Control device and method for identifying double-front-axle tire gnawing

Abstract

The invention discloses a control device and method for recognizing double-front-axle tire gnawing, and relates to the technical field of vehicle tire gnawing detection and control. A first-axle rotation angle and a second-axle rotation angle are obtained through a controller, and whether a tire gnawing phenomenon exists in a vehicle or not is judged according to the first-axle rotation angle and the second-axle rotation angle; when a tire gnawing phenomenon exists in the vehicle, a tire gnawing signal is sent to the ADAS controller; a whole vehicle steering angle is obtained through an ADAS controller according to the tire gnawing signal, a vehicle axle with the tire gnawing phenomenon is judged according to the whole vehicle steering angle, a first axle steering angle and a second axle steering angle, a correction angle value is calculated, and the correction angle value is sent to the controller; angle correction control is conducted on the automobile axle with the tire gnawing phenomenon through the controller according to the correction angle value, and tire gnawing control over the automobile axle with the tire gnawing phenomenon is achieved. The tire gnawing phenomenon of the vehicle can be recognized and controlled, so that the vehicle using cost is reduced, and the operation stability and comfort of the vehicle are guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle tire chewing detection and control, and in particular to a control device and method for identifying double front axle tire chewing. Background Art

[0002] At present, the steering systems of commercial vehicles with dual front axles usually adopt hydraulic power steering, and there is a common problem of steering tire chewing. As for the problem of tire chewing, this problem will only occur when the driver is using the vehicle, after using it for a period of time, or after replacing a certain component. In addition, the tire chewing phenomenon is a comprehensive problem, involving various steering components and vehicle status, which will lead to high vehicle cost, low vehicle comfort, poor vehicle handling stability and other problems. Therefore, the identification and control of the tire chewing phenomenon is very important. However, there is currently no relevant method for identifying and controlling the tire chewing status. Therefore, it is necessary to provide a control device and method for identifying dual front axle tire chewing, so as to identify and control the vehicle tire chewing phenomenon, thereby reducing the cost of using the vehicle and ensuring the vehicle's handling stability and comfort. Summary of the invention

[0003] The purpose of this application is to provide a control device and method for identifying tire chewing on dual front axles, which can identify and control the tire chewing phenomenon of the vehicle, thereby reducing the cost of using the vehicle and ensuring the handling stability and comfort of the vehicle.

[0004] To achieve the above objectives, this application provides the following solutions:

[0005] In a first aspect, the present application provides a control device for identifying double front axle tire chewing, the control device for identifying double front axle tire chewing comprises a pure electric power steering system and an ADAS system, the pure electric power steering system comprises a vehicle axle and a controller, the vehicle axle comprises a first axle and a second axle, the controller is respectively connected to the first axle and the second axle, the ADAS system comprises an ADAS controller, and the ADAS controller is connected to the controller.

[0006] The controller is used to obtain the turning angle of the first bridge and the turning angle of the second bridge, and judge whether the vehicle has tire biting based on the turning angle of the first bridge and the turning angle of the second bridge, and send a tire biting signal to the ADAS controller when the vehicle has tire biting; wherein the turning angle of the first bridge and the turning angle of the second bridge refer to the steering angle of the first bridge and the steering angle of the second bridge respectively.

[0007] The ADAS controller is used to obtain the steering angle of the whole vehicle according to the tire biting signal, and according to the steering angle of the whole vehicle, the first bridge steering angle and the second bridge steering angle, determine the vehicle axle with tire biting phenomenon and calculate the correction angle value, and send the correction angle value to the controller; wherein, the vehicle axle with tire biting phenomenon includes the first bridge and / or the second bridge.

[0008] The controller is also used to perform angle correction control on the vehicle axle with tire chewing phenomenon according to the correction angle value, so as to achieve tire chewing control on the vehicle axle with tire chewing phenomenon.

[0009] Optionally, the controller includes a turning angle acquisition and control module, a turning angle difference calculation module and a vehicle tire biting judgment module.

[0010] The input end of the turning angle acquisition and control module is connected to the first bridge and the second bridge respectively, the output end of the turning angle acquisition and control module is connected to the input end of the turning angle difference calculation module, the output end of the turning angle difference calculation module is connected to the input end of the vehicle tire biting judgment module, and the output end of the vehicle tire biting judgment module is connected to the ADAS controller.

[0011] The turning angle acquisition and control module is used to acquire the turning angle of the first bridge and the turning angle of the second bridge, and to perform angle correction control on the axle of the vehicle with tire chewing according to the correction angle value.

[0012] The turning angle difference calculation module is used to calculate the turning angle difference between the first bridge turning angle and the second bridge turning angle according to the first bridge turning angle and the second bridge turning angle; the turning angle difference is the absolute value of the difference between the first bridge turning angle and the second bridge turning angle.

