graphical user interface or 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 back-end components, middleware components, or front-end components. The components of the system can 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 clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0111] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved. This is not limited herein.

[0112] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A wheel state recognition method, characterized in that: include: When it is determined 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; 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; The step of 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 includes: determining an 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 of the wheel to be identified with the theoretical angular acceleration 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 wheel; The determining of 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 includes: 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; determining the wheel state of the wheel to be identified based on the acceleration comparison result, the first wheel speed change trend, the second wheel speed change trend, and the rotational speed change trend; Wherein, determining the wheel state of the wheel to be identified based on the acceleration comparison result, the first wheel speed change trend, the second wheel speed change trend, and the rotational speed change trend includes: 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 rotational 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 rotational 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.

2. The method according to claim 1, characterized in that After determining the wheel status 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 speed of the target vehicle.

3. The method according to claim 2, characterized in that The adjusting the wheel torque of the target vehicle according to the current speed of the target vehicle includes: Performing wheel speed conversion on the current speed of the target vehicle to obtain a first theoretical wheel speed of the wheel to be identified and a second theoretical wheel speed of the candidate wheel; Determining a theoretical input shaft speed of the differential based on the first theoretical wheel speed and the second theoretical wheel speed based on the wheel speed and the transmission ratio of the differential; The wheel torque of the target vehicle is adjusted according to the theoretical input shaft speed.

4. The method according to claim 1, wherein After determining the wheel status of the wheel to be identified, the method further includes: When the wheel state of the wheel to be identified is a beating state, the beating state is sent to the brake system of the target vehicle.

5. The method according to claim 1, characterized in that The method further comprises: If the current motor speed does not meet the single wheel beating condition, the wheel states of the wheel to be identified and the candidate wheels are both determined to be in a beating state.

6. A wheel status recognition device, characterized in that: include: A speed acquisition module 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; an acceleration determination module, configured to determine a theoretical angular acceleration of the wheel to be identified of the target vehicle based on the wheel torque and wheel rotational inertia of the wheel to be identified if the current motor speed satisfies a single wheel bounce condition; a state determination module, configured 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; Wherein, the state determination module includes: an acceleration determination unit, configured to determine an actual angular acceleration of the wheel to be identified based on the first wheel speed set of the wheel to be identified; an acceleration comparison unit, configured to compare the actual angular acceleration of the wheel to be identified with the theoretical angular acceleration to obtain an acceleration comparison result; a state determination unit, configured 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; Wherein, the state determination unit includes: a first trend determination subunit, configured 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; a second trend determination subunit, configured to perform 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; a third trend determination subunit, configured 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; a state determination subunit, configured to determine the wheel state of the wheel to be identified based on the acceleration comparison result, the first wheel speed change trend, the second wheel speed change trend, and the rotational speed change trend; The state determination subunit is specifically configured to: 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 rotational 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 rotational 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.

7. An electronic device, 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 according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the wheel state recognition method according to any one of claims 1 to 5 is implemented.

9. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the wheel state recognition method according to any one of claims 1 to 5.

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