Wheel dynamic balance detection method, system and device, controller, vehicle and medium

Abstract

The invention discloses a wheel dynamic balance detection method, system and device, a controller, a vehicle and a medium, and the method comprises the steps: obtaining the acceleration of the vehicle in a driving process, and obtaining the actual wheel speed of a target wheel of the vehicle; if the amplitude change of the acceleration meets the first abnormal condition and the actual wheel speed of the target wheel meets the second abnormal condition, it is determined that the target wheel is not in the dynamic balance state, and whether the vehicle wheel is in the dynamic balance state or not can be accurately determined.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a wheel dynamic balance detection method, system, device, controller, vehicle and medium, wherein the medium is a computer-readable storage medium. Background Art

[0002] If the mass distribution of the vehicle's wheels is very uneven or deformation occurs, the wheels will be in a state of dynamic imbalance when they are running, causing problems such as steering wheel vibration and unstable vehicle driving during driving, which can easily lead to safety accidents. Therefore, detecting whether the wheels are in a state of dynamic balance is very important to ensure the smooth driving of the vehicle and improve driving comfort and safety. Summary of the invention

[0003] The embodiments of the present application provide a wheel dynamic balance detection method, system, device, controller, vehicle and medium, which can accurately detect whether the vehicle is in a dynamic balance state.

[0004] In order to achieve the above object, according to a first aspect of the present application, a wheel dynamic balance detection method is provided, comprising:

[0005] Acquiring the acceleration of the vehicle during driving, and acquiring the actual wheel speed of the target wheel of the vehicle;

[0006] If the amplitude change of the acceleration satisfies the first abnormal condition, and the actual wheel speed of the target wheel satisfies the second abnormal condition, it is determined that the target wheel is not in a dynamic balance state.

[0007] Optionally, the first abnormal condition includes acceleration exceeding a preset acceleration range.

[0008] Optionally, the second abnormal condition includes an actual wheel speed exceeding a preset wheel speed range.

[0009] Optionally, the second abnormal condition includes that the wheel speed difference between the actual wheel speed and the reference wheel speed is greater than a preset threshold;

[0010] If the amplitude change of the acceleration satisfies a first abnormal condition, and the actual wheel speed of the target wheel satisfies a second abnormal condition, determining that the target wheel is not in a dynamic balance state comprises:

[0011] Obtaining a target wheel speed difference between an actual wheel speed of the target wheel and a reference wheel speed;

[0012] If the amplitude change of the acceleration satisfies the first abnormal condition and the target wheel speed difference exceeds the preset threshold, it is determined that the target wheel is not in a dynamic balance state.

[0013] Optionally, obtaining a target wheel speed difference between an actual wheel speed of the target wheel and a reference wheel speed includes:

[0014] Acquiring the wheel speed of the target wheel during the driving of the vehicle;

[0015] Calculating a reference wheel speed of the target wheel according to the wheel speed and a preset size of the target wheel;

[0016] A target wheel speed difference between the actual wheel speed of the target wheel and the reference wheel speed is calculated.

[0017] Optionally, the method further comprises:

[0018] A target message is sent to a target device so that the target device outputs a prompt message indicating that the target wheel is not in a dynamic balance state based on the target message. The target device includes at least one of an instrument, a display device, an audio output device, and a terminal bound to the vehicle.

[0019] Optionally, determining whether the target wheel is in a dynamic balance state at a preset period, and sending a target message to a target device includes:

[0020] If it is determined in all historical cycles of the current cycle that the target wheel is not in a dynamic balance state, the target message is sent to the target device.

[0021] According to a second aspect of the present application, a wheel dynamic balance detection system is provided, the wheel dynamic balance detection system comprising an intelligent power braking system, the intelligent power braking system being used for:

[0022] Acquiring the acceleration of the vehicle during driving, and acquiring the actual wheel speed of the target wheel of the vehicle;

[0023] If the amplitude change of the acceleration satisfies the first abnormal condition, and the actual wheel speed of the target wheel satisfies the second abnormal condition, it is determined that the target wheel is not in a dynamic balance state.

[0024] Optionally, the wheel dynamic balance detection system further includes a wheel speed sensor and a yaw rate sensor, wherein the wheel speed sensor is used to detect an actual wheel speed of the target wheel, and the yaw rate sensor is used to detect an acceleration of the vehicle.

[0025] Optionally, the wheel dynamic balance detection system further includes a vehicle body controller, wherein:

[0026] The intelligent dynamic braking system is used to periodically send a target message to the vehicle body controller according to whether the target wheel is in a dynamic balance state;

[0027] The vehicle body controller is used to receive the target message sent by the intelligent power brake system, and if multiple frames of target messages received continuously indicate that the target wheel is not in a dynamic balance state, send a prompt message to the target device;

[0028] The target device includes at least one of an instrument, a display device, an audio output device, and a terminal bound to the vehicle.

[0029] According to a third aspect of the present application, a wheel dynamic balance detection device is provided, comprising:

[0030] An acquisition unit, used to acquire the acceleration of the vehicle during driving, and to acquire the actual wheel speed of the target wheel of the vehicle;

[0031] The detection unit is used to determine that the target wheel is not in a dynamic balance state if the amplitude change of the acceleration satisfies a first abnormal condition and the actual wheel speed of the target wheel satisfies a second abnormal condition.

