Heavy truck steering quality evaluation method and system

Abstract

The invention belongs to the technical field of whole vehicle steering evaluation, and particularly relates to a heavy truck steering quality evaluation method and system, and the method comprises the following steps: taking the steering quality of a heavy truck as a total target, and determining a sub-target corresponding to the evaluation of the heavy truck; the total target at least comprises sub-targets; the sub-targets comprise steering steady-state performance, steering dynamic quality and steering feeling; establishing evaluation indexes corresponding to the sub-targets to form a corresponding evaluation system; the evaluation system comprises a steering steady-state performance index evaluation system, a steering dynamic quality index evaluation system and a steering feeling index evaluation system. Constructing a judgment matrix corresponding to the evaluation system, and extracting an index weight in the judgment matrix; and evaluating the steering quality of the whole vehicle based on the index weight and the evaluation index. The defects of poor comprehensiveness, small application range and the like of the existing evaluation of the steering quality of the truck are overcome, and comprehensive evaluation of steering design and adjustment is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of whole vehicle steering evaluation, and in particular relates to a steering quality evaluation method and system for a heavy truck. Background Art

[0002] In the field of heavy truck manufacturing, the performance of the steering system directly affects the safety, handling and driver comfort of the vehicle, and is a key component in vehicle design. However, traditional steering quality evaluation methods mostly rely on personal experience and simplified test standards, lacking a systematic and quantitative evaluation mechanism. This method is not only inefficient in evaluation, but also difficult to fully and accurately display the overall performance of the steering system, making it difficult to accurately locate and solve existing problems during vehicle development, thereby extending the development cycle and increasing project costs.

[0003] Specifically, traditional evaluation methods are often limited to a few specific performance parameters of the steering system, such as steering response speed and automatic reset capability, while ignoring multiple aspects of performance, such as steady-state steering characteristics, dynamic response characteristics, and the driver's subjective feelings (i.e. steering feel). At the same time, the weighting of different performance indicators lacks scientific basis, which makes the evaluation results highly subjective and difficult to achieve objective comparison across models or development stages.

[0004] With the continuous innovation of automotive technology and increasingly fierce market competition, heavy truck manufacturers have higher and higher requirements for steering systems. There is an urgent need for a method that can comprehensively, accurately and quantitatively measure steering quality to guide product design and improvement and enhance market competitiveness. Summary of the invention

[0005] In view of the defects of low efficiency and strong subjectivity in traditional evaluation methods, the present invention provides a heavy-duty truck steering quality evaluation method and system, which serves the evaluation and steering quality adjustment work in the heavy-duty truck steering quality development process and can shorten the development cycle.

[0006] In a first aspect, the technical solution of the present invention provides a method for evaluating the steering quality of a heavy truck, comprising the following steps: Taking the steering quality of heavy trucks as the overall goal, determine the sub-goals corresponding to the evaluation of heavy trucks; the overall goal at least includes sub-goals; sub-goals include steering steady-state performance, steering dynamic quality, and steering feel; Establishing evaluation indicators corresponding to the sub-goals to form a corresponding evaluation system; the evaluation system includes: a steering steady-state performance indicator evaluation system, a steering dynamic quality indicator evaluation system and a steering feel indicator evaluation system; A judgment matrix corresponding to the evaluation system is constructed, the index weights in the judgment matrix are extracted, and the steering quality of the whole vehicle is evaluated based on the index weights and the evaluation index.

[0007] As a further limitation of the technical solution of the present invention, the evaluation indexes corresponding to the sub-goals are established to form a corresponding evaluation system; the evaluation system includes: in the steps of a steering steady-state performance index evaluation system, a steering dynamic quality index evaluation system and a steering feel index evaluation system, the evaluation indexes include a primary evaluation index and a secondary evaluation index; the sub-goals are composed of at least a single or a combination of the primary evaluation index and the secondary evaluation index; In the steering steady-state performance index evaluation system, the first-level evaluation indicators corresponding to the steering steady-state performance include steering wheel hand force and steering wheel return; the second-level indicators corresponding to the steering wheel hand force include the average friction torque of the steering wheel and the left and right steering force difference; the second-level indicators corresponding to the steering wheel return include the steering wheel residual angle and the steering wheel return time.

