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

Abstract

The application discloses a rigidity consistency detection method, device, equipment, storage medium and 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 rigidity average error according to the continuous historical target rigidity and the continuous historical actual execution rigidity; determining a rigidity average change rate and a rigidity maximum change rate according to the continuous historical target rigidity; determining a rigidity error allowable value according to the rigidity average change rate and the rigidity maximum change rate; and when the rigidity average error of each wheel of the vehicle air suspension is not greater than the target rigidity error allowable value, confirming that air suspension rigidity consistency meets target requirements. Compared with the prior art, the application detects the rigidity consistency of the vehicle air suspension in the dynamic control process of the vehicle air suspension.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stiffness detection, in particular to a stiffness consistency detection method, device, equipment, storage medium and product. BACKGROUND

[0002] Traditional vehicle air suspension stiffness consistency detection usually uses static stiffness detection method, including horizontal static stiffness and vertical static stiffness determination. The horizontal static stiffness test is to install the air spring on the test machine, and then move to the maximum position and return to the neutral position, and measure the load after stopping for 30 seconds every 10mm displacement, and repeat 5 times to calculate the static stiffness. The vertical static stiffness test is to measure the load and displacement relationship when compressed or stretched 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 in the dynamic control process of the vehicle air suspension, and further leads to inaccurate consistency diagnosis of the target stiffness and the actual stiffness.

[0004] The above content is only used to assist in understanding the technical solutions of the present application, and does not represent the acknowledgement of the above content as prior art. SUMMARY

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

[0006] To achieve the above purpose, the present application provides a stiffness consistency detection method, which comprises:

[0007] Obtain the continuous historical target stiffness and the continuous historical actual execution stiffness of each wheel of the vehicle air suspension;

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

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

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

[0011] 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 requirement.

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

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

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

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

[0016] acquiring adjacent historical target stiffnesses in the continuous historical target stiffness;

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

[0018] determining the target stiffness average change rate based on a sum of the continuous historical target stiffness change rates through an average change rate preset formula;

[0019] determining the target stiffness maximum change rate based on a maximum value between the continuous historical target stiffness change rates through a maximum change rate preset formula.

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

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

[0022] determining the target stiffness error allowable value based on the stiffness error conversion value through an error allowable preset formula.

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

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

[0025] When the average error of the stiffness of each wheel of the air suspension of the vehicle is not greater than the target stiffness error allowable value, the stiffness control execution performance state satisfies the preset standard, and it is determined that the air suspension stiffness consistency meets the target requirement.

[0026] In an embodiment, before the step of determining that the air suspension stiffness consistency meets the target requirement when the average error of the stiffness of each wheel of the air suspension of the vehicle is not greater than the target stiffness error allowable value, the method further comprises:

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

[0028] In addition, to achieve the above object, the present application further provides a stiffness consistency detection device, which comprises:

[0029] The detection module is configured to acquire continuous historical target stiffness and continuous historical actual execution stiffness of each wheel of the air suspension of the vehicle.

[0030] The first calculation module is configured to determine a stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness.

[0031] The second calculation module is configured to determine a stiffness average change rate and a stiffness maximum change rate according to the continuous historical target stiffness.

[0032] The third calculation module is configured to determine a stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate.

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

[0034] In addition, to achieve the above object, the present application further provides a stiffness consistency detection device, which comprises 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 as described above.

[0035] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the stiffness consistency detection method as described above.

[0036] In addition, to achieve the above object, the present application also provides a computer program product, which comprises a computer program, and the computer program realizes the steps of the rigidity consistency detection method when executed by a processor.