[0013] The vehicle tire chewing judgment module is used to judge whether the vehicle has tire chewing according to the steering angle difference and the steering angle difference design value, and specifically includes:

[0014] When the turning angle difference is less than or equal to the turning angle difference design value, it is determined that there is no tire chewing phenomenon on the vehicle;

[0015] When the steering angle difference is greater than the steering angle difference design value, it is determined that the vehicle has tire chewing, and the tire chewing signal is sent to the ADAS controller.

[0016] Optionally, the ADAS controller includes a vehicle steering angle acquisition module, a tire-biting axle judgment module and a correction angle value calculation module.

[0017] The input end of the whole vehicle steering angle acquisition module is connected to the output end of the vehicle tire biting judgment module, the output end of the whole vehicle steering angle acquisition module is connected to the input end of the tire biting axle judgment module, the output end of the tire biting axle judgment module is connected to the input end of the correction angle value calculation module, and the output end of the correction angle value calculation module is connected to the input end of the turning angle acquisition and control module;

[0018] The vehicle steering angle acquisition module is used to receive the tire biting signal and acquire the vehicle steering angle.

[0019] The tire-eating axle judgment module is used to judge the vehicle axle with tire-eating phenomenon according to the steering angle of the whole vehicle, the first axle turning angle, the second axle turning angle and the steering angle difference setting value, and specifically includes:

[0020] When the steering angle difference between the first bridge turning angle and the whole vehicle steering angle is greater than the steering angle difference setting value, it is determined that the first bridge has a tire chewing phenomenon, otherwise it is determined that the first bridge does not have a tire chewing phenomenon;

[0021] When the steering angle difference between the second bridge turning angle and the whole vehicle steering angle is greater than the steering angle difference setting value, it is determined that the second bridge has a tire chewing phenomenon, otherwise it is determined that the second bridge does not have a tire chewing phenomenon;

[0022] When the steering angle differences between the first bridge turning angle and the second bridge turning angle and the steering angle of the whole vehicle are both greater than the steering angle difference setting value, it is determined that both the first bridge and the second bridge have tire chewing phenomenon;

[0023] The correction angle value calculation module is used to calculate the correction angle value according to the steering angle of the whole vehicle and the turning angle of the vehicle axle with tire eating phenomenon, and send the correction angle value to the turning angle acquisition and control module; wherein, the turning angle of the vehicle axle with tire eating phenomenon refers to the turning angle of the first bridge and / or the turning angle of the second bridge.

[0024] Optionally, the controller is also used to obtain the vehicle speed, and only starts to obtain the first bridge angle and the second bridge angle when the vehicle speed reaches a set speed value, and determines whether the vehicle has tire chewing based on the first bridge angle and the second bridge angle.

[0025] Optionally, the vehicle speed setting value is 5km / h.

[0026] Optionally, the design value of the rotation angle difference is 10°.

[0027] Optionally, the steering angle difference setting value is 10°.

[0028] In a second aspect, the present application proposes a control method for identifying double front axle tire chewing, the control method for identifying double front axle tire chewing comprising the following steps:

[0029] Get the first bridge angle and the second bridge angle.

[0030] According to the first bridge turning angle and the second bridge turning angle, it is determined whether the vehicle has tire chewing phenomenon, and a tire chewing signal is generated when the vehicle has tire chewing phenomenon; wherein, the first bridge turning angle and the second bridge turning angle refer to the steering angle of the first bridge and the steering angle of the second bridge respectively.

[0031] The steering angle of the vehicle is obtained according to the tire biting signal.

[0032] According to the vehicle steering angle, the first bridge turning angle and the second bridge turning angle, the vehicle axle with tire chewing phenomenon is determined, and the correction angle value is calculated; wherein the vehicle axle with tire chewing phenomenon includes the first bridge and / or the second bridge.

[0033] According to the correction angle value, angle correction control is performed on the vehicle axle with tire eating phenomenon, so as to achieve tire eating control on the vehicle axle with tire eating phenomenon.

[0034] Optionally, judging whether the vehicle has tire chewing phenomenon according to the first bridge turning angle and the second bridge turning angle specifically includes:

[0035] According to the first bridge angle and the second bridge angle, a rotation angle difference between the first bridge angle and the second bridge angle is calculated; the rotation angle difference is an absolute value of a difference between the first bridge angle and the second bridge angle.

[0036] Judging whether the vehicle has tire chewing phenomenon according to the turning angle difference and the turning angle difference design value specifically includes:

[0037] When the turning angle difference is less than or equal to the turning angle difference design value, it is determined that there is no tire chewing phenomenon on the vehicle.

[0038] When the turning angle difference is greater than the turning angle difference design value, it is determined that the vehicle has tire chewing.