[0008] As a further limitation of the technical solution of the present invention, the steering wheel hand force calculation formula is:

[0009] In the formula Represents the steering wheel hand force evaluation value, Represents the average friction torque of the steering wheel, Represents the difference in steering force between left and right steering wheels. Represents the weight of the average friction torque of the steering wheel, Represents the weight of left and right steering forces; The calculation formula of the average friction torque of the steering wheel is:

[0010] In the formula represents the steering wheel torque, Represents the maximum steering wheel angle; The formula for calculating the left and right steering force difference of the steering wheel is:

[0011] In the formula represents the average steering force in a counterclockwise rotation from the neutral position, represents the average steering force in a clockwise rotation from the neutral position; The calculation formula for steering wheel return is:

[0012] In the formula Represents the steering wheel return evaluation value, represents the steering wheel residual angle, Represents the return time. Represents the weight of the steering wheel residual angle, Represents the weight of the recovery time; The calculation formula of the steering wheel residual angle is:

[0013] In the formula Represents the maximum steering wheel angle at the initial moment of the self-centering test; is the steering wheel angle value recorded during the return process for the i-th time; The return time calculation formula is:

[0014] In the formula, Represents the moment when the steering wheel angle does not change when returning to center; Represents the moment when the steering wheel is turned to the maximum angle in the return-to-center test.

[0015] As a further limitation of the technical solution of the present invention, in the steering dynamic quality index evaluation system, the first-level evaluation index corresponding to the dynamic performance quality includes median road feel and steering response; The secondary indicators corresponding to the median road feel include steering position and straight-ahead correction; The secondary indicators corresponding to the steering response include steering response delay and response predictability.

[0016] As a further limitation of the technical solution of the present invention, the median road feel calculation formula is:

[0017] In the formula Indicates the turning virtual position indicator value. Represents the straight correction index value, is the weight of the virtual position. The weight of the correction for straight line; The calculation formula of steering virtual position is:

[0018] In the formula Represents the maximum negative steering wheel angle value at the center position where the steering force is 0. is the maximum positive steering wheel angle value at the center position where the steering force is 0; The straight line correction calculation formula is:

[0019] In the formula represents the number of times the steering wheel is turned, and T represents the time of straight-line driving; The steering response calculation formula is:

[0020] In the formula Indicates the steering delay response index value, Represents the steering predictability index value, is the weight of steering delay response, The weight of the correction for straight line; The steering response calculation formula is:

[0021] In the formula represents the yaw rate response time, Represents the steering wheel angle response moment; The calculation formula for steering predictability is:

[0022] In the formula represents the steering wheel torque, Indicates that the lateral acceleration is 0g, Indicates that the lateral acceleration is 0.1g.

[0023] As a further limitation of the technical solution of the present invention, in the steering feeling index evaluation system, the first-level evaluation index corresponding to the steering feeling includes steering touch and steering body feeling; The steering feel corresponds to the secondary indicators of steering force establishment sense and steering force uniformity sense; The steering sensation corresponds to a secondary index including a steering roll sensation.

[0024] As a further limitation of the technical solution of the present invention, the steering touch calculation formula is:

[0025] In the formula Represents the steering touch index value, Represents the steering force establishment index value, Represents the steering force uniformity value; The formula for calculating the steering force build-up feeling is:

[0026] In the formula Represents the moment when the steering force reaches 0.05N; Represents the initial moment when the steering force is 0; The formula for calculating the uniformity of steering force is:

[0027] Where n represents the number of steering force sampling points, Represents the turning force at each point, is the average steering force; The calculation formula for steering feel (steering roll feel) is:

[0028] Where n represents the number of steering force sampling points, Represents the lateral acceleration value at each point during the turning process, For every moment of the turning process.