[0037] The one or more technical solutions provided by the present application have at least the following technical effects:

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

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

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced here. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0041] Figure 1 A flowchart is provided for the first embodiment of the rigidity consistency detection method of the present application;

[0042] Figure 2 A flowchart is provided for the second embodiment of the rigidity consistency detection method of the present application;

[0043] Figure 3 A flowchart is provided for the third embodiment of the rigidity consistency detection method of the present application;

[0044] Figure 4 A flowchart is provided for the fourth embodiment of the rigidity consistency detection method of the present application;

[0045] Figure 5The flowchart provided by the fifth embodiment of the rigidity consistency detection method of the present application is shown in the figure.

[0046] Figure 6 The module structure diagram of the rigidity consistency detection device of the embodiment of the present application is shown in the figure.

[0047] Figure 7 The device structure diagram of the hardware running environment involved in the rigidity consistency detection method of the embodiment of the present application is shown in the figure.

[0048] The object realization, functional features and advantages of the present application will be further explained in combination with the embodiments and with reference to the drawings. DETAILED DESCRIPTION

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

[0050] In order to better understand the technical solutions of the present application, the specific embodiments will be described in detail below in combination with the drawings of the specification.

[0051] The main solution of the embodiment of the present application is: obtaining continuous historical target rigidity and continuous historical actual execution rigidity of each wheel of the vehicle air suspension; determining a rigidity average error according to the continuous historical target rigidity and the continuous historical actual execution rigidity; determining a rigidity average change rate and a rigidity maximum change rate according to the continuous historical target rigidity; determining a rigidity error allowable value according to the rigidity average change rate and the rigidity maximum change rate; when the rigidity average error of each wheel of the vehicle air suspension is not greater than the target rigidity error allowable value, confirming that the air suspension rigidity consistency meets the target requirements.

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

[0053] The prior art cannot solve the problem that the target rigidity changes rapidly in the dynamic control process of the vehicle air suspension, thereby leading to inaccurate consistency diagnosis of the target rigidity and the actual rigidity.

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

[0055] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions. The following description uses a controller as an example to illustrate this embodiment and the subsequent embodiments.

[0056] Based on this, embodiments of the present invention provide a stiffness consistency detection method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating 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: Obtain the continuous historical target stiffness and continuous historical actual execution stiffness of each wheel of the vehicle's air suspension.

[0059] It should be noted that the aforementioned continuous historical target stiffness can be the target expected stiffness set artificially;

[0060] It should be noted that the above-mentioned continuous historical actual performance stiffness can be the actual performance stiffness of the wheel.

[0061] It is understood that the aforementioned continuous historical target stiffness and the aforementioned continuous historical actual execution stiffness are different for different vehicles, and this embodiment does not impose any restrictions on this.

[0062] In practice, the aforementioned continuous historical target stiffness and the aforementioned continuous historical actual execution stiffness of each wheel of the vehicle's air suspension are obtained through a detection device.

[0063] Step S20: Determine the average stiffness error based on the continuous historical target stiffness and the continuous historical actual execution stiffness.

[0064] It is understood that the average stiffness error of the above-mentioned vehicles will be different for different vehicles, and this embodiment does not impose any restrictions on this.

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

[0066] Step S30: Determine the average rate of change of stiffness and the maximum rate of change of stiffness based on the continuous historical target stiffness.

[0067] It should be noted that the above average rate of change of stiffness can be the average rate of change of the stiffness of the vehicle's air suspension during the dynamic process.

[0068] It should be noted that the maximum change rate of the rigidity can be a maximum change rate of the rigidity of the air suspension of the vehicle in a dynamic change process.

[0069] It can be understood that the average change rate of the rigidity and the maximum change rate of the rigidity are different for different vehicles, and the embodiment does not limit this.

[0070] In a specific implementation, the average change rate of the rigidity is determined by an average change rate preset formula according to the continuous historical target rigidity, and the maximum change rate of the rigidity is determined by a maximum change rate preset formula.

[0071] In a specific implementation, the average change rate of the rigidity is determined by an average change rate preset formula according to the continuous historical target rigidity, and the maximum change rate of the rigidity is determined by a maximum change rate preset formula.