[0032] According to a fourth aspect of the present application, a controller is provided, comprising a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute any one of the wheel dynamic balance detection methods provided in the embodiments of the present application.

[0033] According to a fifth aspect provided by an embodiment of the present application, a vehicle is provided, the vehicle comprising a controller, and any one of the wheel dynamic balance detection methods provided by the embodiment of the present application is executed by the controller.

[0034] According to a sixth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium is used to store a computer program, and the computer program is loaded by a processor to execute any one of the wheel dynamic balance detection methods provided in the embodiments of the present application.

[0035] The embodiment of the present application obtains the acceleration of the vehicle during driving and the actual wheel speed of the target wheel of the vehicle; if the amplitude change of the acceleration satisfies the first abnormal condition and the actual wheel speed of the target wheel satisfies the second abnormal condition, it is determined that the target wheel is not in a dynamic balance state, so as to accurately determine whether the vehicle wheel is in a dynamic balance state. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0037] Figure 1 is a flow chart of a wheel dynamic balance detection method provided in an embodiment of the present application;

[0038] Figure 2 is a schematic diagram of a wheel profile provided in an embodiment of the present application;

[0039] Figure 3 is a schematic diagram of a wheel dynamic balance detection system provided in an embodiment of the present application;

[0040] Figure 4 is a schematic diagram of a wheel dynamic balance detection device provided in an embodiment of the present application;

[0041] Figure 5 It is a schematic diagram of the structure of the controller provided in the embodiment of the present application. DETAILED DESCRIPTION

[0042] 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 those skilled in the art without creative work are within the scope of protection of this application.

[0043] The embodiments of the present application provide a wheel dynamic balance detection method, system, device, controller, vehicle and medium. The wheel dynamic balance detection device can be integrated in a vehicle.

[0044] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0045] This embodiment will be described from the perspective of a wheel dynamic balance detection device, which may be specifically integrated into a vehicle.

[0046] The present application provides a wheel dynamic balance detection method, such as Figure 1 As shown, the specific process of the wheel dynamic balance detection method can be as follows:

[0047] 101. Obtain the acceleration of the vehicle during driving, and obtain the actual wheel speed of the target wheel of the vehicle.

[0048] The acceleration may include angular acceleration or other accelerations, which may be set according to the needs of the application scenario and are not limited here. There may be one or more accelerations, each corresponding to a direction, such as acceleration in the Y direction, acceleration in the X direction, and acceleration in the Z direction. Optionally, the acceleration in the Y direction may be the angular acceleration when the vehicle deflects around the Y axis.

[0049] Among them, the target wheel can be any wheel of the vehicle. For example, for a four-wheeled vehicle, the target wheel can be the left front wheel, the right front wheel, the left rear wheel or the right rear wheel of the vehicle. The wheel is an important component of the vehicle. The vehicle drives by driving the wheel to rotate. The wheel can include a tire, and can also include a rim, a spoke, a hub, etc. Different wheels may contain different components.

[0050] If the mass distribution of the components on the wheel is very uneven, when the wheel rotates at high speed, it will form a state of dynamic imbalance, causing problems such as wheel shaking and steering wheel vibration while the vehicle is driving. If the components of the wheel are deformed, the shape of the wheel will also be deformed. For example, if the tire is bulging or foreign objects are embedded in the tire, the shape of the wheel will change from the original perfect circle to an irregular shape. For example, if the rim of the wheel is deformed, the shape of the wheel will be deformed.

[0051] For example, Figure 2 As shown in the figure, the black circle represents the normal wheel shape, and the red circle represents the deformed wheel shape. Since the shape of the wheel has been deformed, the vehicle will run unsteadily and safety accidents may easily occur. Therefore, detecting whether the wheel is in a dynamically balanced state is very important to ensure the smooth running of the vehicle and improve driving comfort and safety.

[0052] In one embodiment, the actual wheel speed of the target wheel can be calculated based on the signal detected by the wheel speed sensor on the vehicle. The wheel speed sensor can be a magnetoelectric wheel speed sensor, a Hall-type wheel speed sensor, etc. It can be flexibly set according to needs and is not limited here. For the magnetoelectric wheel speed sensor, when the wheel rotates, the teeth and gaps on the ring gear pass through the magnet in turn, causing the magnetic field strength to change. The magnetoelectric wheel speed sensor can detect the corresponding pulse signal, and the wheel speed can be calculated based on the pulse signal detected by the magnetoelectric sensor.

[0053] 102. If the amplitude change of the acceleration satisfies the first abnormal condition, and the actual wheel speed of the target wheel satisfies the second abnormal condition, it is determined that the target wheel is not in a dynamic balance state.

[0054] The actual wheel speed is related to the rotation speed of the wheel and the circumference of the wheel. Assuming that the normal shape of the target wheel is as follows Figure 2 As shown by the black circle in , the actual wheel speed detected by the wheel speed sensor is very close to 2πNR, where N is the rotation speed of the wheel per unit time, and R is the radius specification when the wheel is produced. The actual wheel speed changes smoothly. If the wheel is deformed, the radius R1 corresponding to different positions on the wheel is different. The curve of the actual wheel speed detected by the wheel speed sensor will show a sawtooth turn, and the actual wheel speed will have obvious fluctuations, and there will be a certain gap with 2πNR.

