Rigidity consistency detection method and device, equipment, storage medium and product

Abstract

The invention discloses a rigidity consistency detection method, device and equipment, a storage medium and a product, relates to the technical field of rigidity detection, and discloses a rigidity consistency detection method which comprises the following steps: acquiring continuous historical target rigidity and continuous historical actual execution rigidity of each wheel of a vehicle air suspension; determining a stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness; according to the continuous historical target stiffness, determining a stiffness average change rate and a stiffness maximum change rate; determining a stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate; and when the rigidity average error of all the wheels of the vehicle air suspension is not larger than the target rigidity error allowable value, it is confirmed that the rigidity consistency of the air suspension meets the target requirement. Compared with the prior art, the rigidity consistency of the vehicle air suspension is detected in the dynamic control process of the vehicle air suspension.

Description

Technical Field

[0001] The present invention relates to the field of stiffness detection technology, and in particular to a stiffness consistency detection method, device, equipment, storage medium and product. Background Art

[0002] Traditional vehicle air suspension stiffness consistency testing usually uses the static stiffness test method, including the determination of horizontal static stiffness and vertical static stiffness. The horizontal static stiffness test is to install the air spring on the test machine, move it to the maximum position and then return to the neutral position, stop for 30 seconds after each displacement of 10mm, measure the load, repeat 5 times and take the average value to calculate the static stiffness. The vertical static stiffness test is to measure the load and displacement relationship during compression or tension under standard load.

[0003] However, the determination of horizontal static stiffness and vertical static stiffness cannot solve the problem that the target stiffness changes rapidly during the dynamic control process of the vehicle air suspension, which leads to inaccurate diagnosis of the consistency between the target stiffness and the actual stiffness.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a stiffness consistency detection method, device, equipment, storage medium and product, aiming to solve the technical problem that the target stiffness of the vehicle air suspension changes rapidly during the dynamic control process, which leads to inaccurate consistency diagnosis between the target stiffness and the actual stiffness.

[0006] To achieve the above object, the present invention proposes a stiffness consistency detection method, which comprises:

[0007] Obtaining the continuous history target stiffness and the continuous history actual implementation stiffness of each wheel of the vehicle air suspension;

[0008] Determining a stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness;

[0009] Determining an average stiffness change rate and a maximum stiffness change rate according to the continuous historical target stiffness;

[0010] Determining a stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate;

[0011] When the average stiffness error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, it is confirmed that the stiffness consistency of the air suspension meets the target requirement.

[0012] In one embodiment, the step of determining the stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness comprises:

[0013] Acquire the historical target stiffness in the continuous historical target stiffness and the historical actual execution stiffness in the continuous historical actual execution stiffness;

[0014] The stiffness average error is determined based on the deviation between the historical target stiffness and the historical actual execution stiffness through a preset average error formula.

[0015] In one embodiment, the step of determining the average stiffness change rate and the maximum stiffness change rate according to the continuous historical target stiffness includes:

[0016] Acquire the adjacent historical target stiffnesses in the continuous historical target stiffnesses;

[0017] Determine the change rate of the historical target stiffness by using a preset change rate formula based on the deviation between adjacent historical target stiffnesses and dividing by the task execution time period;

[0018] Determine the target stiffness average change rate based on the sum of the consecutive historical target stiffness change rates by using a preset average change rate formula;

[0019] The target stiffness maximum change rate is determined based on the maximum value between the consecutive historical target stiffness change rates using a maximum change rate preset formula.

[0020] In one embodiment, the step of determining the stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate comprises:

[0021] Determine a stiffness error conversion value based on the target stiffness average change rate and the target stiffness maximum change rate through a preset error conversion formula;

[0022] The target stiffness error allowable value is determined based on the stiffness error conversion value by using a preset error allowable formula.

[0023] In one embodiment, when the average stiffness error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, the step of confirming that the stiffness consistency of the air suspension meets the target requirement includes:

[0024] Determining the stiffness control execution performance state based on the stiffness average error of each wheel and the target stiffness error allowable value by using a preset stiffness performance formula;

[0025] When the average stiffness error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, the stiffness control execution performance states all meet the preset standards, confirming that the stiffness consistency of the air suspension meets the target requirements.

[0026] In one embodiment, when the average stiffness error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, before the step of confirming that the stiffness consistency of the air suspension meets the target requirement, the step includes:

[0027] When the average stiffness error of the wheels of the vehicle air suspension is greater than the target stiffness error allowable value, the stiffness control execution performance state does not fully meet the preset standard, and it is confirmed that the stiffness consistency of the air suspension does not meet the target requirement.

