Wheel run-out identification method, device, equipment, medium, product and vehicle

Abstract

The invention discloses a wheel run-out identification method, device and equipment, a medium, a product and a vehicle, and relates to the technical field of vehicles. The wheel run-out identification method comprises the following steps: receiving a steering wheel rotating speed transmitted by a steering controller of a vehicle, wheel speeds of a plurality of wheels transmitted by a brake controller and sprung vertical speeds which are detected by a height sensor and respectively correspond to the plurality of wheels; comparing the steering wheel speed with a steering wheel speed threshold; and under the condition that the rotating speed of the steering wheel is smaller than or equal to the rotating speed threshold value of the steering wheel, according to the wheel speeds of the multiple wheels and the sprung vertical speeds corresponding to the multiple wheels, the wheel which jumps in the multiple wheels is recognized. According to the scheme disclosed by the invention, wheel jump identification can be performed in the vehicle driving process, so that the wheel jump is inhibited, and the riding comfort and the driving safety can be improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a wheel jump recognition method, device, equipment, medium, product and vehicle. Background Art

[0002] Wheel hop refers to the phenomenon that the wheels of a vehicle hop while driving (hereinafter referred to as wheel hop). When wheel hop occurs, it will affect the ride comfort and driving safety of the vehicle.

[0003] In the related art, the vehicle is usually maintained regularly when it is not driving, and factors that may cause wheel hop (such as tire imbalance, wheel deformation, etc.) are checked to prevent wheel hop from occurring. It is impossible to identify wheel hop while the vehicle is driving. Summary of the invention

[0004] The embodiments of the present application provide a wheel jump recognition method, device, equipment, medium, product and vehicle, which can solve the problem of being unable to recognize wheel jump during vehicle driving.

[0005] In a first aspect, an embodiment of the present application provides a wheel jumping method, comprising:

[0006] Receiving the steering wheel speed transmitted by the steering controller of the vehicle, the wheel speeds of multiple wheels transmitted by the brake controller, and the unsprung sag speeds corresponding to the multiple wheels detected by the height sensor;

[0007] comparing a steering wheel speed with a steering wheel speed threshold;

[0008] When the steering wheel speed is less than or equal to a steering wheel speed threshold, a wheel that bounces among the multiple wheels is identified based on the wheel speeds of the multiple wheels and the unsprung sag velocities corresponding to the multiple wheels.

[0009] In a second aspect, an embodiment of the present application provides a wheel jump recognition device, comprising:

[0010] An acquisition module, used for receiving the steering wheel speed transmitted by the steering controller of the vehicle, the wheel speeds of multiple wheels transmitted by the brake controller, and the unsprung sag speeds corresponding to the multiple wheels detected by the height sensor;

[0011] A comparison module, used for comparing a steering wheel speed with a steering wheel speed threshold;

[0012] The identification module is used to identify the wheel that bounces among the multiple wheels according to the wheel speeds of the multiple wheels and the unsprung sag velocities corresponding to the multiple wheels respectively when the steering wheel speed is less than or equal to the steering wheel speed threshold.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the steps of the wheel jump identification method provided in the embodiment of the present application are implemented.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the steps of the wheel jump identification method provided in the embodiment of the present application are implemented.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes computer program instructions, and when the computer program instructions are executed by a processor, the steps of the wheel jump identification method provided in the embodiment of the present application are implemented.

[0016] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising at least one of the following items:

[0017] The wheel jump identification device provided in the embodiment of the present application;

[0018] The electronic device provided by the embodiment of the present application;

[0019] The computer-readable storage medium provided by the embodiments of the present application.