[0055] In addition, if the wheels are in a dynamically balanced state, the vehicle runs smoothly and its acceleration changes smoothly. On the contrary, if the wheels are not in a dynamically balanced state, the vehicle runs unsteadily and the vehicle may bump up and down, sway left and right, or roll due to the different heights of the left and right wheels, so the acceleration of the vehicle will fluctuate.

[0056] Therefore, it is possible to determine whether the wheel is in a dynamic balance state based on the fluctuation of the actual wheel speed detected by the wheel speed sensor, or the difference between the actual wheel speed and 2πNR, and the amplitude of the acceleration change.

[0057] In one embodiment, a corresponding acceleration range, i.e., a preset acceleration range, may be set for acceleration. The preset acceleration range may be determined by an upper acceleration limit and a lower acceleration limit. If the fluctuation of the acceleration of the target wheel exceeds the preset acceleration range, it is determined that the acceleration state of the target wheel is abnormal. If the fluctuation of the acceleration of the target wheel does not exceed the preset acceleration range, it is determined that the acceleration state of the target wheel is normal, i.e., the first abnormal condition includes acceleration exceeding the preset acceleration range.

[0058] Optionally, the acceleration change amplitude can also be used to determine whether the wheel is in a dynamic balance state. Specifically, the difference between the currently detected acceleration and the acceleration detected at the previous moment can be calculated to obtain the acceleration change amplitude. If the acceleration change amplitude is greater than a preset change threshold, it is determined that the acceleration state of the target wheel is abnormal. If the acceleration change amplitude is not greater than the preset change threshold, it is determined that the acceleration state of the target wheel is normal.

[0059] The acceleration of the vehicle in at least one direction may be selected as needed to detect whether the wheel is in a dynamically balanced state. For example, the acceleration of the vehicle in the X direction and the Y direction may be obtained. If the acceleration in the X direction and the acceleration in the Y direction both satisfy a first abnormal condition, and the wheel speed of the target vehicle satisfies a second abnormal condition, it is determined that the wheel is not in a dynamically balanced state.

[0060] Optionally, the acceleration curve of the vehicle can also be obtained. The acceleration curve is a curve showing the acceleration of the vehicle changing with time. The acceleration curve is analyzed to determine whether the acceleration curve is sawtoothed. If the curve is sawtoothed, it is determined that the acceleration state of the target wheel is abnormal. If the curve is not sawtoothed, it is determined that the acceleration state of the target wheel is normal.

[0061] In one embodiment, a corresponding wheel speed range, i.e., a preset wheel speed range, may be set for the actual wheel speed. If the fluctuation of the actual wheel speed of the target wheel exceeds the preset wheel speed range, it is determined that the wheel speed state of the target wheel is abnormal. If the fluctuation of the actual wheel speed of the target wheel does not exceed the preset wheel speed range, it is determined that the wheel speed state of the target wheel is normal. That is, the second abnormal condition may include the actual wheel speed exceeding the preset wheel speed range.

[0062] Optionally, whether the wheel speed state of the target wheel is normal may also be determined by comparing the actual wheel speed of the target wheel with the reference wheel speed. That is, in one embodiment, the second abnormal condition includes that the wheel speed difference between the actual wheel speed and the reference wheel speed is greater than a preset threshold. Step 201 "if the amplitude change of the acceleration satisfies the first abnormal condition, and the actual wheel speed of the target wheel satisfies the second abnormal condition, then determining that the target wheel is not in a dynamic balance state" may include:

[0063] Obtaining a target wheel speed difference between an actual wheel speed of a target wheel and a reference wheel speed;

[0064] If the amplitude change of the acceleration satisfies the first abnormal condition and the target wheel speed difference exceeds a preset threshold, it is determined that the target wheel is not in a dynamic balance state.

[0065] Among them, the reference wheel speed can indicate the wheel speed of the target wheel in a dynamically balanced state. The reference wheel speed can be used to measure the degree of deviation of the actual wheel speed of the target wheel. For example, the difference between the actual wheel speed of the target wheel and the reference wheel speed, that is, the target wheel speed difference, can be obtained.

[0066] If the amplitude change of the acceleration of the target wheel satisfies the first abnormal condition, and the target wheel speed difference between the actual wheel speed and the reference wheel speed of the target wheel is greater than a preset threshold, it is determined that the target wheel is not in a dynamic balance state.

[0067] Due to the correlation between the vehicle speed and the wheel speed, the reference wheel speed may be determined based on a preset corresponding relationship between the vehicle speed and the wheel speed, or determined according to the wheel speed and the wheel size. That is, in one embodiment, the step of "obtaining a target wheel speed difference between the actual wheel speed of the target wheel and the reference wheel speed" includes:

[0068] Obtaining the wheel speed of the target wheel during vehicle driving;

[0069] Calculating a reference wheel speed of the target wheel according to the wheel speed and a preset size of the target wheel;

[0070] Calculate the target wheel speed difference between the actual wheel speed of the target wheel and the reference wheel speed.

