Multifunctional tire monitoring method and system capable of sensing tire parameters

Abstract

The invention relates to a multifunctional tire monitoring method and system capable of sensing tire parameters, and the method comprises the steps: firstly, obtaining tire temperature, tire pressure and acceleration data of tires at all wheel positions in real time through a tire sensor, and transmitting the tire temperature, tire pressure and acceleration data to a tire pressure controller; secondly, the tire pressure controller obtains the tire load of the tire at each wheel position according to tire temperature, tire pressure and acceleration data processing; then, the calibrated tire pressure corresponding to the tire load of the tire at each wheel position is inquired, and the calibrated tire pressure is compared with the real-time tire pressure; when the absolute value of the difference value between the calibrated tire pressure and the real-time tire pressure exceeds a set threshold value, the tire load and the difference value are sent to an inflation and deflation controller; and finally, the inflation and deflation controller performs inflation and deflation control on the tire according to the difference value, so that the real-time tire pressure of the tire tends to the calibrated tire pressure. The tire pressure of the tire can be adjusted in real time according to the load change of the tire, the abnormal wear of the tire, especially the wear of a tire shoulder, can be effectively reduced, the average service life of the tire is prolonged, and the cost is saved.

Description

Technical Field

[0001] The present application relates to the technical field of tire monitoring, and in particular to a multifunctional tire monitoring method and system for sensing tire parameters. Background Art

[0002] At present, most tractor and cargo trucks consider operating costs, and are generally fully loaded on both the outbound and return trips. The load on each tire does not change much, so the air pressure of each tire can be basically maintained unchanged; only when the tire pressure is higher or lower than the normal pressure, manual deflation or inflation operations are performed to maintain the balance of wheel load and tire pressure.

[0003] However, for some special vehicles (such as hazardous chemicals tractor / cargo trucks, resource transport tractors), the outbound trip is generally fully loaded and the return trip is empty, so the wheel load difference between the outbound and return trips is large. Because wheel load and tire pressure correspond to each other, that is, high wheel load corresponds to high tire pressure, low wheel load corresponds to low tire pressure, and the ground contact performance of the tire is related to wheel load and tire pressure.

[0004] Therefore, when the tire pressure remains unchanged and the wheel load increases / decreases alternately, the tire's ground contact performance deteriorates, which may cause abnormal tire wear, especially the steering wheel will have uneven shoulder wear. Under different tire pressures and wheel loads, the tire's ground contact rectangularization is different, and the ground contact performance is different.

[0005] In addition, in order to save fuel, vehicle users usually set the tire pressure to 0.5-1 bar higher than the standard value. If the tire pressure is too high, the tire's ground contact performance will also deteriorate, which will reduce the rectangularization rate of the ground contact footprint and easily cause tire shoulder wear.

[0006] When the tire pressure is high, the tire contact area becomes smaller, the grip is reduced, and it may cause safety problems; when driving in desert areas, too high tire pressure will also reduce the vehicle's passability. Low tire pressure will also cause friction and heat, causing the tire to fail early, reducing its service life, and even causing a tire blowout. Summary of the invention

[0007] The embodiments of the present application provide a multifunctional tire monitoring method and system with tire parameter perception to solve the problem in the related art that the tire pressure cannot be adaptively adjusted according to the change of wheel load when the vehicle is empty or fully loaded, resulting in abnormal tire wear and poor ground contact performance.

[0008] A first aspect of an embodiment of the present application provides a multifunctional tire monitoring method for tire parameter perception, the method comprising:

[0009] Use tire sensors to obtain tire temperature, tire pressure, and acceleration data of each wheel position in real time and transmit them to the tire pressure controller;

[0010] The tire pressure controller processes the tire temperature, tire pressure, and acceleration data to obtain the tire load of each wheel position;

[0011] Query the calibrated tire pressure corresponding to the tire load of each wheel position, and compare the calibrated tire pressure with the real-time tire pressure;

[0012] When the absolute value of the difference between the calibrated tire pressure and the real-time tire pressure exceeds the set threshold, the tire load and the difference are sent to the inflation and deflation controller;

[0013] The inflation and deflation controller controls the inflation and deflation of the tire according to the difference, so that the real-time tire pressure tends to the calibrated tire pressure.