[0029] As a further limitation of the technical solution of the present invention, the steps of constructing a judgment matrix corresponding to the evaluation system, extracting the index weights in the judgment matrix, and evaluating the steering quality of the whole vehicle based on the index weights and the evaluation index include: Constructing a Judgment Matrix Using the Nine-Scale Method B , which can be expressed as:

[0030] In the formula, the judgment matrix satisfies each element , the diagonal is 1, and the off-diagonal elements are reciprocals of each other; In establishing the judgment matrix B Based on this, the importance ranking index is calculated r i , and the judgment matrix A * It is expressed as:

[0031] In the formula, the ranking index ; ; ; On the basis of establishing the judgment matrix, solve the eigenvector of the judgment matrix , and then obtain the super matrix , and by the supermatrix The weighted indicators are normalized and the weighted super matrix is ​​obtained :

[0032] In the formula is the weight factor; The indicator weight supermatrix is ​​determined by solving the limit uniquely through the following formula Stability:

[0033] In the formula, Represents the number of first-level evaluation indicators; Represents the number of secondary evaluation indicators; represents the rows of the transfer matrix; Represents the columns of the transfer matrix.

[0034] In a second aspect, the technical solution of the present invention provides a heavy truck steering quality evaluation system, including a determination module, an establishment module and a calculation module; The determination module is used to determine the sub-goals corresponding to the evaluation of heavy trucks with the steering quality of heavy trucks as the overall goal; the overall goal includes at least sub-goals; the sub-goals include steering steady-state performance, steering dynamic quality, and steering feel; The establishment module is used to establish evaluation indicators corresponding to the sub-goals to form a corresponding evaluation system; the evaluation system includes: a steering steady-state performance indicator evaluation system, a steering dynamic quality indicator evaluation system and a steering feel indicator evaluation system; The calculation module is used to construct a judgment matrix corresponding to the evaluation system, extract the index weights in the judgment matrix, and evaluate the steering quality of the whole vehicle based on the index weights and the evaluation index.

[0035] The beneficial effects of the technical solution of the present invention are as follows: it overcomes the defects of the existing evaluation of truck steering quality, such as poor comprehensiveness and small scope of application, and the comprehensive evaluation of steering design and adjustment. The present invention can be used for the whole process evaluation of truck steering design and development process, and will play a positive guiding role in the performance development of truck steering.

[0036] A more comprehensive evaluation is achieved by establishing an evaluation system for steady-state performance quality, dynamic performance quality, and driving feel quality; a dynamic performance quality evaluation index is proposed to achieve an objective evaluation of dynamic performance quality; a driving feel evaluation index is proposed to achieve an objective evaluation of driving feel quality; and a steering quality evaluation system construction logic is proposed to provide software implementation support for the steering quality evaluation of heavy trucks. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0038] Figure 1 A schematic diagram of a flow chart of a method provided in an embodiment of the present invention.

[0039] Figure 2 This is a schematic diagram of the steering quality index evaluation system for a complete truck.

[0040] Figure 3 Schematic diagram of the truck steering quality evaluation system. DETAILED DESCRIPTION

[0041] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0042] like Figure 1 As shown, an embodiment of the present invention provides a method for evaluating the steering quality of a heavy truck, comprising the following steps: S1, taking the steering quality of heavy trucks as the overall goal, determine the sub-goals corresponding to the evaluation of heavy trucks; the overall goal at least includes sub-goals; sub-goals include steering steady-state performance, steering dynamic quality, and steering feel; S2, establishing evaluation indicators corresponding to the sub-goals to form a corresponding evaluation system; the evaluation system includes: a steering steady-state performance index evaluation system, a steering dynamic quality index evaluation system and a steering feel index evaluation system; S3, constructing a judgment matrix corresponding to the evaluation system, and extracting the indicator weights in the judgment matrix; S4, evaluating the steering quality of the entire vehicle based on the indicator weights and the evaluation indicators.