[0071] Among them, the wheel speed can be the actual speed detected during the vehicle's driving process, and the preset size can be pre-set according to the generation specifications of the target wheel, which indicates parameters such as the radius, diameter or circumference of the target wheel when the target wheel is not deformed.

[0072] Assuming that the preset size is the radius of the target wheel, the reference wheel speed V=2πNR is very close, where N is the rotation speed of the wheel per unit time, and R is the radius of the target wheel. If the preset size is the diameter or circumference of the target wheel, the reference wheel speed of the target wheel can be calculated in the same way.

[0073] After determining the reference wheel speed corresponding to the actual wheel speed of the target wheel, the difference between the actual wheel speed and the reference wheel speed may be calculated, and the difference is the target wheel speed difference.

[0074] If the amplitude change of the acceleration does not satisfy the first abnormal condition, or the actual wheel speed of the target wheel does not satisfy the second abnormal condition, it is determined that the target wheel is in a dynamic balance state.

[0075] If it is detected that the target wheel is not in a dynamic balance state, a prompt message may be sent to the target device to prompt the user that the target wheel is not in a dynamic balance state. That is, in one embodiment, the wheel dynamic balance detection method provided in the embodiment of the present application may also include:

[0076] A target message is sent to a target device so that the target device outputs a prompt message indicating that the target wheel is not in a dynamic balance state based on the target message. The target device includes at least one of a vehicle instrument, a display device, an audio output device, and a terminal bound to the vehicle.

[0077] Among them, the target device may include the vehicle's instrument, display device, audio output device, and at least one of the terminals bound to the vehicle. The terminal may be, for example, a mobile phone, a tablet computer, or a personal computer. The vehicle's display device may be, for example, a display tablet on the vehicle. The vehicle's audio output device may include, for example, speakers and the like on the vehicle.

[0078] Specifically, if it is determined that the target wheel is not in a dynamically balanced state, a target message is sent to the target device, and the target message is used to instruct the target device to output a prompt message. After the target device receives the target message, it can output a prompt message in different forms according to the target message. For example, an indicator sign indicating that the target wheel is not in a dynamically balanced state can be lit on the vehicle's instrument panel, and a text prompt message can be displayed on the display device. After the mobile phone receives the prompt message, for example, if the left front wheel of the vehicle is not in a dynamically balanced state, then the mobile phone can display "Left front wheel dynamic balance warning, please go to the repair shop as soon as possible!", etc. If the right front wheel of the vehicle is not in a dynamically balanced state, then the mobile phone can display "Right front wheel dynamic balance warning, please go to the repair shop as soon as possible!", etc.

[0079] Optionally, when the target wheel is detected to be not in dynamic balance for multiple times in a row, a target message may be sent to the target device. That is, in one embodiment, whether the target wheel is in dynamic balance is determined at a preset period. The step of "sending a target message to the target device" may include:

[0080] If it is determined in all historical cycles of the current cycle that the target wheel is not in a dynamic balance state, a target message is sent to the target device.

[0081] Whether the target wheel is in a dynamic balance state can be detected periodically, for example, once every 30ms, once every 10ms, or once every 1s, etc. If the current cycle determines that the target wheel is not in a dynamic balance state, and it is also determined in M ​​historical cycles that the target wheel is not in a dynamic balance state, a target message is sent to the target device, that is, it is determined that the target wheel is not in a dynamic balance state for M+1 consecutive cycles, and a target message is sent to the target device. The target message may include information indicating whether the target device outputs a prompt message, wherein M can be an integer such as 1, 2, 3 or 4. For example, if it is detected that the target wheel is not in a dynamic balance state for 3 consecutive times, a target message is sent to the target device so that the target device outputs a prompt message.

[0082] Optionally, if the target wheel is detected to be in a dynamic balance state in the current cycle, or if the target wheel is detected to be not in a dynamic balance state in the current cycle but the target wheel is not detected to be in a dynamic balance state continuously (that is, the target wheel is not detected to be not in a dynamic balance state in the historical cycle), a message different from the target message can be sent to the target device so that the target device outputs a prompt message that the target wheel is in a dynamic balance state.

[0083] Optionally, when the tires are restored to dynamic balance, the prompt sign on the vehicle's instrument indicating that the wheels are not in a dynamic balance state will not disappear immediately. The prompt sign can be eliminated after the fault is cleared by the diagnostic instrument, or after the vehicle is driven a certain distance (for example, 1 km), IPB determines that the tires have restored dynamic balance and cancels the alarm on the vehicle's instrument.

[0084] It can be understood that the target wheel is any one of the vehicles. For each wheel on the vehicle, it can be determined whether the wheel is in a dynamic balance state. If the vehicle is not in a dynamic balance state within a preset time period, a dynamic balance alarm can be issued to remind the user of this situation. After the user knows this situation, he can drive carefully to avoid accidents.

[0085] From the above, it can be seen that the embodiment of the present application obtains the acceleration of the vehicle during driving, and obtains the actual wheel speed of the target wheel of the vehicle; if the amplitude change of the acceleration satisfies the first abnormal condition, and the actual wheel speed of the target wheel satisfies the second abnormal condition, it is determined that the target wheel is not in a dynamic balance state, so as to accurately determine whether the vehicle wheel is in a dynamic balance state.