[0014] In some embodiments: the tire sensor includes a temperature sensor, a pressure sensor, and an acceleration sensor built into the tire, and the temperature sensor, the pressure sensor, and the acceleration sensor are all connected to the tire pressure controller.

[0015] In some embodiments: the tire pressure controller converts tire temperature, tire pressure, and acceleration data collected by the temperature sensor, pressure sensor, and acceleration sensor into tire temperature values, tire pressure values, and acceleration values;

[0016] The tire pressure controller is connected to the automobile instrument and sends the tire temperature value, tire pressure value, acceleration value and tire load value to the automobile instrument for display.

[0017] In some embodiments: the acceleration data includes obtaining the radial acceleration of the tire and the centripetal acceleration of the tire;

[0018] The tire pressure controller calculates the length of the tire contact footprint when the tire rolls according to the radial acceleration, and calculates the rolling speed of the tire when the tire rolls according to the centripetal acceleration;

[0019] The tire pressure controller establishes a functional relationship according to the footprint length, rolling speed and real-time tire pressure to obtain the vertical load on the tire.

[0020] In some embodiments: the tire pressure controller includes a processor and a memory, the memory stores the calibrated tire pressure corresponding to each tire load, and the processor selects the calibrated tire pressure corresponding to each tire load stored in the memory according to the tire load of each wheel position.

[0021] A second aspect of an embodiment of the present application provides a multifunctional tire monitoring system for tire parameter perception, comprising:

[0022] A tire sensor, which is used to obtain tire temperature, tire pressure, and acceleration data of each wheel position tire in real time and transmit the data to the tire pressure controller;

[0023] A tire pressure controller, which processes tire temperature, tire pressure, and acceleration data to obtain tire loads of tires at each wheel position;

[0024] A query and comparison module, which is used to query the calibrated tire pressure corresponding to the tire load of each wheel position tire, and compare the calibrated tire pressure with the real-time tire pressure;

[0025] A judgment module, wherein when the absolute value of the difference between the calibrated tire pressure and the real-time tire pressure exceeds a set threshold, the judgment module is used to send the tire load and the difference to the inflation and deflation controller;

[0026] The inflation and deflation controller is used to control the inflation and deflation of the tire according to the difference, so that the real-time tire pressure of the tire tends to the calibrated tire pressure.

[0027] In some embodiments: the tire sensor includes a temperature sensor, a pressure sensor, and an acceleration sensor built into the tire, and the temperature sensor, the pressure sensor, and the acceleration sensor are all connected to the tire pressure controller.

[0028] In some embodiments: the tire pressure controller converts tire temperature, tire pressure, and acceleration data collected by the temperature sensor, pressure sensor, and acceleration sensor into tire temperature values, tire pressure values, and acceleration values;

[0029] The tire pressure controller is connected to the automobile instrument and sends the tire temperature value, tire pressure value, acceleration value and tire load value to the automobile instrument for display.

[0030] In some embodiments: the acceleration data includes obtaining the radial acceleration of the tire and the centripetal acceleration of the tire;

[0031] The tire pressure controller calculates the length of the tire contact footprint when the tire rolls according to the radial acceleration, and calculates the rolling speed of the tire when the tire rolls according to the centripetal acceleration;

[0032] The tire pressure controller establishes a functional relationship according to the footprint length, rolling speed and real-time tire pressure to obtain the vertical load on the tire.

[0033] In some embodiments: the tire pressure controller includes a processor and a memory, the memory stores the calibrated tire pressure corresponding to each tire load, and the processor selects the calibrated tire pressure corresponding to each tire load stored in the memory according to the tire load of each wheel position.