[0039] Optionally, judging the axle of the vehicle with the tire biting phenomenon according to the whole vehicle steering angle, the first bridge turning angle and the second bridge turning angle, and calculating the correction angle value specifically includes:

[0040] According to the vehicle steering angle, the first bridge steering angle, the second bridge steering angle, and the steering angle difference setting value, determining the vehicle axle with tire chewing phenomenon specifically includes:

[0041] When the steering angle difference between the first bridge turning angle and the whole vehicle steering angle is greater than the steering angle difference setting value, it is determined that the first bridge has tire chewing phenomenon, otherwise it is determined that the first bridge does not have tire chewing phenomenon.

[0042] When the steering angle difference between the second bridge turning angle and the whole vehicle steering angle is greater than the steering angle difference setting value, it is determined that the second bridge has tire chewing phenomenon, otherwise it is determined that the second bridge has no tire chewing phenomenon.

[0043] When the steering angle differences between the first bridge turning angle and the second bridge turning angle and the whole vehicle steering angle are both greater than the steering angle difference setting value, it is determined that both the first bridge and the second bridge have tire chewing phenomenon.

[0044] The correction angle value is calculated according to the steering angle of the whole vehicle and the turning angle of the vehicle axle with tire chewing phenomenon; wherein the turning angle of the vehicle axle with tire chewing phenomenon refers to the turning angle of the first axle and / or the turning angle of the second axle.

[0045] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0046] The present application provides a control device and method for identifying tire chewing on dual front axles. First, a controller is used to determine whether a vehicle has tire chewing according to the first bridge turning angle and the second bridge turning angle. Then, an ADAS controller is used to determine which vehicle axle has tire chewing or both vehicle axles have tire chewing according to the steering angle of the entire vehicle, the first bridge turning angle and the second bridge turning angle, that is, the vehicle axle with tire chewing is determined, and a corresponding correction angle value is calculated. Then, the controller is used to perform angle correction control on the vehicle axle with tire chewing according to the correction angle value, and the steering angle is corrected immediately and timely, thereby effectively realizing the detection, identification and control of the vehicle tire chewing phenomenon, thereby reducing the cost of using the vehicle and ensuring the handling stability and comfort of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 A schematic diagram of the structure of a control device for identifying double front axle tire chewing provided in one embodiment of the present application.

[0049] Figure 2 A schematic diagram of the working principle of a control device for identifying double front axle tire chewing provided in one embodiment of the present application.

[0050] Figure 3 A flow chart of a control method for identifying double front axle tire chewing provided in one embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0053] like Figure 1 As shown, this embodiment proposes a control device for identifying double front axle tire chewing, and the control device for identifying double front axle tire chewing mainly includes a pure electric power steering system and ADAS (Advanced Driving Assistance System), wherein the pure electric power steering system includes a vehicle axle and a controller, and the vehicle axle includes a first bridge and a second bridge, wherein the first bridge includes a first bridge left and a first bridge right, and the second bridge includes a second bridge left and a second bridge right. Wherein, the bridge refers to the vehicle axle. Since the steering angles (referred to as turning angles) between the first bridge left and the first bridge right, and between the second bridge left and the second bridge right are respectively the same, therefore, this embodiment only needs to consider the turning angle level of the first bridge and the second bridge to detect, identify and control the tire chewing phenomenon.

[0054] In this embodiment, the controller is connected to the first bridge and the second bridge respectively, and the ADAS system mainly includes an ADAS controller, and the ADAS controller is connected to the controller.

[0055] In this embodiment, the controller is used to obtain the first bridge turning angle and the second bridge turning angle, and determine whether the vehicle has tire chewing according to the first bridge turning angle and the second bridge turning angle, and send a tire chewing signal to the ADAS controller when the vehicle has tire chewing. The first bridge turning angle and the second bridge turning angle refer to the steering angle of the first bridge and the steering angle of the second bridge respectively.

[0056] In this embodiment, the ADAS controller is used to obtain the steering angle of the whole vehicle according to the tire biting signal, and according to the steering angle of the whole vehicle, the first bridge angle and the second bridge angle, determine the automobile axle with tire biting phenomenon and calculate the correction angle value, and send the correction angle value to the controller. Among them, the automobile axle with tire biting phenomenon includes the first bridge and / or the second bridge, that is, the automobile axle with tire biting phenomenon includes the first bridge tire biting, the second bridge tire biting or the first bridge and the second bridge tire biting.

[0057] In this embodiment, the controller is also used to perform angle correction control on the vehicle axle with tire chewing phenomenon according to the correction angle value, so as to achieve tire chewing control on the vehicle axle with tire chewing phenomenon.