[0086] In order to better implement the wheel dynamic balance detection method provided in the embodiment of the present application, the present application also provides a wheel dynamic balance detection system, wherein the meaning of the terms is the same as in the above-mentioned wheel dynamic balance detection method, and the specific implementation details can refer to the description in the method embodiment.

[0087] The wheel dynamic balance detection system can be integrated in a vehicle. The wheel dynamic balance detection system includes an intelligent power brake system (Integrated Power Brake, IPB), which is used to:

[0088] Obtaining the acceleration of the vehicle during driving, and obtaining the actual wheel speed of the target wheel of the vehicle;

[0089] If the amplitude change of the acceleration satisfies the first abnormal condition, and the actual wheel speed of the target wheel satisfies the second abnormal condition, it is determined that the target wheel is not in a dynamic balance state.

[0090] Exemplarily, if the fluctuation of the acceleration of the target wheel exceeds the preset acceleration range, the intelligent power braking system determines that the acceleration state of the target wheel is abnormal; if the fluctuation of the acceleration of the target wheel does not exceed the preset acceleration range, the intelligent power braking system determines that the acceleration state of the target wheel is normal.

[0091] If the fluctuation of the actual wheel speed of the target wheel exceeds the preset wheel speed range, the intelligent power braking system determines that the wheel speed state of the target wheel is abnormal. If the fluctuation of the actual wheel speed of the target wheel does not exceed the preset wheel speed range, the intelligent power braking system determines that the wheel speed state of the target wheel is normal.

[0092] If the acceleration state of the vehicle is abnormal and the wheel speed state of the target wheel is abnormal, it is determined that the vehicle is not in a dynamic balance state. If the acceleration state of the vehicle is normal or the wheel speed state of the target wheel is normal, it is determined that the vehicle is in a dynamic balance state.

[0093] The above-mentioned intelligent power braking system determines whether the target wheel is in a dynamic balance state according to the vehicle acceleration and the actual wheel speed of the target wheel. This is only an example. The specific process of the intelligent power braking system determining whether the target wheel is in a dynamic balance state according to the vehicle acceleration and the actual wheel speed of the target wheel can refer to the relevant content in the above-mentioned wheel dynamic balance detection method, which will not be repeated here.

[0094] In one embodiment, the wheel dynamic balance detection system may further include a wheel speed sensor and a yaw rate sensor, wherein the wheel speed sensor is used to detect the actual wheel speed of the target wheel, and the yaw rate sensor is used to detect the acceleration of the vehicle.

[0095] The wheel speed sensor sends the detected signal to the intelligent power braking system, and the yaw rate sensor sends the detected signal to the intelligent power braking system. The intelligent power braking system determines whether the wheel is in a dynamic balance state based on the signals sent by the wheel speed sensor and the yaw rate sensor.

[0096] The number of wheel speed sensors may correspond to the number of wheels of the vehicle. For example, if the vehicle has 4 wheels, there are 4 corresponding wheel speed sensors.

[0097] In one embodiment, the wheel dynamic balance detection system further includes a vehicle body controller, wherein:

[0098] An intelligent dynamic braking system is used to periodically send a target message to the vehicle body controller according to whether the target wheel is in a dynamic balance state;

[0099] The vehicle body controller is used to receive the target message sent by the intelligent power brake system, and send a prompt message to the target device when multiple frames of target messages received continuously indicate that the target wheel is not in a dynamic balance state;

[0100] The target device includes at least one of a vehicle instrument, a display device, an audio output device, and a terminal bound to the vehicle.

[0101] The intelligent power braking system can periodically send target messages to the body controller. The target messages contain data indicating whether the target wheel is in a dynamic balance state. The body controller receives the target messages sent by the intelligent power braking system. If the body controller receives M frames of target messages continuously and all indicate that the target wheel is not in a dynamic balance state, a message is sent to the target device. M can be set as needed, for example, it can be set to 3, 4 or 5, etc., and there is no restriction here.

[0102] The following is a specific example. Assume that the vehicle has four wheels. The wheel dynamic balance detection system includes four wheel speed sensors, namely the left front wheel speed sensor, the right front wheel speed sensor, the left rear wheel speed sensor, and the right rear wheel speed sensor. The yaw rate sensor can be integrated into the airbag system, which can also be called the Supplemental Restraint System (SRS). The schematic diagram of the wheel dynamic balance detection system can be as follows: Figure 3 As shown, the wheel dynamic balance detection system may also include target devices such as a right body controller (Right_BCM), a left body controller (Left_BCM), instruments, and terminals.