[0028] In addition, to achieve the above object, the present invention also proposes a stiffness consistency detection device, the device comprising:

[0029] A detection module, used for obtaining a continuous historical target stiffness and a continuous historical actual execution stiffness of each wheel of the vehicle air suspension;

[0030] A first calculation module, configured to determine a stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness;

[0031] A second calculation module is used to determine an average change rate of stiffness and a maximum change rate of stiffness according to the continuous historical target stiffness;

[0032] A third calculation module, used for determining a stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate;

[0033] The judgment module confirms that the air suspension stiffness consistency meets the target requirement when the stiffness average error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value.

[0034] In addition, to achieve the above-mentioned purpose, the present invention also proposes a stiffness consistency detection device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the stiffness consistency detection method described above.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the stiffness consistency detection method described above are implemented.

[0036] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the stiffness consistency detection method as described above are implemented.

[0037] One or more technical solutions proposed in the present invention have at least the following technical effects:

[0038] The present invention obtains the continuous historical target stiffness and the continuous historical actual execution stiffness of each wheel of the vehicle air suspension; determines the average stiffness error according to the continuous historical target stiffness and the continuous historical actual execution stiffness; determines the average stiffness change rate and the maximum stiffness change rate according to the continuous historical target stiffness; determines the stiffness error allowable value according to the average stiffness change rate and the maximum stiffness change rate; when the stiffness average error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, confirms that the air suspension stiffness consistency meets the target requirements. Since the present invention determines whether the stiffness consistency of the vehicle air suspension meets the requirements during the dynamic change process by comparing the obtained stiffness average error with the stiffness allowable value, compared with the prior art, the present invention can detect the stiffness consistency of the vehicle air suspension during the dynamic control process of the vehicle air suspension. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the stiffness consistency detection method of the present invention;

[0042] Figure 2 A schematic diagram of a flow chart of a second embodiment of a method for detecting stiffness consistency according to the present invention;

[0043] Figure 3 A schematic diagram of a process flow provided for a third embodiment of a method for detecting stiffness consistency according to the present invention;

[0044] Figure 4 A schematic diagram of a flow chart of a fourth embodiment of a method for detecting stiffness consistency according to the present invention;

[0045] Figure 5A schematic diagram of a process flow provided for a fifth embodiment of a method for detecting stiffness consistency according to the present invention;

[0046] Figure 6 Schematic diagram of the module structure of the stiffness consistency detection device according to an embodiment of the present invention;

[0047] Figure 7 Schematic diagram of the device structure of the hardware operating environment involved in the stiffness consistency detection method in an embodiment of the present invention.

[0048] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present invention and are not used to limit the present invention.

[0050] In order to better understand the technical solution of the present invention, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0051] The main solution of the embodiment of the present invention is: to obtain the continuous historical target stiffness and the continuous historical actual execution stiffness of each wheel of the vehicle air suspension; to determine the average stiffness error according to the continuous historical target stiffness and the continuous historical actual execution stiffness; to determine the average stiffness change rate and the maximum stiffness change rate according to the continuous historical target stiffness; to determine the stiffness error allowable value according to the average stiffness change rate and the maximum stiffness change rate; when the stiffness average error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, it is confirmed that the air suspension stiffness consistency meets the target requirements.

[0052] In this embodiment, for the convenience of description, the following description is made with the identification controller as the execution subject.

[0053] The existing technology cannot solve the problem of rapid dynamic changes in target stiffness of the vehicle air suspension during the dynamic control process, which leads to inaccurate diagnosis of the consistency between the target stiffness and the actual stiffness.

[0054] The present invention provides a solution, which includes obtaining the continuous historical target stiffness and the continuous historical actual execution stiffness of each wheel of the vehicle air suspension; determining the average stiffness error according to the continuous historical target stiffness and the continuous historical actual execution stiffness; determining the average stiffness change rate and the maximum stiffness change rate according to the continuous historical target stiffness; determining the stiffness error allowable value according to the average stiffness change rate and the maximum stiffness change rate; when the stiffness average error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, it is confirmed that the air suspension stiffness consistency meets the target requirements.

[0055] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The controller is taken as an example to illustrate this embodiment and the following embodiments.

[0056] Based on this, the embodiment of the present invention provides a method for detecting stiffness consistency, referring to Figure 1 , Figure 1 A schematic flow chart of the first embodiment of the stiffness consistency detection method of the present invention.