[0043] In some embodiments, Figure 2 As shown, the evaluation indicators corresponding to the sub-goals are established to form a corresponding evaluation system; the evaluation system includes: in the steps of a steering steady-state performance indicator evaluation system, a steering dynamic quality indicator evaluation system and a steering feel indicator evaluation system, the evaluation indicators include a primary evaluation indicator and a secondary evaluation indicator; the sub-goals are composed of at least a single or a combination of the primary evaluation indicator and the secondary evaluation indicator; In the steering steady-state performance index evaluation system, the first-level evaluation indicators corresponding to the steering steady-state performance include steering wheel hand force and steering wheel return; the second-level indicators corresponding to the steering wheel hand force include the average friction torque of the steering wheel and the left and right steering force difference; the second-level indicators corresponding to the steering wheel return include the steering wheel residual angle and the steering wheel return time.

[0044] In some embodiments, the steering wheel hand force calculation formula is:

[0045] In the formula Represents the steering wheel hand force evaluation value, Represents the average friction torque of the steering wheel, Represents the difference in steering force between left and right steering wheels. Represents the weight of the average friction torque of the steering wheel, Represents the weight of left and right steering forces; The calculation formula of the average friction torque of the steering wheel is:

[0046] In the formula represents the steering wheel torque, Represents the maximum steering wheel angle; The formula for calculating the left and right steering force difference of the steering wheel is:

[0047] In the formula represents the average steering force in a counterclockwise rotation from the neutral position, represents the average steering force in a clockwise rotation from the neutral position; The calculation formula for steering wheel return is:

[0048] In the formula Represents the steering wheel return evaluation value, represents the steering wheel residual angle, Represents the return time. Represents the weight of the steering wheel residual angle, Represents the weight of the recovery time; The calculation formula of the steering wheel residual angle is:

[0049] In the formula Represents the maximum steering wheel angle at the initial moment of the self-centering test; is the steering wheel angle value recorded during the return process for the i-th time; The return time calculation formula is:

[0050] In the formula, Represents the moment when the steering wheel angle does not change when returning to center; Represents the moment when the steering wheel is turned to the maximum angle in the return-to-center test.

[0051] In some embodiments, in the steering dynamic quality index evaluation system, the first-level evaluation index corresponding to the dynamic performance quality includes median road feel and steering response; The secondary indicators corresponding to the median road feel include steering position and straight-ahead correction; The secondary indicators corresponding to the steering response include steering response delay and response predictability.

[0052] As a further limitation of the technical solution of the present invention, the median road feel calculation formula is:

[0053] In the formula Indicates the turning virtual position indicator value. Represents the straight correction index value, is the weight of the virtual position. The weight of the correction for straight line; The calculation formula of steering virtual position is:

[0054] In the formula Represents the maximum negative steering wheel angle value at the center position where the steering force is 0. is the maximum positive steering wheel angle value at the center position where the steering force is 0; The straight line correction calculation formula is:

[0055] In the formula represents the number of times the steering wheel is turned, and T represents the time of straight-line driving; The steering response calculation formula is:

[0056] In the formula Indicates the steering delay response index value, Represents the steering predictability index value, is the weight of steering delay response, The weight of the correction for straight line; The steering response calculation formula is:

[0057] In the formula represents the yaw rate response time, Represents the steering wheel angle response moment; The calculation formula for steering predictability is:

[0058] In the formula represents the steering wheel torque, Indicates that the lateral acceleration is 0g, Indicates that the lateral acceleration is 0.1g.

[0059] In some embodiments, in the steering feeling index evaluation system, the first-level evaluation index corresponding to the steering feeling includes steering touch feeling and steering body feeling; The steering feel corresponds to the secondary indicators of steering force establishment sense and steering force uniformity sense; The steering sensation corresponds to a secondary index including a steering roll sensation.