[0103] For each wheel, the IPB system determines whether the wheel is in a dynamic balance state based on the wheel speed sensor signal corresponding to the wheel and the signal sent by the SRS system, and sends a message to the left body controller through the right body controller. The specified field in the message is used to indicate whether the wheel is in a dynamic balance state. For example, the IPB system can send a message with an ID of 0x116 to the left body controller at a 10ms cycle. The data on 20.0 in the message is used to indicate whether the left front wheel is in a dynamic balance state. 20.0 represents the 0th bit of the 20th byte. Specifically, if the data of 20.0 is 0x0, it means that the left front wheel is not in a dynamic balance state; if the data of 20.0 is 0x1, it means that the left front wheel is in a dynamic balance state. The data on 20.1 in the message is used to indicate whether the right front wheel is in a dynamic balance state; the data on 20.2 in the message is used to indicate whether the left rear wheel is in a dynamic balance state; the data on 20.3 in the message is used to indicate whether the right rear wheel is in a dynamic balance state.

[0104] The left body controller sends a message to the target device such as the instrument and the terminal, so that the target device determines to alarm according to the message. For example, the left body controller sends a message with ID 0x336 to the instrument and the terminal at a period of 100ms. If the three consecutive frames of messages received by the left body control indicate that the wheel is not in a dynamic balance state, it is determined that an alarm is needed. Otherwise, no alarm is needed. The data on 2.0 in the message is used to indicate whether a dynamic balance alarm is performed on the left front wheel. If the data on 2.0 is 0x0, it means that a dynamic balance alarm is not required. If the data on 2.0 is 0x1, it means that a dynamic balance alarm is required. The data on 2.1 in the message is used to indicate whether a dynamic balance alarm is performed on the right front wheel; the data on 2.2 in the message is used to indicate whether a dynamic balance alarm is performed on the left rear wheel; the data on 2.3 in the message is used to indicate whether a dynamic balance alarm is performed on the right rear wheel.

[0105] The SRS system can send the acceleration status and acceleration value of each wheel to the IPB system via a message with ID 0x051. For example, the data in 7.0-7.1 in the message can indicate the state of the vehicle's acceleration in the x direction, whether it is valid data, invalid data or initialization data, etc. The data in 8.0-9.7 indicates the vehicle's acceleration in the x direction; the data in 11.0-12.7 in the message indicates the vehicle's acceleration in the x direction, and the data in 15.0-15.1 indicates the state of the vehicle's acceleration in the x direction; the data in 18.0-19.7 in the message indicates the vehicle's acceleration in the x direction, and the data in 22.0-22.1 indicates the state of the vehicle's acceleration in the x direction.

[0106] Optionally, when the tires are restored to dynamic balance, the reminder sign on the vehicle's instrument indicating that the wheels are not in a dynamic balance state will not disappear immediately. The reminder sign can be eliminated by clearing the fault through the diagnostic instrument, or the IPB can determine that the tires have restored dynamic balance after driving the vehicle for a certain distance (such as 1km) and cancel the alarm of the vehicle's instrument. At this time, IPB sends 0x116_20.0_Tire Dynamic Balance Status, 0x1 indicates that the tire dynamic balance state is normal, and the left body controller sends 0x336_2.0_Left Front Tire Dynamic Balance Alarm 0x1. The vehicle's instrument and mobile phone receive the signal and cancel the alarm prompt. The mobile phone can specifically send an alarm through the APP.

[0107] It is understandable that the period, ID and content of the message can be set as needed. The above is only for illustration and is not a limitation of the wheel dynamic balance detection method provided in the embodiment of the present application.

[0108] From the above, it can be seen that in the wheel dynamic balance detection system in the embodiment of the present application, the intelligent power braking system obtains the acceleration of the vehicle during driving and the actual wheel speed of the target wheel of the vehicle; if the amplitude change of the acceleration meets the first abnormal condition and the actual wheel speed of the target wheel meets the second abnormal condition, it is determined that the target wheel is not in a dynamic balance state, so as to accurately determine whether the vehicle wheel is in a dynamic balance state.

[0109] The embodiment of the present application combines the wheel speed of the target wheel of the vehicle and the acceleration of the vehicle to detect whether the target wheel is in a dynamic balance state, which can reduce detection errors and improve the accuracy of detecting whether the target wheel is in a dynamic balance state.

[0110] In order to better implement the wheel dynamic balance detection method provided in the embodiment of the present application, a wheel dynamic balance detection device is also provided in one embodiment. The meanings of the terms are the same as those in the above wheel dynamic balance detection method, and the specific implementation details can refer to the description in the method embodiment.

[0111] The wheel dynamic balance detection device can be integrated in a vehicle, such as Figure 4 As shown, the wheel dynamic balance detection device may include: an acquisition unit 301 and a detection unit 302, which are specifically as follows:

[0112] (1) An acquisition unit 301 is used to acquire the acceleration of the vehicle during its travel and to acquire the actual wheel speed of the target wheel of the vehicle.

[0113] In one embodiment, the first abnormal condition includes acceleration exceeding a preset acceleration range.

[0114] In one embodiment, the second abnormal condition includes that the actual wheel speed exceeds a preset wheel speed range.

[0115] In one embodiment, the second abnormal condition includes that the wheel speed difference between the actual wheel speed and the reference wheel speed is greater than a preset threshold;

[0116] (2) A detection unit 302, configured to determine that the target wheel is not in a dynamic balance state if the amplitude change of the acceleration satisfies a first abnormal condition and the actual wheel speed of the target wheel satisfies a second abnormal condition.