[0058] In this embodiment, the controller includes a turning angle acquisition and control module, a turning angle difference calculation module and a vehicle tire bite judgment module. The input end of the turning angle acquisition and control module is connected to the first bridge and the second bridge respectively, the output end of the turning angle acquisition and control module is connected to the input end of the turning angle difference calculation module, the output end of the turning angle difference calculation module is connected to the input end of the vehicle tire bite judgment module, and the output end of the vehicle tire bite judgment module is connected to the ADAS controller.

[0059] The turning angle acquisition and control module is used to acquire the turning angle of the first bridge and the turning angle of the second bridge, and to perform angle correction control on the axle of the vehicle with tire chewing according to the correction angle value.

[0060] The angle difference calculation module is used to calculate the angle difference between the first bridge angle and the second bridge angle according to the first bridge angle and the second bridge angle. The angle difference is the absolute value of the difference between the first bridge angle and the second bridge angle.

[0061] The vehicle tire chewing judgment module is used to judge whether the vehicle has tire chewing according to the steering angle difference and the steering angle difference design value, which includes the following two situations:

[0062] (1) When the steering angle difference is less than or equal to the steering angle difference design value, it is determined that the vehicle does not have tire chewing.

[0063] (2) When the steering angle difference is greater than the steering angle difference design value, it is determined that the vehicle has tire chewing and a tire chewing signal is sent to the ADAS controller.

[0064] In this embodiment, the steering angle difference design value is used as a preset threshold value for determining whether the vehicle as a whole has tire chewing phenomenon. The steering angle difference design value can be set to 10°, or can be set to other values ​​according to actual conditions.

[0065] In this embodiment, the ADAS controller includes a vehicle steering angle acquisition module, a tire-biting axle judgment module, and a correction angle value calculation module. Among them, the input end of the vehicle steering angle acquisition module is connected to the output end of the vehicle tire-biting judgment module, the output end of the vehicle steering angle acquisition module is connected to the input end of the tire-biting axle judgment module, the output end of the tire-biting axle judgment module is connected to the input end of the correction angle value calculation module, and the output end of the correction angle value calculation module is connected to the input end of the turning angle acquisition and control module;

[0066] The vehicle steering angle acquisition module is used to receive the tire biting signal and obtain the vehicle steering angle.

[0067] The tire-eating axle judgment module is used to judge the axle of the vehicle with tire-eating phenomenon according to the steering angle of the whole vehicle, the first bridge angle, the second bridge angle and the steering angle difference setting value, which specifically includes the following three situations:

[0068] (1) When the steering angle difference between the first bridge turning angle and the whole vehicle steering angle is greater than the steering angle difference setting value, it is determined that the first bridge has tire chewing phenomenon, otherwise it is determined that the first bridge does not have tire chewing phenomenon.

[0069] (2) When the steering angle difference between the second axle steering angle and the vehicle steering angle is greater than the steering angle difference setting value, it is determined that the second axle has tire chewing phenomenon; otherwise, it is determined that the second axle does not have tire chewing phenomenon.

[0070] (3) When the steering angle differences between the first bridge angle and the second bridge angle and the steering angle of the whole vehicle are both greater than the steering angle difference setting value, it is determined that both the first bridge and the second bridge have tire chewing phenomenon.

[0071] The correction angle value calculation module is used to calculate the correction angle value according to the steering angle of the whole vehicle and the turning angle of the axle of the vehicle with tire chewing phenomenon, and send the correction angle value to the turning angle acquisition and control module; wherein, the turning angle of the axle of the vehicle with tire chewing phenomenon refers to the turning angle of the first axle and / or the turning angle of the second axle.

[0072] In this embodiment, the steering angle difference setting value is used as a preset threshold value for determining whether there is tire chewing on the vehicle axle. The steering angle difference setting value can be set to 10°, or can be set to other values ​​according to actual conditions.

[0073] In an exemplary embodiment, the controller can also be used to obtain the vehicle speed, and only start to obtain the first bridge angle and the second bridge angle when the vehicle speed reaches the set speed value, and judge whether the vehicle has tire chewing phenomenon based on the first bridge angle and the second bridge angle.

[0074] In this embodiment, the vehicle speed setting value is set to 5km / h. Only when the vehicle speed reaches 5km / h, the process of detecting and judging the tire chewing phenomenon of the vehicle will be started, the first bridge angle and the second bridge angle will be obtained, and it will be judged whether the vehicle has tire chewing phenomenon based on the first bridge angle and the second bridge angle. Since the tire chewing phenomenon will basically not affect the handling stability and comfort of the vehicle when the vehicle speed is too low (such as below 5km / h), therefore, when the vehicle speed does not reach 5km / h, the process of detecting and judging the tire chewing phenomenon of the vehicle will not be started, the first bridge angle and the second bridge angle will not be obtained, and it will be judged whether the vehicle has tire chewing phenomenon based on the first bridge angle and the second bridge angle, thereby reducing the operating cost of the device and extending its service life.