[0020] In the embodiment of the present application, the steering wheel speed transmitted by the steering controller of the vehicle, the wheel speeds of multiple wheels transmitted by the brake controller, and the unsprung droop speeds corresponding to the multiple wheels detected by the height sensor are received; the steering wheel speed and the steering wheel speed threshold are compared; when the steering wheel speed is less than or equal to the steering wheel speed threshold, the wheel that is jumping among the multiple wheels is identified according to the wheel speeds of the multiple wheels and the unsprung droop speeds corresponding to the multiple wheels. In this way, wheel jumping can be identified during the driving of the vehicle, and then the wheel jumping can be suppressed, which can improve the riding comfort and driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 It is a flowchart of a wheel jump identification method provided in an embodiment of the present application;

[0023] Figure 2 is a schematic diagram of the process of identifying round hopping provided in an embodiment of the present application;

[0024] Figure 3 is a schematic diagram of the structure of a wheel jump identification device provided in an embodiment of the present application;

[0025] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0027] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0028] The wheel jump recognition method, device, equipment, medium, product and vehicle provided in the embodiments of the present application are described in detail below in conjunction with the accompanying drawings through specific embodiments and their application scenarios.

[0029] Figure 1 FIG. 1 is a flow chart of a wheel jump identification method provided in an embodiment of the present application. Figure 1 As shown, the wheel jump identification method may include:

[0030] Step 101: receiving a steering wheel speed transmitted by a steering controller of a vehicle, wheel speeds of multiple wheels transmitted by a brake controller, and unsprung sag speeds corresponding to multiple wheels detected by a height sensor;

[0031] In some possible implementations of the embodiments of the present application, a steering controller is a device for controlling the steering of a vehicle, which can adjust the steering force and direction of the steering gear according to the driver's operation of the steering wheel and the driving state of the vehicle to control the steering of the vehicle. A brake controller is a device for controlling the stopping or deceleration of a vehicle, which can control the wheel speed of the vehicle according to the driver's operation of the brake (i.e., braking) to stop or decelerate the running vehicle. A height sensor is a sensor used in a vehicle suspension, and its main function is to detect the relative displacement between the vehicle and the lower cantilever or lower bracket of the shock absorber corresponding to the wheel. The relative displacement can be used to determine the unsprung droop velocity corresponding to the wheel, wherein the unsprung droop velocity is the movement speed of the unsprung mass (such as the wheel) in the vertical direction.

[0032] In some possible implementations of the embodiments of the present application, the steering wheel speed and the wheel speed may be transmitted via a controller area network (CAN) bus.

[0033] Step 102: Compare the steering wheel speed with a steering wheel speed threshold;

[0034] Step 103: When the steering wheel speed is less than or equal to the steering wheel speed threshold, identify the wheel that bounces among the multiple wheels according to the wheel speeds of the multiple wheels and the unsprung sag velocities corresponding to the multiple wheels.

[0035] In some possible implementations of the embodiments of the present application, step 103 of the embodiments of the present application may include: for the first wheel, calculating the absolute value of the difference between the wheel speed of the first wheel and the average wheel speed; wherein the first wheel is any one of a plurality of wheels, and the average wheel speed is the average of the wheel speeds of the plurality of wheels; when the absolute value is greater than or equal to a wheel speed threshold, comparing the unsprung sag speed corresponding to the first wheel with the unsprung sag speed threshold; when the unsprung sag speed corresponding to the first wheel is greater than or equal to the unsprung sag speed threshold, determining that the first wheel has bounced.

[0036] In some possible implementations of the embodiments of the present application, the steering wheel speed threshold, wheel speed threshold, and unsprung sag speed threshold in the embodiments of the present application may be pre-calibrated. The embodiments of the present application do not limit the method for calibrating the steering wheel speed threshold, wheel speed threshold, and unsprung sag speed threshold, and any available method may be applied to the embodiments of the present application.

[0037] For example, assume that the wheel speeds of the left front wheel, right front wheel, left rear wheel and right rear wheel of the vehicle are WheelSpd_FL, WheelSpd_FR, WheelSpd_BL and WheelSpd_BR respectively; the sprung sag velocities of the left front wheel, right front wheel, left rear wheel and right rear wheel are Damper V_FL, Damper V_FR, Damper V_BL and Damper V_BR respectively. The average value of WheelSpd_FL, WheelSpd_FR, WheelSpd_BL and WheelSpd_BR is V M .