[0117] The detection unit 302 may also be used for:

[0118] Obtaining a target wheel speed difference between the actual wheel speed of the target wheel and a reference wheel speed;

[0119] If the amplitude change of the acceleration satisfies the first abnormal condition and the target wheel speed difference exceeds the preset threshold, it is determined that the target wheel is not in a dynamic balance state.

[0120] In one embodiment, the detection unit 302 may also be used for:

[0121] Obtaining the wheel speed of the target wheel during the driving of the vehicle;

[0122] Calculating a reference wheel speed of the target wheel according to the wheel speed and the preset size of the target wheel;

[0123] The target wheel speed difference between the actual wheel speed of the target wheel and the reference wheel speed is calculated.

[0124] In one embodiment, the wheel dynamic balance detection device may further include:

[0125] A sending unit is used to send a target message to a target device so that the target device outputs a prompt message indicating that the target wheel is not in a dynamic balance state based on the target message. The target device includes at least one of the vehicle's instrument, display device, audio output device, and a terminal bound to the vehicle.

[0126] In one embodiment, the sending unit may be further configured to determine whether the target wheel is in a dynamic balance state at a preset period:

[0127] If it is determined in all historical cycles of the current cycle that the target wheel is not in a dynamic balance state, the target message is sent to the target device.

[0128] As can be seen from the above, the wheel dynamic balance detection device in the embodiment of the present application obtains the acceleration of the vehicle during driving and the actual wheel speed of the target wheel of the vehicle through the acquisition unit 301; if the amplitude change of the acceleration satisfies the first abnormal condition and the actual wheel speed of the target wheel satisfies the second abnormal condition, the detection unit 302 determines that the target wheel is not in a dynamic balance state, so as to accurately determine whether the vehicle wheel is in a dynamic balance state.

[0129] The embodiment of the present application combines the wheel speed of the target wheel of the vehicle and the acceleration of the vehicle to detect whether the target wheel is in a dynamic balance state, which can reduce detection errors and improve the accuracy of detecting whether the target wheel is in a dynamic balance state.

[0130] The present application also provides a controller, such as Figure 5 As shown, it shows a schematic diagram of the structure of the controller involved in the embodiment of the present application, specifically:

[0131] The controller may include one or more processing core processors 1001, one or more computer-readable storage media memories 1002, a power supply 1003, an input unit 1004 and other components. Those skilled in the art will appreciate that Figure 5The controller structure shown in the figure does not constitute a limitation on the controller, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. Among them:

[0132] The processor 1001 is the control center of the controller, and uses various interfaces and lines to connect various parts of the entire controller. By running or executing software programs and / or modules stored in the memory 1002, and calling data stored in the memory 1002, the processor 1001 performs various functions of the controller and processes data, thereby monitoring the controller as a whole. Optionally, the processor 1001 may include one or more processing cores; preferably, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, computer program, etc., and the modem processor mainly processes wireless communication. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1001.

[0133] The memory 1002 can be used to store software programs and modules. The processor 1001 executes various functional applications and data processing by running the software programs and modules stored in the memory 1002. The memory 1002 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 1002 may also include a memory controller to provide the processor 1001 with access to the memory 1002.

[0134] The controller also includes a power supply 1003 for supplying power to each component. Preferably, the power supply 1003 can be logically connected to the processor 1001 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 1003 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0135] The controller may further include an input unit 1004, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0136] Although not shown, the controller may also include a display unit, etc., which will not be described in detail here. Specifically in this embodiment, the processor 1001 in the controller will load the executable files corresponding to the processes of one or more computer programs into the memory 1002 according to the following instructions, and the processor 1001 will run the computer programs stored in the memory 1002 to achieve various functions, as follows:

[0137] Obtaining the acceleration of the controller during driving, and obtaining the actual wheel speed of the target wheel of the controller;

[0138] If the amplitude change of the acceleration satisfies the first abnormal condition, and the actual wheel speed of the target wheel satisfies the second abnormal condition, it is determined that the target wheel is not in a dynamic balance state.

[0139] The specific implementation of the above operations can be found in the previous embodiments and will not be described in detail here.

[0140] From the above, it can be seen that the embodiment of the present application obtains the acceleration of the vehicle during driving, and obtains the actual wheel speed of the target wheel of the vehicle; if the amplitude change of the acceleration satisfies the first abnormal condition, and the actual wheel speed of the target wheel satisfies the second abnormal condition, it is determined that the target wheel is not in a dynamic balance state, so as to accurately determine whether the vehicle wheel is in a dynamic balance state.

[0141] The embodiment of the present application combines the wheel speed of the target wheel of the vehicle and the acceleration of the vehicle to detect whether the target wheel is in a dynamic balance state, which can reduce detection errors and improve the accuracy of detecting whether the target wheel is in a dynamic balance state.

[0142] According to one aspect of the present application, a vehicle is provided, which includes a controller, a wheel speed sensor, a yaw rate sensor, and an intelligent power braking system, etc. The vehicle can execute the wheel dynamic balance detection method provided in the embodiment of the present application. The vehicle can be a fuel vehicle, a plug-in hybrid vehicle or a new energy vehicle, etc., and the present application does not make specific limitations on this.