[0075] In order to make the technical solution of this embodiment clearer, the specific implementation process of this embodiment is described in detail below in the form of examples.

[0076] For traditional vehicles, this embodiment adopts a pure electric power steering system. The pure electric power steering systems of the first bridge and the second bridge have their own controllers, and are both on the same side of the vehicle (the left side or the right side of the vehicle). Figure 2 As shown, the turning angle signals of the first bridge and the second bridge are uploaded to the controller. When the controller receives the turning angle signal, it also receives the vehicle speed signal. When the vehicle speed is greater than the speed setting value (5km / h), the controller will start the vehicle tire chewing phenomenon detection and judgment process and start calculation. The following contents exist:

[0077] (1) When the vehicle speed is greater than the set speed value, the calculation starts to determine whether the angle difference between the first bridge angle A1 and the second bridge angle A2 satisfies the angle difference design value = |A1-A2|.

[0078] (2) When the steering angle difference meets the steering angle difference design value, the system returns to the previous moment, that is, the vehicle does not have tire chewing at this time. The controller receives the steering angle signal again, obtains the new first bridge steering angle A1 and second bridge steering angle A2 as well as vehicle speed data in real time, and continuously performs real-time monitoring.

[0079] (3) When the steering angle difference does not meet the steering angle difference design value, it is determined that the vehicle has tire chewing.

[0080] When the steering angle difference calculated by the controller does not meet the steering angle difference design value, that is, when the third situation occurs and it is judged that the vehicle has tire chewing, the controller will send a tire chewing signal to the ADAS controller.

[0081] In this embodiment, the ADAS system uses various sensors installed on the vehicle (millimeter wave radar, laser radar, single / binocular camera, satellite navigation, etc.) to sense the surrounding environment at any time during the vehicle's driving, collect data, identify, detect and track static and dynamic objects, and combine navigation map data to perform system calculations and analysis, so as to allow the driver to be aware of possible dangers in advance, effectively increasing the comfort and safety of car driving. The core of the ADAS system is the ADAS controller, which can detect the vehicle's own steering angle in real time. The steering angle refers to the angle between the center line of the vehicle and the lane line.

[0082] In this embodiment, after the ADAS controller receives the tire chewing signal sent by the controller, the ADAS controller determines and outputs the steering angle of the whole vehicle under the vehicle steering state, and compares the steering angle of the whole vehicle with the first bridge angle and the second bridge angle respectively. By comparing the steering angle difference between the first bridge angle, the second bridge angle and the whole vehicle steering angle and the steering angle difference setting value respectively, it is determined whether there is a deviation in the first bridge steering, a deviation in the second bridge steering, or a deviation in the first and second bridge steering, and then it is determined whether there is a tire chewing phenomenon on the first bridge or the second bridge, or there is a tire chewing phenomenon on both the first and second bridges. Taking the steering angle difference setting value of 10° as an example, there are the following three situations:

[0083] (1) When the steering angle difference between the first bridge steering angle and the vehicle steering angle output by the ADAS controller is greater than the steering angle difference setting value (10°), it is determined that the first bridge steering has a deviation, that is, it is determined that the first bridge has a tire chewing phenomenon.

[0084] (2) When the steering angle difference between the second axle steering angle and the vehicle steering angle output by the ADAS controller is greater than the steering angle difference setting value (10°), it is determined that the second axle steering has a deviation, that is, it is determined that the second axle has a tire biting phenomenon.

[0085] (3) When the steering angle differences between the first bridge angle, the second bridge angle and the vehicle steering angle output by the ADAS controller are all greater than the steering angle difference setting value (10°), it is determined that there are deviations in the first bridge steering and the second bridge steering, that is, it is determined that there is tire chewing on both the first bridge and the second bridge.

[0086] According to the judgment process of (1) to (3), the ADAS controller will obtain a tire bite judgment result, which includes tire bite phenomenon on one bridge, tire bite phenomenon on the second bridge, or tire bite phenomenon on both the first bridge and the second bridge. Then, the ADAS controller will send a correction angle value to the controller for the bridge with deviation (the first bridge and / or the second bridge) based on the tire bite judgment result. The controller will perform angle correction control on the angle of the bridge with deviation based on the correction angle value, so that the angle of the bridge with deviation can be corrected in time, thereby avoiding tire bite phenomenon.

[0087] After completing the above operations in this embodiment, if there is a tire bite, the fault needs to be reported in time so as to notify the driver to carry out repairs in time.