[0038] For the left front wheel, when |WheelSpd_FL-V M When V_FL is greater than or equal to the wheel speed threshold and Damper V_FL is greater than or equal to the unsprung sag speed threshold, it is determined that the left front wheel is bouncing.

[0039] For the right front wheel, when |WheelSpd_FR-V M When the right front wheel speed is greater than or equal to the wheel speed threshold and the damper V_FR is greater than or equal to the unsprung sag speed threshold, it is determined that the right front wheel is bouncing.

[0040] For the left rear wheel, when |WheelSpd_BL-V M When V_BL is greater than or equal to the wheel speed threshold and Damper V_BL is greater than or equal to the unsprung sag speed threshold, it is determined that the left rear wheel is bouncing.

[0041] For the right rear wheel, when |WheelSpd_BR-V M When the right rear wheel speed is greater than or equal to the wheel speed threshold and the damper V_BR is greater than or equal to the unsprung sag speed threshold, it is determined that the right rear wheel is bouncing.

[0042] In the embodiment of the present application, by receiving the steering wheel speed transmitted by the vehicle's steering controller, the wheel speeds of multiple wheels transmitted by the brake controller, and the unsprung sag speeds corresponding to the multiple wheels detected by the height sensor; comparing the steering wheel speed with the steering wheel speed threshold; and when the steering wheel speed is less than or equal to the steering wheel speed threshold, determining that the multiple wheels have bounced according to the wheel speed and the unsprung sag speed. In this way, wheel jump recognition can be performed during vehicle driving.

[0043] In some possible implementations of the embodiments of the present application, the wheel bounce identification method provided in the embodiments of the present application may also include: controlling the shock absorber corresponding to the first wheel to generate a damping force according to pre-calibrated control electrical parameters to suppress the bounce of the first wheel.

[0044] In some possible implementations of the embodiments of the present application, the electrical parameters in the embodiments of the present application include current or voltage.

[0045] In some possible implementations of the embodiments of the present application, controlling the shock absorber corresponding to the first wheel to generate the damping force according to the pre-calibrated control electrical parameters may be applying the pre-calibrated control electrical parameters to the shock absorber corresponding to the first wheel.

[0046] Normally, when a vehicle is traveling at a high speed on a road section with continuous large road excitation, the vehicle suspension frequency and the road excitation frequency may converge, triggering resonance, causing the wheel to continuously bounce vertically on the road section. Based on this, a pre-calibrated control electrical parameter can be applied to the shock absorber corresponding to the wheel to control the damping force generated by the shock absorber corresponding to the wheel. At this time, the damping force generated by the shock absorber changes, and the vehicle suspension frequency changes, thereby eliminating resonance, preventing the wheel from bouncing, and achieving the suppression of wheel bouncing.

[0047] In the embodiment of the present application, wheel bounce can be suppressed to improve ride comfort and driving safety.

[0048] In some possible implementations of the embodiments of the present application, the wheel bounce identification method provided in the embodiments of the present application may also include: when the absolute value of the difference between the wheel speed of the first wheel and the average wheel speed is greater than or equal to the wheel speed threshold, determining that the first wheel has not bounced.

[0049] For example, assume that the wheel speeds of the left front wheel, right front wheel, left rear wheel and right rear wheel of the vehicle are WheelSpd_FL, WheelSpd_FR, WheelSpd_BL and WheelSpd_BR respectively; the sprung sag velocities of the left front wheel, right front wheel, left rear wheel and right rear wheel are Damper V_FL, Damper V_FR, Damper V_BL and Damper V_BR respectively. The average value of WheelSpd_FL, WheelSpd_FR, WheelSpd_BL and WheelSpd_BR is V M .

[0050] For the left front wheel, when |WheelSpd_FL-V M |When the speed is less than the wheel speed threshold, it is determined that the left front wheel does not bounce.

[0051] For the right front wheel, when |WheelSpd_FR-V M |When the speed is less than the wheel speed threshold, it is determined that the right front wheel does not bounce.

[0052] For the left rear wheel, when |WheelSpd_BL-V M|When the speed is less than the wheel speed threshold, it is determined that the left rear wheel does not bounce.