[0057] In this embodiment, the stiffness consistency detection method includes steps S10 to S50:

[0058] Step S10, obtaining the continuous history target stiffness and the continuous history actual execution stiffness of each wheel of the vehicle air suspension.

[0059] It should be noted that the above-mentioned continuous historical target stiffness may be an artificially set target expected stiffness;

[0060] It should be noted that the above continuous historical actual implementation stiffness may be the actual implementation stiffness of the wheel.

[0061] It is understandable that the above-mentioned continuous historical target stiffness and the above-mentioned continuous historical actual execution stiffness of different vehicles are all different, and this embodiment does not impose any limitation on this.

[0062] In a specific implementation, the above-mentioned continuous historical target stiffness and the above-mentioned continuous historical actual execution stiffness of each wheel of the vehicle air suspension are obtained through a detection device.

[0063] Step S20: determining a stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness.

[0064] It is understandable that the above average stiffness errors of different vehicles are all different, and this embodiment does not impose any limitation on this.

[0065] In a specific implementation, the above stiffness average error is determined by a preset average error formula according to the above continuous historical target stiffness and the above continuous historical actual execution stiffness.

[0066] Step S30, determining the average change rate of stiffness and the maximum change rate of stiffness according to the continuous historical target stiffness.

[0067] It should be noted that the above average change rate of stiffness may be the average change rate of stiffness of the vehicle air suspension during dynamic change;

[0068] It should be noted that the above maximum stiffness change rate may be the maximum stiffness change rate of the vehicle air suspension during a dynamic change process.

[0069] It is understandable that the above average change rate of stiffness and the above maximum change rate of stiffness are different for different vehicles, and this embodiment does not impose any limitation on this.

[0070] In a specific implementation, based on the continuous historical target stiffness, the above-mentioned average change rate of stiffness is determined by a preset formula of average change rate, and the above-mentioned maximum change rate of stiffness is determined by a preset formula of maximum change rate.

[0071] Step S40: determining a stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate.

[0072] It should be noted that the above-mentioned allowable value of stiffness error may be the allowable value of error that the stiffness of the vehicle air suspension can withstand during dynamic changes.

[0073] It is understandable that the above-mentioned allowable values ​​of stiffness errors are different for different vehicles, and this embodiment does not impose any limitation on this.

[0074] In a specific implementation, the above-mentioned stiffness error allowable value is determined according to the stiffness average change rate and the stiffness maximum change rate through a preset error allowable formula.

[0075] Step S50: When the average stiffness error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, it is confirmed that the stiffness consistency of the air suspension meets the target requirement.

[0076] In a specific implementation, the above-mentioned average stiffness error of each wheel of the vehicle air suspension is compared with the above-mentioned target stiffness error allowable value. When the above-mentioned average stiffness error of each wheel is not greater than the above-mentioned target stiffness error allowable value, it can be confirmed that the above-mentioned stiffness consistency of the air suspension meets the target requirements.

[0077] This embodiment provides a stiffness consistency detection method, which obtains the continuous historical target stiffness and the continuous historical actual execution stiffness of each wheel of the vehicle air suspension; determines the stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness; determines the stiffness average change rate and the stiffness maximum change rate according to the continuous historical target stiffness; determines the stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate; when the stiffness average error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, it is confirmed that the stiffness consistency of the air suspension meets the target requirements. Therefore, compared with the prior art, the present invention can detect the stiffness consistency of the vehicle air suspension during the dynamic control process of the vehicle air suspension.

[0078] Based on the first embodiment of the present invention, in the second embodiment of the present invention, the same or similar contents as those in the first embodiment can refer to the above introduction, and will not be repeated in the following. Figure 2 , Figure 2 A schematic flow chart of the second embodiment of the stiffness consistency detection method of the present invention.

[0079] In this embodiment, step S20 includes steps S201 to S202:

[0080] Step S201 , obtaining the historical target stiffness in the continuous historical target stiffness and the historical actual execution stiffness in the continuous historical actual execution stiffness.

[0081] It should be noted that the above historical target stiffness may be one of the stiffness values ​​of the above continuous historical target stiffness;

[0082] It should be noted that the above historical actual execution stiffness may be an actual execution stiffness value of the above continuous historical actual execution stiffnesses.

[0083] It is understandable that the above historical target stiffness and the above historical actual execution stiffness of different vehicles are different, and this embodiment does not limit this.