[0060] As a further limitation of the technical solution of the present invention, the steering touch calculation formula is:

[0061] In the formula Represents the steering touch index value, Represents the steering force establishment index value, Represents the steering force uniformity value; The formula for calculating the steering force build-up feeling is:

[0062] In the formula Represents the moment when the steering force reaches 0.05N; Represents the initial moment when the steering force is 0; The formula for calculating the uniformity of steering force is:

[0063] Where n represents the number of steering force sampling points, Represents the turning force at each point, is the average steering force; The calculation formula for steering feel (steering roll feel) is:

[0064] Where n represents the number of steering force sampling points, Represents the lateral acceleration value at each point during the turning process, For every moment of the turning process.

[0065] In some embodiments, the process of evaluating the quality of the operation steering based on the indicator weights and the evaluation indicators includes: The network analytic hierarchy process is used to determine the weights of each evaluation index of the truck steering quality evaluation system.

[0066] In some embodiments, the process of determining the weight of each evaluation index of the truck steering quality evaluation system by using the hierarchical analysis method includes: Constructing a Judgment Matrix Using the Nine-Scale Method B , which can be expressed as:

[0067] In the formula, the judgment matrix satisfies each element , the diagonal is 1, and the off-diagonal elements are reciprocals of each other; In establishing the judgment matrix B Based on this, the importance ranking index is calculated r i , and the judgment matrix A * It is expressed as:

[0068] In the formula, the ranking index ; ; ; On the basis of establishing the judgment matrix, solve the eigenvector of the judgment matrix , and then obtain the super matrix , and by the supermatrix The weighted indicators are normalized and the weighted super matrix is ​​obtained :

[0069] In the formula is the weight factor; The indicator weight supermatrix is ​​determined by solving the limit uniquely through the following formula Stability:

[0070] In the formula, Represents the number of first-level evaluation indicators; Represents the number of secondary evaluation indicators; represents the rows of the transfer matrix; Represents the columns of the transfer matrix.

[0071] like Figure 3 As shown, an embodiment of the present invention provides a heavy truck steering quality evaluation system, including a determination module, an establishment module and a calculation module; The determination module is used to determine the sub-goals corresponding to the evaluation of heavy trucks with the steering quality of heavy trucks as the overall goal; the overall goal includes at least sub-goals; the sub-goals include steering steady-state performance, steering dynamic quality, and steering feel; The establishment module is used to establish evaluation indicators corresponding to the sub-goals to form a corresponding evaluation system; the evaluation system includes: a steering steady-state performance indicator evaluation system, a steering dynamic quality indicator evaluation system and a steering feel indicator evaluation system; The calculation module is used to construct a judgment matrix corresponding to the evaluation system, extract the index weights in the judgment matrix, and evaluate the steering quality of the whole vehicle based on the index weights and the evaluation index.

[0072] Establishing evaluation indicators corresponding to the sub-goals to form a corresponding evaluation system; the evaluation system includes: in the steps of a steering steady-state performance indicator evaluation system, a steering dynamic quality indicator evaluation system and a steering feel indicator evaluation system, the evaluation indicators include a primary evaluation indicator and a secondary evaluation indicator; the sub-goals are at least composed of a single or a combination of the primary evaluation indicator and the secondary evaluation indicator; In the steering steady-state performance index evaluation system, the first-level evaluation indicators corresponding to the steering steady-state performance include steering wheel hand force and steering wheel return; the second-level indicators corresponding to the steering wheel hand force include the average friction torque of the steering wheel and the left and right steering force difference; the second-level indicators corresponding to the steering wheel return include the steering wheel residual angle and the steering wheel return time.