[0072] It should be noted that the maximum change rate of the rigidity can be a maximum change rate of the rigidity of the air suspension of the vehicle in a dynamic change process.

[0073] It can be understood that the average change rate of the rigidity and the maximum change rate of the rigidity are different for different vehicles, and the embodiment does not limit this.

[0074] It can be understood that the average change rate of the rigidity and the maximum change rate of the rigidity are different for different vehicles, and the embodiment does not limit this.

[0075] In a specific implementation, the average change rate of the rigidity is determined by an average change rate preset formula according to the continuous historical target rigidity, and the maximum change rate of the rigidity is determined by a maximum change rate preset formula.

[0076] In a specific implementation, the average change rate of the rigidity is determined by an average change rate preset formula according to the continuous historical target rigidity, and the maximum change rate of the rigidity is determined by a maximum change rate preset formula.

[0077] The embodiment provides 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 rigidity average error according to the continuous historical target rigidity and the continuous historical actual execution rigidity; determining a rigidity average change rate and a rigidity maximum change rate according to the continuous historical target rigidity; determining a rigidity error allowable value according to the rigidity average change rate and the rigidity maximum change rate; and confirming that rigidity consistency of the air suspension meets a target requirement when the rigidity average error of each wheel of the vehicle air suspension is not greater than the target rigidity error allowable value. Therefore, compared with the prior art, the rigidity consistency of the vehicle air suspension can be detected in a dynamic control process of the vehicle air suspension.

[0078] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as the above first embodiment can be referred to the above description, and the subsequent will not be described in detail. On this basis, please refer to Figure 2 , Figure 2 The flowchart provided by the second embodiment of the present invention is shown in the figure.

[0079] In this embodiment, the step S20 includes steps S201-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 historical target stiffness can be one of the above continuous historical target stiffness;

[0082] It should be noted that the historical actual execution stiffness can be one of the above continuous historical actual execution stiffness.

[0083] It can be understood that the historical target stiffness and the historical actual execution stiffness of different vehicles are not the same, 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 the average error preset formula.

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

[0086]

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

[0088] r(i) l The i-th historical target stiffness of the air suspension on the Lth wheel is L; the i-th historical actual execution stiffness of the air suspension on the Lth wheel is L, i∈[1, n], n is the total number of continuous historical stiffness data.

[0089] Based on the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as the above second embodiment can be referred to the above description, and the subsequent will not be described in detail. On this basis, please refer to Figure 3 , Figure 3 The flowchart provided by the third embodiment of the present invention is shown in the figure.

[0090] In the embodiment, the step S30 comprises steps S301-S304.

[0091] In step S301, the adjacent historical target stiffness in the continuous historical target stiffness is obtained.

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

[0093] In step S302, the historical target stiffness change rate is determined by dividing the deviation between the adjacent historical target stiffness by the task execution time period based on a change rate preset formula.

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

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

[0096]

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

[0098] In step S303, the target stiffness average change rate is determined based on the sum of the continuous historical target stiffness change rates by an average change rate preset formula.

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

[0100]

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

[0102] In step S304, the target stiffness maximum change rate is determined based on the maximum value between the continuous historical target stiffness change rates by a maximum change rate preset formula.

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

[0104]

[0105] krmax l krmax l krmax

[0106] Based on the third embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as the above third embodiment can be referred to the above description, and the subsequent will not be described in detail. On this basis, please refer to Figure 4 Figure 4 The flowchart of the fourth embodiment of the stiffness consistency detection method of the present application is provided.

[0107] In the present embodiment, the step S40 includes steps S401-S402:

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

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

[0110]

[0111] krmax krmax

[0112] β1 is the average weight coefficient, β2 is the maximum weight coefficient, and α is the slope error conversion coefficient, krmax l krmax, wherein β1, β2 and α are calibration values.

[0113] Step S402, determining the target stiffness error allowable value based on the stiffness error conversion value through the error allowable preset formula.