[0084] Step S202 , determining the stiffness average error based on the deviation between the historical target stiffness and the historical actual execution stiffness by using a preset average error formula.

[0085] In a specific implementation, the above average error preset formula is:

[0086]

[0087] In the formula, is the above average stiffness error of the air suspension on the wheel numbered L;

[0088] r(i) l is the above-mentioned historical target stiffness of the air suspension on the wheel numbered L; ract(i) is the above-mentioned historical actual implementation stiffness of the air suspension on the wheel numbered L, i∈[1,n], and n is the total number of continuous historical stiffness data.

[0089] Based on the second embodiment of the present invention, in the third embodiment of the present invention, the same or similar contents as those in the second embodiment can be referred to the above introduction, and will not be described in detail later. Figure 3 , Figure 3 A schematic flow chart of the third embodiment of the stiffness consistency detection method of the present invention.

[0090] In this embodiment, the step S30 includes steps S301 to S304:

[0091] Step S301, obtaining adjacent historical target stiffnesses in the continuous historical target stiffnesses.

[0092] In a specific implementation, the adjacent historical target stiffnesses in the continuous historical target stiffnesses of each wheel of the vehicle air suspension are obtained by a detection device.

[0093] Step S302 , determining the change rate of the historical target stiffness by using a preset change rate formula based on the deviation between adjacent historical target stiffnesses divided by the task execution time period.

[0094] It should be noted that the above task execution time period may be the time period used by the stiffness of the vehicle air suspension during the dynamic change process.

[0095] In a specific implementation, the above change rate preset formula is:

[0096]

[0097] In the formula, kr(i) l is the change rate of the above historical target stiffness of the air suspension on the wheel numbered L; Δt is the execution time period of the above task; r(i) l and r(i-1) l is the adjacent historical target stiffness mentioned above.

[0098] Step S303, determining the target stiffness average change rate based on the sum of the consecutive historical target stiffness change rates by using a preset average change rate formula.

[0099] In a specific implementation, the above average change rate preset formula is:

[0100]

[0101] In the formula, is the average change rate of the above target stiffness of the air suspension on the wheel numbered L, kr(i) l is the i-th historical target stiffness change rate of the air suspension on the wheel numbered L, i∈[1,n], and n is the total number of continuous historical stiffness data.

[0102] Step S304 , determining the target stiffness maximum change rate based on the maximum value between the consecutive historical target stiffness change rates by using a preset maximum change rate formula.

[0103] In a specific implementation, the above maximum change rate preset formula is:

[0104]

[0105] In the formula, krmax l is the maximum change rate of the above target stiffness of the air suspension on the wheel numbered L, kr(i) l is the rate of change of the above-mentioned historical target stiffness of the air suspension on the wheel numbered L.

[0106] Based on the third embodiment of the present invention, in the fourth embodiment of the present invention, the same or similar contents as those in the third embodiment can refer to the above introduction, and will not be repeated in the following. Figure 4 , Figure 4 A schematic flow chart of the fourth embodiment of the stiffness consistency detection method of the present invention.

[0107] In this embodiment, the step S40 includes steps S401 to S402:

[0108] Step S401, determining a stiffness error conversion value based on the target stiffness average change rate and the target stiffness maximum change rate through a preset error conversion formula.

[0109] In a specific implementation, the above error conversion preset formula is:

[0110]

[0111] In the formula, The above stiffness error conversion value of the air suspension on the wheel numbered L is:

[0112] β1 is the average value weight coefficient, β2 is the maximum value weight coefficient, α is the slope error conversion coefficient, The number is the average change rate of the above target stiffness of the air suspension on the wheel, krmax l is the maximum change rate of the target stiffness of the air suspension on the wheel numbered L, where β1, β2 and α are calibrated values.

[0113] Step S402: determining the target stiffness error allowable value based on the stiffness error conversion value by using a preset error allowable formula.

[0114] In a specific implementation, the above error allows the preset formula to be:

[0115]

[0116] In the formula, The above-mentioned allowable value of the stiffness error of the air suspension on the wheel numbered L;

[0117] is the first allowable value of stiffness error; is the second allowable value of stiffness error; is the third allowable value of stiffness error; is the first conversion value of the air suspension stiffness error on the wheel;

[0118] is the second conversion value of the air suspension stiffness error on the wheel, where:

[0119] as well as is the calibration value.

[0120] Based on the fourth embodiment of the present invention, in the fifth embodiment of the present invention, the same or similar contents as those in the fourth embodiment can be referred to the above introduction, and will not be described in detail later. Figure 5 , Figure 5 A schematic flow chart of the fifth embodiment of the stiffness consistency detection method of the present invention.