[0088] In this embodiment, the vehicle speed setting value of 5km / h is the condition for the controller to start the process of detecting and judging the vehicle tire chewing phenomenon, and calculate whether the turning angle difference between the first bridge angle and the second bridge angle meets the requirements of the turning angle difference design value. For example, if the turning angle of the first bridge is 100° and the turning angle of the second bridge is 130°, when the turning angle difference design value is 10°, the turning angle difference between the first bridge angle and the second bridge angle is 30°. Therefore, the turning angle difference is greater than the turning angle difference design value, indicating that the turning angle difference between the first bridge angle and the second bridge angle does not meet the turning angle difference design value, thereby determining that the vehicle has tire chewing phenomenon. In order to further identify whether the turning angle of the first bridge is small or the turning angle of the second bridge is large, that is, it is necessary to determine whether the tire is bitten on the first bridge, the second bridge, or both the first and second bridges, this embodiment introduces an ADAS controller. Through the vehicle posture judgment and vehicle steering angle detection of the ADAS controller, when the vehicle steering angle is detected to be 100°, the steering angle difference setting value is 10°, that is, the non-tire bitten value range of the vehicle steering angle is 100°±10°, and since the turning angle of the first bridge is 100°, the turning angle of the second bridge is 100°. It is 130°, so it is determined that the first bridge angle is 100°-100°=0°<10°, indicating that there is no problem with the first bridge angle, that is, there is no tire chewing phenomenon on the first bridge; and the second bridge angle is 130°-100°=30°>10°, indicating that the second bridge angle is overadjusted by 30°, indicating that there is tire chewing phenomenon on the second bridge. At this time, the ADAS controller sends an angle correction control instruction of 70° to the controller for the correction angle value of the second bridge angle, so that the second bridge angle can be controlled to be actually 100°, thereby achieving the purpose of tire chewing control correction and effectively avoiding the occurrence of tire chewing phenomenon.

[0089] This embodiment compares the steering angle judgment output by the pure electric power steering system with the steering angle difference setting value of the ADSA system, and can identify the tire chewing phenomenon in advance, delay the replacement of tires, and reduce the cost of vehicle use. When the tire chewing phenomenon exists, the tire chewing phenomenon is solved by angle correction control based on the correction angle value, and the fault is reported at the same time, thereby avoiding the tire chewing phenomenon and letting the user know in time that the vehicle has the tire chewing phenomenon, reducing tire wear, greatly reducing the cost of vehicle use, and improving the comfort and handling stability of the vehicle.

[0090] In an exemplary embodiment, a control method for identifying double front axle tire chewing is provided, and the control method for identifying double front axle tire chewing is applied to the aforementioned control device for identifying double front axle tire chewing, such as Figure 3 As shown, the control method for identifying dual front axle tire biting includes the following steps:

[0091] Step S1, obtaining the first bridge angle and the second bridge angle.

[0092] Step S2, judging whether the vehicle has tire chewing according to the first bridge turning angle and the second bridge turning angle, and generating a tire chewing signal when the vehicle has tire chewing; wherein the first bridge turning angle and the second bridge turning angle refer to the steering angle of the first bridge and the steering angle of the second bridge respectively.

[0093] Step S3: Obtain the vehicle steering angle according to the tire biting signal.

[0094] Step S4, judging the vehicle axle with tire chewing phenomenon according to the vehicle steering angle, the first bridge turning angle and the second bridge turning angle, and calculating the correction angle value; wherein the vehicle axle with tire chewing phenomenon includes the first bridge and / or the second bridge.

[0095] Step S5: performing angle correction control on the axle of the vehicle with the tire eating phenomenon according to the correction angle value, so as to achieve tire eating control on the axle of the vehicle with the tire eating phenomenon.

[0096] In this embodiment, step S2 determines whether the vehicle has tire chewing according to the first bridge angle and the second bridge angle, and specifically includes the following steps:

[0097] Step S21, calculating the angle difference between the first bridge angle and the second bridge angle according to the first bridge angle and the second bridge angle; the angle difference is the absolute value of the difference between the first bridge angle and the second bridge angle.

[0098] Step S22, judging whether the vehicle has tire chewing phenomenon according to the turning angle difference and the turning angle difference design value, specifically includes:

[0099] (1) When the steering angle difference is less than or equal to the steering angle difference design value, it is determined that the vehicle does not have tire chewing.

[0100] (2) When the steering angle difference is greater than the steering angle difference design value, it is determined that the vehicle has tire chewing.

[0101] In this embodiment, step S4 determines the axle of the vehicle with the tire chewing phenomenon according to the steering angle of the whole vehicle, the first bridge angle and the second bridge angle, and calculates the correction angle value, which specifically includes the following steps:

[0102] Step S41, judging the axle of the vehicle with the tire chewing phenomenon according to the steering angle of the whole vehicle, the first bridge angle, the second bridge angle and the steering angle difference setting value, specifically includes:

[0103] (1) When the steering angle difference between the first bridge turning angle and the whole vehicle steering angle is greater than the steering angle difference setting value, it is determined that the first bridge has tire chewing phenomenon, otherwise it is determined that the first bridge does not have tire chewing phenomenon.