[0114] In specific implementation, the error allowable preset formula is:

[0115]

[0116] krmax krmax

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

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

[0119] and is a calibration value.

[0120] Based on the fourth embodiment of the present application, in the fifth embodiment of the present application, the same or similar contents as the above fourth embodiment can be referred to the above description, and the subsequent will not be repeated. On this basis, please refer to Figure 5 , Figure 5 is a flowchart provided by the fifth embodiment of the present application.

[0121] In the present embodiment, the step S50 comprises steps S501-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 by the stiffness performance preset formula.

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

[0124]

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

[0126] is the above stiffness average error of the air suspension of the numbered wheel L, is the above stiffness error allowable value of the air suspension of the numbered wheel L.

[0127] Step S502, when the stiffness average 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, and it is confirmed that the air suspension stiffness consistency meets the target requirement.

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

[0129] In a feasible implementation, after step S50, step S51' can be further included:

[0130] In step S51', when the average error of the stiffness of the vehicle air suspension for the wheels is less than the target stiffness error allowance, the stiffness control performance state does not fully meet the preset standard, and it is determined that the air suspension stiffness consistency does not meet the target requirement.

[0131] In a specific implementation, when the average error of the stiffness of the vehicle air suspension for the wheels is greater than the target stiffness error allowance, the stiffness control performance state does not fully meet the preset standard, that is, the flag l is 0, it is determined that the air suspension stiffness consistency does not meet the target requirement.

[0132] It should be noted that the above examples are only used for understanding the present application and do not constitute a limitation on the stiffness consistency detection method of the present application. More forms of simple transformation based on this technical concept are within the protection scope of the present application.

[0133] The present application 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 for acquiring the continuous historical target stiffness and the continuous historical actual execution stiffness of each wheel of the vehicle air suspension;

[0135] The first calculation module 20 is used for determining the stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness;

[0136] The second calculation module 30 is used for determining the stiffness average change rate and the stiffness maximum change rate according to the continuous historical target stiffness;

[0137] The third calculation module 40 is used for determining the stiffness error allowance according to the stiffness average change rate and the stiffness maximum change rate;

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

[0139] The stiffness consistency detection device provided by the present application adopts the stiffness consistency detection method in the above embodiments, and 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 application are the same as those of the stiffness consistency detection method provided by the above embodiments, and other technical features in the stiffness consistency detection device are the same as those disclosed in the above embodiments, and will not be repeated here.

[0140] The present application provides a rigidity consistency detection device, the rigidity consistency detection device comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the rigidity consistency detection method in the first embodiment.

[0141] Reference will now be made to the drawings, in which Figure 7 which shows a structural diagram of a rigidity consistency detection device suitable for use to implement embodiments of the present application. The rigidity consistency detection device in embodiments of the present application can include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), car terminals (e.g., car navigation terminals), and the like, as well as fixed terminals such as digital TVs, desktop computers, and the like. Figure 7 The rigidity consistency detection device shown is merely an example and should not impose any limitations on the functions and use range of embodiments of the present application.

[0142] As Figure 7As shown, the rigidity consistency detection device can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. In the RAM 1004, various programs and data required for operation of the xxx device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 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: input devices 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; the 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 rigidity consistency detection device to communicate with other devices wirelessly or by wire to exchange data. Although the rigidity consistency detection device with various systems is shown in the figure, it should be understood that all the shown systems are not required to be implemented or possessed. More or less systems can be alternatively implemented or possessed.

[0143] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by 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 methods of embodiments of the present disclosure are performed.

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

[0145] It should be understood that various aspects disclosed herein can be implemented in hardware, software, firmware, or combinations thereof, and various aspects or implementations can be implemented in any one or combination of the embodiments described above. For purposes of explanation and ease of understanding, specific details of the various embodiments are set forth in the description below. However, it will be apparent to those of ordinary skill in the art that the various embodiments can be practiced in different configurations, and that the residual details (including the structural and methodological aspects) of the various embodiments can be modified in alternative embodiments.