[0121] In this embodiment, step S50 includes steps S501 to S502:

[0122] Step S501, determining the stiffness control execution performance state based on the stiffness average error of each wheel and the target stiffness error allowable value through a preset stiffness performance formula.

[0123] In a specific implementation, the above stiffness performance preset formula is:

[0124]

[0125] In the formula, flag l The air suspension stiffness control execution performance state on the wheel numbered L is:

[0126] is the average error of the stiffness of the air suspension on the wheel numbered L, The above-mentioned allowable stiffness error of the air suspension on the wheel numbered L.

[0127] Step S502, when the average stiffness error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, the stiffness control execution performance states all meet the preset standards, confirming that the air suspension stiffness consistency meets the target requirements.

[0128] In a specific implementation, when the average stiffness error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, the stiffness control execution performance state all meets the preset standard, that is, flag l When it is 1, it is confirmed that the above air suspension stiffness consistency meets the target requirements.

[0129] In a feasible implementation manner, step S50 may further include step S51':

[0130] Step S51', when the average stiffness error of the wheels of the vehicle air suspension is less than the target stiffness error allowable value, the stiffness control execution performance state does not fully meet the preset standard, and it is confirmed that the air suspension stiffness consistency does not meet the target requirement.

[0131] In a specific implementation, when the average stiffness error of the wheels of the vehicle air suspension is greater than the target stiffness error allowable value, the stiffness control execution performance state does not fully meet the preset standard, that is, flag l When it is 0, it is confirmed that the above air suspension stiffness consistency does not meet the target requirements.

[0132] It should be noted that the above examples are only used to understand the present invention and do not constitute a limitation on the stiffness consistency detection method of the present invention. More simple transformations based on this technical concept are all within the protection scope of the present invention.

[0133] The present invention also provides a stiffness consistency detection device, please refer to Figure 6 , the stiffness consistency detection device comprises:

[0134] The detection module 10 is used to obtain the continuous historical target stiffness and the continuous historical actual execution stiffness of each wheel of the vehicle air suspension;

[0135] A first calculation module 20, configured to determine a stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness;

[0136] A second calculation module 30, for determining an average change rate of stiffness and a maximum change rate of stiffness according to the continuous historical target stiffness;

[0137] A third calculation module 40 is used to determine a stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate;

[0138] The judgment module 50 confirms that the air suspension stiffness consistency meets the target requirement when the stiffness average error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value.

[0139] The stiffness consistency detection device provided by the present invention adopts the stiffness consistency detection method in the above embodiment, which can solve the technical problem of stiffness consistency detection. Compared with the prior art, the beneficial effects of the stiffness consistency detection device provided by the present invention are the same as the beneficial effects of the stiffness consistency detection method provided by the above embodiment, and other technical features in the stiffness consistency detection device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0140] The present invention provides a stiffness consistency detection device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the stiffness consistency detection method in the above-mentioned embodiment one.

[0141] Reference below Figure 7 , which shows a schematic diagram of the structure of a stiffness consistency detection device suitable for implementing the embodiment of the present invention. The stiffness consistency detection device in the embodiment of the present invention may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The stiffness consistency detection device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0142] like Figure 7As shown, the stiffness consistency detection device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the xxx device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the stiffness consistency detection device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a stiffness consistency detection device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0143] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present invention are executed.

[0144] The stiffness consistency detection device provided by the present invention adopts the stiffness consistency detection method in the above embodiment to solve the technical problem of stiffness consistency detection. Compared with the prior art, the beneficial effects of the stiffness consistency detection device provided by the present invention are the same as the beneficial effects of the stiffness consistency detection method provided by the above embodiment, and other technical features in the stiffness consistency detection device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0145] It should be understood that the various parts disclosed in the present invention can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0146] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0147] The present invention provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the stiffness consistency detection method in the above-mentioned embodiment.

[0148] The computer-readable storage medium provided by the present invention may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, 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 thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0149] The computer-readable storage medium may be included in the stiffness consistency detection device; or may exist independently without being assembled into the stiffness consistency detection device.