[0034] The beneficial effects of the technical solution provided by this application include:

[0035] The embodiment of the present application provides a multifunctional tire monitoring method and system with tire parameter perception. The multifunctional tire monitoring method with tire parameter perception of the present application first uses tire sensors to obtain the tire temperature, tire pressure, and acceleration data of each wheel position in real time, and transmits them to the tire pressure controller; secondly, the tire pressure controller obtains the tire load of each wheel position according to the tire temperature, tire pressure, and acceleration data; then, the calibrated tire pressure corresponding to the tire load of each wheel position is queried, and the calibrated tire pressure is compared with the real-time tire pressure; next, when the absolute value of the difference between the calibrated tire pressure and the real-time tire pressure exceeds the set threshold, the tire load and the difference are sent to the inflation and deflation controller; finally, the inflation and deflation controller controls the inflation and deflation of the tire according to the difference, so that the real-time tire pressure of the tire tends to the calibrated tire pressure.

[0036] Therefore, the tire parameter-aware multifunctional tire monitoring method of the present application configures tire sensors for real-time monitoring of tire temperature, tire pressure, and acceleration data in each wheel position tire. The tire pressure controller can process the tire temperature, tire pressure, and acceleration data monitored by the tire sensor to obtain the tire load of each wheel position, and the size of the tire load can reflect the load change of the vehicle. According to the tire load, the calibrated tire pressure under the tire load calibrated in advance is queried. If the real-time tire pressure is inconsistent, the inflation and deflation controller is used to control the inflation and deflation of the tire, so that the real-time tire pressure of the tire tends to the calibrated tire pressure. In addition, the tire pressure can be adjusted in real time according to the change of tire load, which can effectively reduce abnormal tire wear, especially shoulder wear, increase the average life of the tire, and save costs. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0038] Figure 1 A flowchart of a multifunctional tire pressure monitoring method according to an embodiment of the present application;

[0039] Figure 2 A structural block diagram of a multifunctional tire pressure monitoring system according to an embodiment of the present application;

[0040] Figure 3 This is a structural block diagram of a tire pressure controller according to an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0042] The embodiments of the present application provide a multifunctional tire monitoring method and system with tire parameter perception, which can solve the problem in the related art that the tire pressure cannot be adaptively adjusted according to the change of wheel load when the vehicle is empty or fully loaded, resulting in abnormal tire wear and poor ground contact performance.

[0043] See also Figure 1 As shown, the first aspect of the embodiment of the present application provides a multifunctional tire monitoring method for tire parameter perception, the method comprising the following steps:

[0044] Step 101, using tire sensors to obtain tire temperature T, tire pressure P0, and acceleration A data of tires at each wheel position in real time, and transmit them to a tire pressure controller via wireless.

[0045] Step 102: The tire pressure controller processes the tire temperature T, tire pressure P0, and acceleration A data acquired in real time to obtain the tire load F of each wheel position. Z .

[0046] Step 103, query the tire load F of each wheel position tire Z The corresponding calibrated tire pressure P is compared with the real-time tire pressure P0.

[0047] Step 104: When the absolute value of the difference between the calibrated tire pressure P and the real-time tire pressure P0 exceeds a set threshold, the tire load F Z , the difference is sent to the inflation and deflation controller.

[0048] Step 105 , the inflation / deflation controller controls the inflation / deflation of the tire according to the difference, so that the real-time tire pressure P0 of the tire approaches the calibrated tire pressure P, until P0=P.

[0049] The multifunctional tire monitoring method with tire parameter perception in the embodiment of the present application configures tire sensors in the tires of each wheel position to monitor the tire temperature, tire pressure, and acceleration data of the tires in real time.

[0050] The tire pressure controller can process the tire temperature, tire pressure, and acceleration data monitored by the tire sensor to obtain the tire load of each wheel position. The size of the tire load can reflect the load change of the vehicle.

[0051] The calibrated tire pressure under the tire load calibrated in advance is queried according to the tire load. If the real-time tire pressure is inconsistent with the calibrated tire pressure, the inflation and deflation controller is used to control the inflation and deflation of the tire so that the real-time tire pressure of the tire tends to the calibrated tire pressure.

[0052] The tire pressure can then be adjusted in real time according to changes in tire load, which can effectively reduce abnormal tire wear, especially shoulder wear, increase the average tire life, and save costs.