[0143] According to one aspect of the present application, a computer-readable storage medium is provided, on which instructions are stored, and when the instructions are executed by a processor, the processor is configured to execute the wheel dynamic balance detection method provided in the embodiment of the present application. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be a computer-readable instruction, a data structure, a module of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media, which can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media do not include temporary computer-readable media (transitory media), such as modulated communication signals and carriers.

[0144] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a vehicle reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the vehicle executes the wheel dynamic balance detection method provided in various optional implementations in the above-mentioned embodiments.

[0145] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0146] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. The computer program can be loaded by a processor to execute any one of the wheel dynamic balance detection methods provided in the embodiments of the present application.

[0147] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0148] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0149] Since the computer program stored in the computer-readable storage medium can execute any one of the wheel dynamic balance detection methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the wheel dynamic balance detection methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0150] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0151] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0152] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0153] The above is a detailed introduction to a wheel dynamic balance detection method, system, device, controller, vehicle and medium provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A wheel dynamic balance detection method, characterized in that: include: Acquiring the acceleration of the vehicle during driving, and acquiring the actual wheel speed of the target wheel of the vehicle; If the amplitude change of the acceleration satisfies the first abnormal condition, and the actual wheel speed of the target wheel satisfies the second abnormal condition, it is determined that the target wheel is not in a dynamic balance state.

2. The method according to claim 1, characterized in that The first abnormal condition includes acceleration exceeding a preset acceleration range.

3. The method according to claim 1, characterized in that The second abnormal condition includes that the actual wheel speed exceeds a preset wheel speed range.

4. The method according to claim 1, characterized in that: The second abnormal condition includes that the wheel speed difference between the actual wheel speed and the reference wheel speed is greater than a preset threshold; If the amplitude change of the acceleration satisfies a first abnormal condition, and the actual wheel speed of the target wheel satisfies a second abnormal condition, determining that the target wheel is not in a dynamic balance state comprises: Obtaining a target wheel speed difference between an actual wheel speed of the target wheel and a reference wheel speed; If the amplitude change of the acceleration satisfies the first abnormal condition and the target wheel speed difference exceeds the preset threshold, it is determined that the target wheel is not in a dynamic balance state.

5. The method according to claim 4, characterized in that The step of obtaining a target wheel speed difference between the actual wheel speed of the target wheel and the reference wheel speed comprises: Acquiring the wheel speed of the target wheel during the driving of the vehicle; Calculating a reference wheel speed of the target wheel according to the wheel speed and a preset size of the target wheel; A target wheel speed difference between the actual wheel speed of the target wheel and the reference wheel speed is calculated.

6. The method according to claim 1, characterized in that The method further comprises: A target message is sent to a target device so that the target device outputs a prompt message indicating that the target wheel is not in a dynamic balance state based on the target message. The target device includes at least one of an instrument, a display device, an audio output device, and a terminal bound to the vehicle.

7. The method according to claim 6, characterized in that Determining whether the target wheel is in a dynamic balance state at a preset period, and sending a target message to a target device, comprises: If it is determined in all historical cycles of the current cycle that the target wheel is not in a dynamic balance state, the target message is sent to the target device.

8. A wheel dynamic balance detection system, characterized in that: The wheel dynamic balance detection system includes an intelligent power braking system, and the intelligent power braking system is used to: Acquiring the acceleration of the vehicle during driving, and acquiring the actual wheel speed of the target wheel of the vehicle; If the amplitude change of the acceleration satisfies the first abnormal condition, and the actual wheel speed of the target wheel satisfies the second abnormal condition, it is determined that the target wheel is not in a dynamic balance state.

9. The system according to claim 8, characterized in that The wheel dynamic balance detection system further includes a wheel speed sensor and a yaw rate sensor, wherein the wheel speed sensor is used to detect the actual wheel speed of the target wheel, and the yaw rate sensor is used to detect the acceleration of the vehicle.

10. The system according to claim 8, characterized in that The wheel dynamic balance detection system also includes a vehicle body controller, wherein: The intelligent dynamic braking system is used to periodically send a target message to the vehicle body controller according to whether the target wheel is in a dynamic balance state; The vehicle body controller is used to receive the target message sent by the intelligent power brake system, and if multiple frames of target messages received continuously indicate that the target wheel is not in a dynamic balance state, send a prompt message to the target device; The target device includes at least one of an instrument, a display device, an audio output device, and a terminal bound to the vehicle.

11. A wheel dynamic balance detection device, characterized in that: include: An acquisition unit, used to acquire the acceleration of the vehicle during driving, and to acquire the actual wheel speed of the target wheel of the vehicle; The detection unit is used to determine that the target wheel is not in a dynamic balance state if the amplitude change of the acceleration satisfies a first abnormal condition and the actual wheel speed of the target wheel satisfies a second abnormal condition.

12. A controller, characterized in that: It comprises a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the wheel dynamic balance detection method according to any one of claims 1 to 7.

13. A vehicle, characterized in that: It comprises the controller of claim 12, and the wheel dynamic balance detection method of any one of claims 1 to 7 is executed by the controller.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is loaded by a processor to execute the wheel dynamic balance detection method according to any one of claims 1 to 7.

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