[0146] The above description is merely illustrative of the application and is not intended to limit the scope of the application. The scope of the application is defined by the appended claims, and any modifications that come within the meaning and range of equivalents are intended to be embraced therein. Therefore, it is manifestly intended that the application be limited only by the claims.

[0147] The present application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e., a computer program) for performing the rigidity consistency detection method in the above-described embodiments.

[0148] The computer readable storage medium provided by the present application may, for example, be a U disk, but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more conductive wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted in any suitable medium, including but not limited to electrical wire, optical cable, RF (Radio Frequency), etc., or any suitable combination of the above.

[0149] The above computer readable storage medium can be included in the rigidity consistency detection device; or can exist separately and not be assembled into the rigidity consistency detection device.

[0150] The computer readable storage medium described above carries one or more programs, when the one or more programs are executed by the stiffness consistency detection device, the stiffness consistency detection device is caused to: acquire continuous historical target stiffness and continuous historical actual execution stiffness of each wheel of the vehicle air suspension; determine a stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness; determine a stiffness average change rate and a stiffness maximum change rate according to the continuous historical target stiffness; determine a stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate; and confirm that air suspension stiffness consistency meets a 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.

[0151] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can 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 the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0152] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0153] The modules described in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the names of the modules do not constitute a limitation on the modules themselves.

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

[0155] The present application also provides a computer program product comprising a computer program, which, when executed by a processor, implements the steps of the stiffness consistency detection method as described above.

[0156] The computer program product provided by the present application can solve the technical problem of stiffness consistency detection. Compared with the prior art, the computer program product provided by the present application has the same beneficial effects as the stiffness consistency detection method provided by the above embodiments, and will not be repeated here.

[0157] The above only describes some embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields based on the technical concept of the present application, and the contents of the present application specification and drawings are included in the patent protection scope of the present application.

Claims

1. A rigidity uniformity detection method characterized by comprising: The rigidity consistency detection method comprises: Obtaining continuous historical target rigidity and continuous historical actual execution rigidity of each wheel of the vehicle air suspension; Determining rigidity average error according to the continuous historical target rigidity and the continuous historical actual execution rigidity; Determining rigidity average change rate and rigidity maximum change rate according to the continuous historical target rigidity; Determining rigidity error allowable value according to the rigidity average change rate and the rigidity maximum change rate; Confirming that air suspension rigidity consistency meets target requirements when rigidity average error of each wheel of the vehicle air suspension is not greater than the rigidity error allowable value; The step of determining the rigidity error allowable value according to the rigidity average change rate and the rigidity maximum change rate comprises: Determining rigidity error conversion value based on the rigidity average change rate and the rigidity maximum change rate through error conversion preset formula; Determining rigidity error allowable value based on the rigidity error conversion value through error allowable preset formula; The error conversion preset formula is: ； wherein is the stiffness error conversion value for the air suspension on the i-th wheel, β1 is an average weight coefficient, β2 is a maximum weight coefficient, and α is a slope error conversion coefficient, is the stiffness average change rate for the air suspension on the i-th wheel, krmax l is the stiffness maximum change rate for the air suspension on the i-th wheel, and β1, β2, and α are calibration values. The error allowable preset formula is: ； wherein is the stiffness error allowable value for the air suspension on the wheel number i; is the first allowable value for the stiffness error; is the second allowable value for the stiffness error; is the third allowable value for the stiffness error; is the first conversion value for the stiffness error of the air suspension on the wheel; is the second conversion value for the stiffness error of the air suspension, , is the nominal value.