[0053] In some optional embodiments: The embodiments of the present application provide a multifunctional tire monitoring method for tire parameter perception, and the tire sensor used in the multifunctional tire pressure monitoring method includes a temperature sensor, a pressure sensor, and an acceleration sensor built into the tire, and the temperature sensor, pressure sensor, and acceleration sensor are all connected to the tire pressure controller.

[0054] The temperature sensor, pressure sensor, and acceleration sensor are all connected to the tire pressure controller wirelessly. The tire pressure controller converts the tire temperature T, tire pressure P0, and acceleration A data collected by the temperature sensor, pressure sensor, and acceleration sensor into tire temperature values, tire pressure values, and acceleration values. The tire pressure controller is connected to the vehicle instrument and sends the tire temperature value, tire pressure value, acceleration value, and tire load value to the vehicle instrument for display.

[0055] In some optional embodiments: The embodiment of the present application provides a multifunctional tire monitoring method for tire parameter perception, in which the acceleration data includes obtaining the radial acceleration of the tire and the centripetal acceleration of the tire. The tire pressure controller calculates the footprint length a of the tire when it rolls based on the radial acceleration, and calculates the rolling speed V of the tire when it rolls based on the centripetal acceleration. The tire pressure controller establishes a functional relationship based on the footprint length a, the rolling speed v and the real-time tire pressure P0 to obtain the vertical load F on the tire. Z .

[0056] Vertical load F on tire Z =f(P0, v, a);

[0057] Where: P0 is the real-time tire pressure; V is the rolling speed of the tire when it rolls; a is the length of the footprint of the tire when it rolls.

[0058] Imprint length

[0059] Where:

[0060] a is the length of the tire's contact patch when it rolls;

[0061] R0 is the free rolling radius of the tire;

[0062] F Z is the tire vertical force;

[0063] C Z is the vertical stiffness of the tire;

[0064] a1 and b1 are the coefficients to be fitted;

[0065] m and n are the number of fits to be performed.

[0066] In some alternative embodiments: See Figure 3 As shown, the embodiment of the present application provides a multifunctional tire monitoring method for tire parameter perception, in which a tire pressure controller includes a processor and a memory, the memory stores the calibrated tire pressure corresponding to each tire load, and the processor obtains the tire load F of each wheel position tire. Z The calibrated tire pressure corresponding to each tire load stored in the memory is selected.

[0067] In the embodiment of the present application, a calibrated tire pressure P of a set tire load is stored in advance in the memory of the tire pressure controller. The calibrated tire pressure P is effective for the tire load F. Z The tire ground contact performance reaches the best state, which can effectively reduce abnormal tire wear, especially shoulder wear, and the average life can be increased by 20%.

[0068] See also Figure 2 As shown, the second aspect of the embodiment of the present application provides a multifunctional tire monitoring system for tire parameter perception, comprising:

[0069] Tire sensor: This tire sensor is used to obtain the tire temperature T, tire pressure P0, and acceleration A data of each wheel position tire in real time, and transmit them to the tire pressure controller wirelessly.

[0070] The tire pressure controller processes the tire temperature T, tire pressure P0, and acceleration A data to obtain the tire load F of each wheel position tire. Z .

[0071] A query comparison module is used to query the tire load F of each wheel position tire. Z The corresponding calibrated tire pressure P is compared with the real-time tire pressure P0.

[0072] The judgment module is used to adjust the tire load F when the absolute value of the difference between the calibrated tire pressure P and the real-time tire pressure P0 exceeds a set threshold. Z , the difference is sent to the inflation and deflation controller.

[0073] The inflation and deflation controller is used to control the inflation and deflation of the tire according to the difference, so that the real-time tire pressure P0 of the tire tends to the calibrated tire pressure P until P0=P.

[0074] The tire parameter-aware multifunctional tire monitoring system of the embodiment of the present application is equipped with tire sensors in each wheel position to monitor the tire temperature, tire pressure, and acceleration data of the tire in real time.