[0104] (2) When the steering angle difference between the second axle steering angle and the vehicle steering angle is greater than the steering angle difference setting value, it is determined that the second axle has tire chewing phenomenon; otherwise, it is determined that the second axle does not have tire chewing phenomenon.

[0105] (3) When the steering angle differences between the first bridge angle and the second bridge angle and the steering angle of the whole vehicle are both greater than the steering angle difference setting value, it is determined that both the first bridge and the second bridge have tire chewing phenomenon.

[0106] Step S42, calculating a correction angle value according to the steering angle of the whole vehicle and the turning angle of the axle of the vehicle with the tire bite phenomenon, wherein the turning angle of the axle of the vehicle with the tire bite phenomenon refers to the turning angle of the first axle and / or the turning angle of the second axle.

[0107] In this embodiment, the correction angle value can be calculated using the following formula:

[0108] θ j =θ z -(θ z -θ q ).

[0109] Among them, θ j Indicates the correction angle value, θ z Represents the vehicle steering angle, θ q Indicates the turning angle of the vehicle axle where tire chewing occurs.

[0110] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A control device for identifying double front axle tire biting, characterized in that: The control device for identifying dual front axle tire chewing includes a pure electric power steering system and an ADAS system, the pure electric power steering system includes a vehicle axle and a controller, the vehicle axle includes a first axle and a second axle, the controller is connected to the first axle and the second axle respectively, the ADAS system includes an ADAS controller, and the ADAS controller is connected to the controller; The controller is used to obtain the first bridge turning angle and the second bridge turning angle, and judge whether the vehicle has tire chewing according to the first bridge turning angle and the second bridge turning angle, and send a tire chewing signal to the ADAS controller when the vehicle has tire chewing; wherein the first bridge turning angle and the second bridge turning angle refer to the steering angle of the first bridge and the steering angle of the second bridge respectively; The ADAS controller is used to obtain the steering angle of the whole vehicle according to the tire biting signal, and to determine the vehicle axle with tire biting according to the steering angle of the whole vehicle, the first bridge angle and the second bridge angle, and calculate the correction angle value, and send the correction angle value to the controller; wherein the vehicle axle with tire biting includes the first bridge and / or the second bridge; The controller is also used to perform angle correction control on the vehicle axle with tire chewing phenomenon according to the correction angle value, so as to achieve tire chewing control on the vehicle axle with tire chewing phenomenon.

2. The control device for identifying double front axle tire chewing according to claim 1, characterized in that: The controller includes a turning angle acquisition and control module, a turning angle difference calculation module and a vehicle tire bite judgment module; The input end of the turning angle acquisition and control module is connected to the first bridge and the second bridge respectively, the output end of the turning angle acquisition and control module is connected to the input end of the turning angle difference calculation module, the output end of the turning angle difference calculation module is connected to the input end of the vehicle tire bite judgment module, and the output end of the vehicle tire bite judgment module is connected to the ADAS controller; The turning angle acquisition and control module is used to acquire the turning angle of the first bridge and the turning angle of the second bridge, and to perform angle correction control on the axle of the vehicle with the tire biting phenomenon according to the correction angle value; The turning angle difference calculation module is used to calculate the turning angle difference between the turning angle of the first bridge and the turning angle of the second bridge according to the turning angle of the first bridge and the turning angle of the second bridge; the turning angle difference is the absolute value of the difference between the turning angle of the first bridge and the turning angle of the second bridge; The vehicle tire chewing judgment module is used to judge whether the vehicle has tire chewing according to the steering angle difference and the steering angle difference design value, and specifically includes: When the turning angle difference is less than or equal to the turning angle difference design value, it is determined that there is no tire chewing phenomenon on the vehicle; When the steering angle difference is greater than the steering angle difference design value, it is determined that the vehicle has tire chewing, and the tire chewing signal is sent to the ADAS controller.