[0053] For the right rear wheel, when |WheelSpd_BR-V M |When the speed is less than the wheel speed threshold, it is determined that the right rear wheel does not bounce.

[0054] In some possible implementations of the embodiments of the present application, the wheel bounce identification method provided in the embodiments of the present application may also include: when the unsprung sag velocity corresponding to the first wheel is less than the unsprung sag velocity threshold, determining that the first wheel has not bounced.

[0055] For example, it is assumed that the wheel speeds of the left front wheel, right front wheel, left rear wheel and right rear wheel of the vehicle are WheelSpd_FL, WheelSpd_FR, WheelSpd_BL and WheelSpd_BR respectively; the sprung sag velocities corresponding to the left front wheel, right front wheel, left rear wheel and right rear wheel are Damper V_FL, Damper V_FR, Damper V_BL and Damper V_BR respectively. The average value of WheelSpd_FL, WheelSpd_FR, WheelSpd_BL and WheelSpd_BR is VM.

[0056] For the left front wheel, when |WheelSpd_FL-VM| is greater than or equal to the wheel speed threshold but Damper V_FL is less than the unsprung sag speed threshold, it is determined that the left front wheel does not bounce.

[0057] For the right front wheel, when |WheelSpd_FR-VM| is greater than or equal to the wheel speed threshold but Damper V_FR is less than the unsprung sag speed threshold, it is determined that the right front wheel does not bounce.

[0058] For the left rear wheel, when |WheelSpd_BL-VM| is greater than or equal to the wheel speed threshold but Damper V_BL is less than the unsprung sag speed threshold, it is determined that the left rear wheel does not bounce.

[0059] For the right rear wheel, when |WheelSpd_BR-VM| is greater than or equal to the wheel speed threshold but Damper V_BR is less than the unsprung sag speed threshold, it is determined that the right rear wheel does not bounce.

[0060] In some possible implementations of the embodiments of the present application, the wheel bounce identification method provided in the embodiments of the present application may also include: when the steering wheel speed is greater than a steering wheel speed threshold, determining that multiple wheels have not bounced.

[0061] When the steering wheel speed is greater than the steering wheel speed threshold, it is determined that no wheel of the plurality of wheels bounces.

[0062] Figure 2 1 is a schematic diagram of a process of identifying a turn jump provided in an embodiment of the present application. The process of identifying a turn jump includes the following steps:

[0063] Step 201: obtaining a steering wheel speed, a wheel speed of each of a plurality of wheels, and unsprung sag speeds corresponding to the plurality of wheels;

[0064] Step 202: Determine whether the steering wheel speed is less than or equal to the steering wheel speed threshold, if yes, execute step 203, if no, execute step 208;

[0065] Step 203: for each wheel among the multiple wheels, determine whether the difference between the wheel speed of the wheel and the average value of the wheel speeds of the multiple wheels is greater than or equal to the wheel speed threshold value, if yes, execute step 204; if no, execute step 207;

[0066] Step 204: Determine whether the unsprung sag velocity corresponding to the wheel is greater than or equal to the unsprung sag velocity threshold, if yes, execute step 205, if no, execute step 207;

[0067] Step 205: Determine whether the wheel hop occurs;

[0068] Step 206: applying a pre-calibrated control electrical parameter to the shock absorber corresponding to the wheel to change the damping force generated by the shock absorber to change the natural frequency of the vehicle suspension, thereby suppressing the wheel hop;

[0069] Step 207: Determine that the wheel does not hop;

[0070] Step 208: Determine that wheel hop does not occur on the multiple wheels.

[0071] The implementation process of each step in the process of identifying round jumps can be referred to Figure 1 The description in the illustrated embodiment will not be repeated in the embodiments of the present application.