[0150] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the stiffness consistency detection device, the stiffness consistency detection device: obtains the continuous historical target stiffness and the continuous historical actual execution stiffness of each wheel of the vehicle air suspension; determines the average stiffness error according to the continuous historical target stiffness and the continuous historical actual execution stiffness; determines the average stiffness change rate and the maximum stiffness change rate according to the continuous historical target stiffness; determines the stiffness error allowable value according to the average stiffness change rate and the maximum stiffness change rate; when the stiffness average error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, it is confirmed that the air suspension stiffness consistency meets the target requirements.

[0151] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0152] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0153] The modules involved in the embodiments of the present invention may be implemented by software or hardware, wherein the name of the module does not limit the unit itself in some cases.

[0154] The readable storage medium provided by the present invention is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned stiffness consistency detection method, and can solve the technical problem of stiffness consistency detection. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present invention are the same as the beneficial effects of the stiffness consistency detection method provided by the above-mentioned embodiment, and will not be repeated here.

[0155] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the stiffness consistency detection method as described above are implemented.

[0156] The computer program product provided by the present invention can solve the technical problem of stiffness consistency detection. Compared with the prior art, the beneficial effects of the computer program product provided by the present invention are the same as the beneficial effects of the stiffness consistency detection method provided by the above embodiment, which will not be described in detail here.

[0157] The above descriptions are only some embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A stiffness consistency detection method, characterized in that: The stiffness consistency detection method comprises: Obtaining the continuous history target stiffness and the continuous history actual implementation stiffness of each wheel of the vehicle air suspension; Determining a stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness; Determining an average stiffness change rate and a maximum stiffness change rate according to the continuous historical target stiffness; Determining a stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate; When the average stiffness error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, it is confirmed that the stiffness consistency of the air suspension meets the target requirement.

2. The stiffness consistency detection method according to claim 1, characterized in that: The step of determining the stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness comprises: Acquire the historical target stiffness in the continuous historical target stiffness and the historical actual execution stiffness in the continuous historical actual execution stiffness; The stiffness average error is determined based on the deviation between the historical target stiffness and the historical actual execution stiffness through a preset average error formula.

3. The stiffness consistency detection method according to claim 2, characterized in that: The step of determining the average change rate of stiffness and the maximum change rate of stiffness according to the continuous historical target stiffness comprises: Acquire the adjacent historical target stiffnesses in the continuous historical target stiffnesses; Determine the change rate of the historical target stiffness by using a preset change rate formula based on the deviation between adjacent historical target stiffnesses and dividing by the task execution time period; Determine the target stiffness average change rate based on the sum of the consecutive historical target stiffness change rates by using a preset average change rate formula; The target stiffness maximum change rate is determined based on the maximum value between the consecutive historical target stiffness change rates using a maximum change rate preset formula.

4. The method for detecting stiffness consistency according to claim 3, characterized in that: The step of determining the stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate comprises: Determine a stiffness error conversion value based on the target stiffness average change rate and the target stiffness maximum change rate through a preset error conversion formula; The target stiffness error allowable value is determined based on the stiffness error conversion value by using a preset error allowable formula.

5. The stiffness consistency detection method according to claim 4, characterized in that: The step of confirming that the air suspension stiffness consistency meets the target requirement when the stiffness average error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value comprises: Determining the stiffness control execution performance state based on the stiffness average error of each wheel and the target stiffness error allowable value by using a preset stiffness performance formula; When the average stiffness error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, the stiffness control execution performance states all meet the preset standards, confirming that the stiffness consistency of the air suspension meets the target requirements.

6. The stiffness consistency detection method according to claim 5, characterized in that: Before the step of confirming that the consistency of the stiffness of the air suspension meets the target requirement when the stiffness average error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value, the method includes: When the average stiffness error of the wheels of the vehicle air suspension is greater than the target stiffness error allowable value, the stiffness control execution performance state does not fully meet the preset standard, and it is confirmed that the stiffness consistency of the air suspension does not meet the target requirement.

7. A stiffness consistency detection device, characterized in that: The device comprises: A detection module, used for obtaining a continuous historical target stiffness and a continuous historical actual execution stiffness of each wheel of the vehicle air suspension; A first calculation module, configured to determine a stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness; A second calculation module, used for determining an average change rate of stiffness and a maximum change rate of stiffness according to the continuous historical target stiffness; A third calculation module, used for determining a stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate; The judgment module confirms that the air suspension stiffness consistency meets the target requirement when the stiffness average error of each wheel of the vehicle air suspension is not greater than the target stiffness error allowable value.

8. A stiffness consistency detection device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the stiffness consistency detection method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the stiffness consistency detection method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the stiffness consistency detection method according to any one of claims 1 to 6 are implemented.

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