3. The control device for identifying double front axle tire chewing according to claim 2, characterized in that: The ADAS controller includes a vehicle steering angle acquisition module, a tire-biting axle judgment module and a correction angle value calculation module; The input end of the whole vehicle steering angle acquisition module is connected to the output end of the vehicle tire biting judgment module, the output end of the whole vehicle steering angle acquisition module is connected to the input end of the tire biting axle judgment module, the output end of the tire biting axle judgment module is connected to the input end of the correction angle value calculation module, and the output end of the correction angle value calculation module is connected to the input end of the turning angle acquisition and control module; The vehicle steering angle acquisition module is used to receive the tire biting signal and acquire the vehicle steering angle; The tire-eating axle judgment module is used to judge the vehicle axle with tire-eating phenomenon according to the steering angle of the whole vehicle, the first axle turning angle, the second axle turning angle and the steering angle difference setting value, and specifically includes: When the steering angle difference between the first bridge turning angle and the whole vehicle steering angle is greater than the steering angle difference setting value, it is determined that the first bridge has a tire chewing phenomenon, otherwise it is determined that the first bridge does not have a tire chewing phenomenon; When the steering angle difference between the second bridge turning angle and the whole vehicle steering angle is greater than the steering angle difference setting value, it is determined that the second bridge has a tire chewing phenomenon, otherwise it is determined that the second bridge does not have a tire chewing phenomenon; When the steering angle differences between the first bridge turning angle and the second bridge turning angle and the steering angle of the whole vehicle are both greater than the steering angle difference setting value, it is determined that both the first bridge and the second bridge have tire chewing phenomenon; The correction angle value calculation module is used to calculate the correction angle value according to the steering angle of the whole vehicle and the turning angle of the vehicle axle with tire eating phenomenon, and send the correction angle value to the turning angle acquisition and control module; wherein, the turning angle of the vehicle axle with tire eating phenomenon refers to the turning angle of the first bridge and / or the turning angle of the second bridge.

4. The control device for identifying double front axle tire chewing according to claim 1, characterized in that: The controller is also used to obtain the vehicle speed, and only starts to obtain the first bridge angle and the second bridge angle when the vehicle speed reaches a set speed value, and determines whether the vehicle has tire chewing phenomenon based on the first bridge angle and the second bridge angle.

5. The control device for identifying double front axle tire chewing according to claim 4, characterized in that: The vehicle speed setting value is 5km / h.

6. The control device for identifying double front axle tire chewing according to claim 2, characterized in that: The design value of the rotation angle difference is 10°.

7. The control device for identifying double front axle tire chewing according to claim 3, characterized in that: The steering angle difference setting value is 10°.

8. A control method for identifying double front axle tire biting, characterized in that: The control method for identifying dual front axle tire chewing includes: Get the first bridge angle and the second bridge angle; According to the first bridge turning angle and the second bridge turning angle, it is judged whether the vehicle has a tire chewing phenomenon, and a tire chewing signal is generated when the vehicle has a tire chewing phenomenon; wherein the first bridge turning angle and the second bridge turning angle refer to the steering angle of the first bridge and the steering angle of the second bridge respectively; According to the tire biting signal, the steering angle of the vehicle is obtained; According to the steering angle of the whole vehicle, the first bridge turning angle and the second bridge turning angle, the vehicle axle with tire chewing phenomenon is judged, and the correction angle value is calculated; wherein the vehicle axle with tire chewing phenomenon includes the first bridge and / or the second bridge; According to the correction angle value, angle correction control is performed on the vehicle axle with tire eating phenomenon, so as to achieve tire eating control on the vehicle axle with tire eating phenomenon.

9. The control method for identifying double front axle tire chewing according to claim 8, characterized in that: Judging whether the vehicle has tire chewing phenomenon according to the first bridge turning angle and the second bridge turning angle specifically includes: According to the first bridge angle and the second bridge angle, calculating the angle difference between the first bridge angle and the second bridge angle; the angle difference is the absolute value of the difference between the first bridge angle and the second bridge angle; Judging whether the vehicle has tire chewing phenomenon according to the turning angle difference and the turning angle difference design value specifically includes: When the turning angle difference is less than or equal to the turning angle difference design value, it is determined that there is no tire chewing phenomenon on the vehicle; When the turning angle difference is greater than the turning angle difference design value, it is determined that the vehicle has tire chewing.

10. The control method for identifying double front axle tire chewing according to claim 8, characterized in that: According to the vehicle steering angle, the first bridge turning angle and the second bridge turning angle, the vehicle axle with tire chewing phenomenon is judged, and a correction angle value is calculated, which specifically includes: According to the vehicle steering angle, the first bridge steering angle, the second bridge steering angle, and the steering angle difference setting value, determining the vehicle axle with tire chewing phenomenon specifically includes: When the steering angle difference between the first bridge turning angle and the whole vehicle steering angle is greater than the steering angle difference setting value, it is determined that the first bridge has a tire chewing phenomenon, otherwise it is determined that the first bridge does not have a tire chewing phenomenon; When the steering angle difference between the second bridge turning angle and the whole vehicle steering angle is greater than the steering angle difference setting value, it is determined that the second bridge has a tire chewing phenomenon, otherwise it is determined that the second bridge does not have a tire chewing phenomenon; When the steering angle differences between the first bridge turning angle and the second bridge turning angle and the steering angle of the whole vehicle are both greater than the steering angle difference setting value, it is determined that both the first bridge and the second bridge have tire chewing phenomenon; The correction angle value is calculated according to the steering angle of the whole vehicle and the turning angle of the vehicle axle with tire chewing phenomenon; wherein the turning angle of the vehicle axle with tire chewing phenomenon refers to the turning angle of the first axle and / or the turning angle of the second axle.

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