[0072] The present application also provides a wheel jump recognition device. Figure 3 shown. Figure 3 : is a schematic diagram of the structure of a wheel runout recognition device provided in an embodiment of the present application. The wheel runout recognition device 300 may include:

[0073] An acquisition module 301 is used to receive a steering wheel speed transmitted by a steering controller of the vehicle, wheel speeds of multiple wheels transmitted by a brake controller, and unsprung sag speeds corresponding to multiple wheels detected by a height sensor;

[0074] A comparison module 302, configured to compare a steering wheel speed with a steering wheel speed threshold;

[0075] The identification module 303 is used to identify the wheel that has bounced among the multiple wheels according to the wheel speeds of the multiple wheels and the unsprung sag velocities corresponding to the multiple wheels respectively when the steering wheel speed is less than or equal to the steering wheel speed threshold.

[0076] In the embodiment of the present application, the steering wheel speed transmitted by the steering controller of the vehicle, the wheel speeds of multiple wheels transmitted by the brake controller, and the unsprung sag speeds corresponding to the multiple wheels detected by the height sensor are received; the steering wheel speed and the steering wheel speed threshold are compared; when the steering wheel speed is less than or equal to the steering wheel speed threshold, the wheel that has bounced among the multiple wheels is identified according to the wheel speeds of the multiple wheels and the unsprung sag speeds corresponding to the multiple wheels. In this way, wheel jump identification can be performed during vehicle driving.

[0077] In some possible implementations of the embodiment of the present application, the identification module 303 in the embodiment of the present application may be specifically used for:

[0078] For a first wheel, calculating an absolute value of a difference between a wheel speed of the first wheel and an average wheel speed; wherein the first wheel is any one of a plurality of wheels, and the average wheel speed is an average of the wheel speeds of the plurality of wheels;

[0079] When the absolute value of the difference between the wheel speed of the first wheel and the wheel speed average is greater than or equal to the wheel speed threshold, comparing the unsprung droop speed corresponding to the first wheel with the unsprung droop speed threshold;

[0080] When the unsprung sag velocity corresponding to the first wheel is greater than or equal to the unsprung sag velocity threshold, it is determined that the first wheel has bounced.

[0081] In some possible implementations of the embodiment of the present application, the identification module 303 in the embodiment of the present application may also be used for:

[0082] When the absolute value of the difference between the wheel speed of the first wheel and the wheel speed average value is smaller than the wheel speed threshold, it is determined that the first wheel does not bounce.

[0083] In some possible implementations of the embodiment of the present application, the identification module 303 in the embodiment of the present application may also be used for:

[0084] When the unsprung sag velocity corresponding to the first wheel is less than the unsprung sag velocity threshold, it is determined that the first wheel does not bounce.

[0085] In some possible implementations of the embodiments of the present application, the wheel jump identification device 300 provided in the embodiments of the present application may further include:

[0086] The suppression module is used to control the shock absorber corresponding to the first wheel to generate a damping force according to a pre-calibrated control electrical parameter to suppress the first wheel from bouncing.

[0087] In some possible implementations of the embodiment of the present application, the identification module 303 in the embodiment of the present application may also be used for:

[0088] When the steering wheel speed is greater than the steering wheel speed threshold, it is determined that the plurality of wheels do not bounce.

[0089] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0090] The electronic device may include a processor 401 and a memory 402 storing computer program instructions.

[0091] Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0092] Memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, memory 402 may be inside or outside of an electronic device. In some specific embodiments, memory 402 is a non-volatile solid-state memory.

[0093] In some specific embodiments, the memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the wheel jump identification method according to the present application.

[0094] The processor 401 reads and executes the computer program instructions stored in the memory 402 to implement the steps of the wheel jump identification method provided in the embodiment of the present application.

[0095] In one example, the electronic device may further include a communication interface 403 and a bus 410. Figure 4 As shown, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 and communicate with each other.

[0096] The communication interface 403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0097] The bus 410 includes hardware, software or both, coupling the components of the electronic device to each other. For example, but not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro channel architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus or other suitable buses or a combination of two or more of these. Where appropriate, the bus 410 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0098] The electronic device can execute the steps of the wheel jump identification method provided in the embodiment of the present application, thereby achieving the corresponding technical effects of the wheel jump identification method provided in the embodiment of the present application.