[0073] In some embodiments, the steering wheel hand force calculation formula is:

[0074] In the formula Represents the steering wheel hand force evaluation value, Represents the average friction torque of the steering wheel, Represents the difference in steering force between the left and right steering wheels. Represents the weight of the average friction torque of the steering wheel, Represents the weight of left and right steering forces; The calculation formula of the average friction torque of the steering wheel is:

[0075] In the formula represents the steering wheel torque, Represents the maximum steering wheel angle; The formula for calculating the left and right steering force difference of the steering wheel is:

[0076] In the formula represents the average steering force in a counterclockwise rotation from the neutral position, represents the average steering force in a clockwise rotation from the neutral position; The calculation formula for steering wheel return is:

[0077] In the formula Represents the steering wheel return evaluation value, represents the steering wheel residual angle, Represents the return time. Represents the weight of the steering wheel residual angle, Represents the weight of the recovery time; The calculation formula of the steering wheel residual angle is:

[0078] In the formula Represents the maximum steering wheel angle at the initial moment of the self-centering test; is the steering wheel angle value recorded during the return process for the i-th time; The return time calculation formula is:

[0079] In the formula, Represents the moment when the steering wheel angle does not change when returning to center; Represents the moment when the steering wheel is turned to the maximum angle in the return-to-center test.

[0080] In some embodiments, in the steering dynamic quality index evaluation system, the first-level evaluation index corresponding to the dynamic performance quality includes median road feel and steering response; The secondary indicators corresponding to the median road feel include steering position and straight-ahead correction; The secondary indicators corresponding to the steering response include steering response delay and response predictability.

[0081] As a further limitation of the technical solution of the present invention, the median road feel calculation formula is:

[0082] In the formula Indicates the turning virtual position indicator value. Represents the straight correction index value, is the weight of the virtual position. The weight of the correction for straight line; The calculation formula of steering virtual position is:

[0083] In the formula Represents the maximum negative steering wheel angle value at the center position where the steering force is 0. is the maximum positive steering wheel angle value at the center position where the steering force is 0; The straight line correction calculation formula is:

[0084] In the formula represents the number of times the steering wheel is turned, and T represents the time of straight-line driving; The steering response calculation formula is:

[0085] In the formula Indicates the steering delay response index value, Represents the steering predictability index value, is the weight of steering delay response, The weight of the correction for straight line; The steering response calculation formula is:

[0086] In the formula represents the yaw rate response time, Represents the steering wheel angle response moment; The calculation formula for steering predictability is:

[0087] In the formula represents the steering wheel torque, Indicates that the lateral acceleration is 0g, Indicates that the lateral acceleration is 0.1g.

[0088] In some embodiments, in the steering feeling index evaluation system, the first-level evaluation index corresponding to the steering feeling includes steering touch feeling and steering body feeling; The steering feel corresponds to the secondary indicators of steering force establishment sense and steering force uniformity sense; The steering sensation corresponds to a secondary index including a steering roll sensation.

[0089] As a further limitation of the technical solution of the present invention, the steering touch calculation formula is:

[0090] In the formula Represents the steering touch index value, Represents the steering force establishment index value, Represents the steering force uniformity value; The formula for calculating the steering force build-up feeling is:

[0091] In the formula Represents the moment when the steering force reaches 0.05N; Represents the initial moment when the steering force is 0; The formula for calculating the uniformity of steering force is:

[0092] Where n represents the number of steering force sampling points, Represents the turning force at each point, is the average steering force; The calculation formula for steering feel (steering roll feel) is:

[0093] Where n represents the number of steering force sampling points, Represents the lateral acceleration value at each point during the turning process, For every moment of the turning process.

[0094] In some embodiments, the process of evaluating the quality of the operation steering based on the indicator weights and the evaluation indicators includes: The network analytic hierarchy process is used to determine the weights of each evaluation index of the truck steering quality evaluation system.