2. The rigidity uniformity detection method according to claim 1, wherein The step of determining rigidity average error according to the continuous historical target rigidity and the continuous historical actual execution rigidity comprises: Obtaining historical target rigidity in the continuous historical target rigidity and historical actual execution rigidity in the continuous historical actual execution rigidity; Determining the rigidity average error based on the deviation between the historical target rigidity and the historical actual execution rigidity through average error preset formula.

3. The rigidity uniformity detection method according to claim 2, wherein The step of determining rigidity average change rate and rigidity maximum change rate according to the continuous historical target rigidity comprises: Obtaining adjacent historical target rigidity in the continuous historical target rigidity; Determining historical target rigidity change rate based on the deviation between adjacent historical target rigidity and dividing by task execution time period through change rate preset formula; Determining rigidity average change rate based on the sum of continuous historical target rigidity change rate through average change rate preset formula; Determining rigidity maximum change rate based on the maximum value between continuous historical target rigidity change rate through maximum change rate preset formula.

4. The rigidity uniformity detection method according to claim 1, wherein The step of confirming that air suspension rigidity consistency meets target requirements when rigidity average error of each wheel of the vehicle air suspension is not greater than the rigidity error allowable value comprises: Determining rigidity control execution performance state based on rigidity average error of each wheel and the rigidity error allowable value through rigidity performance preset formula; When rigidity average error of each wheel of the vehicle air suspension is not greater than the rigidity error allowable value, all rigidity control execution performance states meet preset standards, confirming that air suspension rigidity consistency meets target requirements.

5. The rigidity uniformity detection method according to claim 4, wherein The step of confirming that air suspension rigidity consistency meets target requirements when rigidity average error of each wheel of the vehicle air suspension is not greater than the rigidity error allowable value is preceded by: When rigidity average error of each wheel of the vehicle air suspension is greater than the rigidity error allowable value, the rigidity control execution performance state does not meet preset standards, confirming that the air suspension rigidity consistency does not meet target requirements.

6. A rigidity uniformity detection device characterized by comprising: The device comprises: The detection module is configured to acquire continuous historical target stiffness and continuous historical actual execution stiffness of each wheel of the vehicle air suspension; The first calculation module is configured to determine a stiffness average error according to the continuous historical target stiffness and the continuous historical actual execution stiffness; The second calculation module is configured to determine a stiffness average change rate and a stiffness maximum change rate according to the continuous historical target stiffness; The third calculation module is configured to determine a stiffness error allowable value according to the stiffness average change rate and the stiffness maximum change rate; The judgment module is configured to confirm that air suspension stiffness consistency meets target requirements when the stiffness average error of each wheel of the vehicle air suspension is not greater than the stiffness error allowable value; The third calculation module is further configured to determine a stiffness error conversion value based on the stiffness average change rate and the stiffness maximum change rate through an error conversion preset formula, and determine the stiffness error allowable value based on the stiffness error conversion value through an error allowable preset formula; The error conversion preset formula is: ； wherein is the stiffness error conversion value for the air suspension on the i-th wheel, β1 is an average weight coefficient, β2 is a maximum weight coefficient, and α is a slope error conversion coefficient, is the stiffness average change rate for the air suspension on the i-th wheel, krmax l is the stiffness maximum change rate for the air suspension on the i-th wheel, β1, β2, and α are calibration values; The error allowable preset formula is: ； wherein is the stiffness error allowable value for the air suspension on the wheel number i; is the first allowable value for the stiffness error; is the second allowable value for the stiffness error; is the third allowable value for the stiffness error; is the first conversion value for the stiffness error of the air suspension on the wheel; is the second conversion value for the stiffness error of the air suspension, , is the nominal value.

7. A rigidity uniformity inspection apparatus characterized by comprising: The device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the stiffness consistency detection method according to any one of claims 1 to 5.

8. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the stiffness consistency detection method according to any one of claims 1 to 5.

9. A computer program product, characterised in that, The computer program product comprises a computer program, and the computer program is executed by the processor to implement the steps of the stiffness consistency detection method according to any one of claims 1 to 5.

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