[0099] In addition, in combination with the wheel jump recognition method in the above embodiment, the embodiment of the present application also provides a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, the wheel jump recognition method provided in the embodiment of the present application is implemented. Examples of computer-readable storage media include non-transitory computer-readable media, such as ROM, RAM, magnetic disk or optical disk, etc.

[0100] An embodiment of the present application provides a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the steps of the wheel jump identification method provided in the embodiment of the present application are implemented, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0101] The present application provides a vehicle, comprising at least one of the following items:

[0102] The wheel jump identification device provided in the embodiment of the present application;

[0103] The electronic device provided by the embodiment of the present application;

[0104] The computer-readable storage medium provided by the embodiments of the present application.

[0105] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0106] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable read-only memory (Erasable Read Only Memory, EROM), floppy disks, compact discs (Compact Disc Read-Only Memory, CD-ROM), optical disks, hard disks, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0107] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0108] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0109] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A wheel runout recognition method, It is characterized in that The method comprises: receiving a steering wheel speed transmitted by a steering controller of the vehicle, wheel speeds of a plurality of wheels transmitted by a brake controller, and unsprung sag speeds corresponding to the plurality of wheels respectively detected by a height sensor; comparing the steering wheel speed with a steering wheel speed threshold; When the steering wheel speed is less than or equal to the steering wheel speed threshold, a wheel that bounces among the plurality of wheels is identified based on the wheel speed and the unsprung sag speed.

2. The method according to claim 1, It is characterized in that The step of identifying a wheel that bounces among the plurality of wheels according to the wheel speed and the unsprung sag speed comprises: For a first wheel, calculating an absolute value of a difference between a wheel speed of the first wheel and an average wheel speed; wherein the first wheel is any one of the plurality of wheels, and the average wheel speed is an average of the wheel speeds of the plurality of wheels; When the absolute value is greater than or equal to the wheel speed threshold, comparing the unsprung sag speed corresponding to the first wheel with the unsprung sag speed threshold; When the unsprung sag velocity corresponding to the first wheel is greater than or equal to the unsprung sag velocity threshold, it is determined that the first wheel bounces.

3. The method according to claim 2, It is characterized in that The method further comprises: When the absolute value is smaller than the wheel speed threshold, it is determined that the first wheel does not bounce.

4. The method according to claim 2, It is characterized in that The method further comprises: When the unsprung sag velocity corresponding to the first wheel is less than the unsprung sag velocity threshold, it is determined that the first wheel does not bounce.

5. The method according to claim 2, It is characterized in that The method further comprises: The shock absorber corresponding to the first wheel is controlled to generate a damping force according to pre-calibrated control electrical parameters to suppress the bouncing of the first wheel.

6. The method according to claim 1, It is characterized in that The method further comprises: When the steering wheel speed is greater than the steering wheel speed threshold, it is determined that the multiple wheels do not bounce.

7. A wheel runout recognition device, It is characterized in that The device comprises: an acquisition module, configured to receive a steering wheel speed transmitted by a steering controller of the vehicle, wheel speeds of a plurality of wheels transmitted by a brake controller, and unsprung sag speeds corresponding to the plurality of wheels respectively detected by a height sensor; A comparison module, used for comparing the steering wheel speed with a steering wheel speed threshold; The identification module is used to identify the wheel that bounces among the multiple wheels according to the wheel speed and the unsprung sag speed when the steering wheel speed is less than or equal to the steering wheel speed threshold.

8. An electronic device, It is characterized in that The electronic device comprises: a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the steps of the wheel jump identification method as described in any one of claims 1-6.

9. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the steps of the wheel jump identification method according to any one of claims 1 to 6 are implemented.

10. A computer program product, It is characterized in that The computer program product comprises computer program instructions, which, when executed by a processor, implement the steps of the wheel jump identification method as claimed in any one of claims 1 to 6.

11. A vehicle, It is characterized in that The vehicle includes at least one of the following: The wheel jump identification device according to claim 7; The electronic device according to claim 8; The computer readable storage medium of claim 9.

Images