[0095] In some embodiments, the process of determining the weight of each evaluation index of the truck steering quality evaluation system by using the hierarchical analysis method includes: Constructing a Judgment Matrix Using the Nine-Scale Method B , which can be expressed as:

[0096] In the formula, the judgment matrix satisfies each element , the diagonal is 1, and the off-diagonal elements are reciprocals of each other; In establishing the judgment matrix B Based on this, the importance ranking index is calculated r i , and the judgment matrix A * It is expressed as:

[0097] In the formula, the ranking index ; ; ; On the basis of establishing the judgment matrix, solve the eigenvector of the judgment matrix , and then obtain the super matrix , and by the supermatrix The weighted indicators are normalized and the weighted super matrix is ​​obtained :

[0098] In the formula is the weight factor; The indicator weight supermatrix is ​​determined by solving the limit uniquely through the following formula Stability:

[0099] In the formula, Represents the number of first-level evaluation indicators; Represents the number of secondary evaluation indicators; represents the rows of the transfer matrix; Represents the columns of the transfer matrix.

[0100] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for evaluating the steering quality of a heavy truck, characterized in that: The steps include: Taking the steering quality of heavy trucks as the overall goal, determine the sub-goals corresponding to the evaluation of heavy trucks; the overall goal at least includes sub-goals; sub-goals include steering steady-state performance, steering dynamic quality, and steering feel; Establishing evaluation indicators corresponding to the sub-goals to form a corresponding evaluation system; the evaluation system includes: a steering steady-state performance indicator evaluation system, a steering dynamic quality indicator evaluation system and a steering feel indicator evaluation system; A judgment matrix corresponding to the evaluation system is constructed, the index weights in the judgment matrix are extracted, and the steering quality of the whole vehicle is evaluated based on the index weights and the evaluation indexes.

2. The heavy truck steering quality evaluation method according to claim 1, characterized in that: The evaluation indicators include primary evaluation indicators and secondary evaluation indicators; the sub-goals are composed of at least one or a combination of primary evaluation indicators and secondary evaluation indicators.

3. The heavy truck steering quality evaluation method according to claim 2, characterized in that: In the steering steady-state performance index evaluation system, the first-level evaluation indicators corresponding to the steering steady-state performance include steering wheel hand force and steering wheel return; the second-level indicators corresponding to the steering wheel hand force include the average friction torque of the steering wheel and the left and right steering force difference; the second-level indicators corresponding to the steering wheel return include the steering wheel residual angle and the steering wheel return time.

4. The heavy truck steering quality evaluation method according to claim 3, characterized in that: The formula for calculating steering wheel hand force is: In the formula Represents the steering wheel hand force evaluation value, Represents the average friction torque of the steering wheel, Represents the difference in steering force between left and right steering wheels. Represents the weight of the average friction torque of the steering wheel, Represents the weight of left and right steering forces; The calculation formula of the average friction torque of the steering wheel is: In the formula represents the steering wheel torque, Represents the maximum steering wheel angle; The formula for calculating the left and right steering force difference of the steering wheel is: In the formula represents the average turning force in a counterclockwise rotation from the neutral position, represents the average steering force in a clockwise rotation from the neutral position; The calculation formula for steering wheel return is: In the formula Represents the steering wheel return evaluation value, represents the steering wheel residual angle, Represents the return time. Represents the weight of the steering wheel residual angle, Represents the weight of the recovery time; The calculation formula of the steering wheel residual angle is: In the formula Represents the maximum steering wheel angle at the initial moment of the self-centering test; is the steering wheel angle value recorded during the return process for the i-th time; The return time calculation formula is: In the formula, Represents the moment when the steering wheel angle does not change when returning to center; Represents the moment when the steering wheel is turned to the maximum angle in the return-to-center test.

5. The heavy truck steering quality evaluation method according to claim 4, characterized in that: In the steering dynamic quality index evaluation system, the first-level evaluation indexes corresponding to the dynamic performance quality include median road feel and steering response; The secondary indicators corresponding to the median road feel include steering position and straight-ahead correction; The secondary indicators corresponding to the steering response include steering response delay and response predictability.

6. The heavy truck steering quality evaluation method according to claim 5, characterized in that: The formula for calculating the median road feel is: In the formula Indicates the turning virtual position indicator value. Represents the straight correction index value, is the weight of the virtual position. The weight of the correction for straight line; The calculation formula of steering virtual position is: In the formula Represents the maximum negative steering wheel angle value at the center position where the steering force is 0. is the maximum positive steering wheel angle value at the center position where the steering force is 0; The straight line correction calculation formula is: In the formula represents the number of times the steering wheel is turned, and T represents the time of straight-line driving; The steering response calculation formula is: In the formula Indicates the steering delay response index value, Represents the steering predictability index value, is the weight of steering delay response, The weight of the correction for straight line; The steering response calculation formula is: In the formula represents the yaw rate response time, Represents the steering wheel angle response moment; The calculation formula for steering predictability is: In the formula represents the steering wheel torque, Indicates that the lateral acceleration is 0g, Indicates that the lateral acceleration is 0.1g.

7. The heavy truck steering quality evaluation method according to claim 6, characterized in that: In the steering feeling index evaluation system, the first-level evaluation index corresponding to the steering feeling includes steering touch and steering body feeling; The steering feel corresponds to the secondary indicators of steering force establishment sense and steering force uniformity sense; The steering sensation corresponds to a secondary index including a steering roll sensation.

8. The heavy truck steering quality evaluation method according to claim 7, characterized in that: Steering feel calculation formula: In the formula Represents the steering feel index value, Represents the steering force establishment index value, Represents the steering force uniformity value; The formula for calculating the steering force build-up feeling is: In the formula Represents the moment when the steering force reaches 0.05N; Represents the initial moment when the steering force is 0; The formula for calculating the uniformity of steering force is: Where n represents the number of steering force sampling points, Represents the turning force at each point, is the average steering force; The calculation formula for steering feel (steering roll feel) is: Where n represents the number of steering force sampling points, Represents the lateral acceleration value at each point during the turning process, For every moment of the turning process.

9. The heavy truck steering quality evaluation method according to claim 8, characterized in that: Constructing a judgment matrix corresponding to the evaluation system, extracting the index weights in the judgment matrix, and evaluating the steering quality of the vehicle based on the index weights and the evaluation indexes includes: Constructing a Judgment Matrix Using the Nine-Scale Method B , which can be expressed as: In the formula, the judgment matrix satisfies each element , the diagonal is 1, and the off-diagonal elements are reciprocals of each other; In establishing the judgment matrix B Based on this, the importance ranking index is calculated r i , and the judgment matrix A * It is expressed as: In the formula, the ranking index ; ; ; On the basis of establishing the judgment matrix, solve the eigenvector of the judgment matrix , and then obtain the super matrix , and by the supermatrix The weighted indicators are normalized and the weighted super matrix is ​​obtained : In the formula is the weight factor; The indicator weight supermatrix is ​​determined by solving the limit uniquely through the following formula Stability: In the formula, Represents the number of first-level evaluation indicators; Represents the number of secondary evaluation indicators; represents the rows of the transfer matrix; Represents the columns of the transfer matrix.

10. A heavy truck steering quality evaluation system, characterized in that: It includes a determination module, an establishment module and a calculation module; The determination module is used to determine the sub-goals corresponding to the evaluation of heavy trucks with the steering quality of heavy trucks as the overall goal; the overall goal includes at least sub-goals; the sub-goals include steering steady-state performance, steering dynamic quality, and steering feel; The establishment module is used to establish the evaluation indicators corresponding to the sub-goals to form a corresponding evaluation system; The evaluation system includes: a steering steady-state performance index evaluation system, a steering dynamic quality index evaluation system and a steering feel index evaluation system; The calculation module is used to construct a judgment matrix corresponding to the evaluation system, extract the index weights in the judgment matrix, and evaluate the steering quality of the whole vehicle based on the index weights and the evaluation index.

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