[0075] The tire pressure controller can process the tire temperature, tire pressure, and acceleration data monitored by the tire sensor to obtain the tire load of each wheel position. The size of the tire load can reflect the load change of the vehicle.

[0076] The calibrated tire pressure under the tire load calibrated in advance is queried according to the tire load. If the real-time tire pressure is inconsistent with the calibrated tire pressure, the inflation and deflation controller is used to control the inflation and deflation of the tire so that the real-time tire pressure of the tire tends to the calibrated tire pressure.

[0077] The tire pressure can then be adjusted in real time according to changes in tire load, which can effectively reduce abnormal tire wear, especially shoulder wear, increase the average tire life, and save costs.

[0078] When the difference is positive (i.e. the calibrated tire pressure P is greater than the real-time tire pressure P0), the inflation and deflation controller opens the air path connected to the tire by controlling the inflation and deflation solenoid valve to inflate the tire until the pressure inside the tire reaches the calibrated tire pressure P and then stops inflating.

[0079] When the difference is negative (i.e. the calibrated tire pressure P is less than the real-time tire pressure P0), the inflation and deflation controller opens the pressure relief passage to discharge the gas in the tire by controlling the inflation and deflation solenoid valve, and stops deflation after the pressure in the tire reaches the calibrated tire pressure P.

[0080] In some optional embodiments: The embodiments of the present application provide a multifunctional tire monitoring system for tire parameter perception, and the tire sensors used in the multifunctional tire pressure monitoring system include a temperature sensor, a pressure sensor, and an acceleration sensor built into the tire, and the temperature sensor, the pressure sensor, and the acceleration sensor are all connected to the tire pressure controller.

[0081] The temperature sensor, pressure sensor, and acceleration sensor are all connected to the tire pressure controller wirelessly. The tire pressure controller converts the tire temperature T, tire pressure P0, and acceleration A data collected by the temperature sensor, pressure sensor, and acceleration sensor into tire temperature values, tire pressure values, and acceleration values. The tire pressure controller is connected to the vehicle instrument and sends the tire temperature value, tire pressure value, acceleration value, and tire load value to the vehicle instrument for display.

[0082] In some optional embodiments: The embodiment of the present application provides a multifunctional tire monitoring system with tire parameter perception, in which the acceleration data in the multifunctional tire pressure monitoring system includes obtaining the radial acceleration of the tire and the centripetal acceleration of the tire. The tire pressure controller calculates the footprint length a of the tire when it rolls based on the radial acceleration, and calculates the rolling speed V of the tire when it rolls based on the centripetal acceleration. The tire pressure controller establishes a functional relationship based on the footprint length a, the rolling speed v and the real-time tire pressure P0 to obtain the vertical load F on the tire. Z .

[0083] Vertical load F on tire Z =f(P0, v, a);

[0084] Where: P0 is the real-time tire pressure; V is the rolling speed of the tire when it rolls; a is the length of the footprint of the tire when it rolls.

[0085] Imprint length

[0086] Where:

[0087] a is the length of the tire's contact patch when it rolls;

[0088] R0 is the free rolling radius of the tire;

[0089] F Z is the tire vertical force;

[0090] C Z is the vertical stiffness of the tire;

[0091] a1 and b1 are the coefficients to be fitted;

[0092] m and n are the number of fits to be performed.

[0093] In some alternative embodiments: See Figure 3 As shown, the embodiment of the present application provides a multifunctional tire monitoring system for tire parameter perception, in which a tire pressure controller includes a processor and a memory, the memory stores the calibrated tire pressure corresponding to each tire load, and the processor obtains the tire load F of each wheel position tire. Z The calibrated tire pressure corresponding to each tire load stored in the memory is selected.

[0094] In the embodiment of the present application, a calibrated tire pressure P of a set tire load is stored in advance in the memory of the tire pressure controller. The calibrated tire pressure P is effective for the tire load F. Z The tire ground contact performance reaches the best state, which can effectively reduce abnormal tire wear, especially shoulder wear, and the average life can be increased by 20%.

[0095] A third aspect of the embodiments of the present application provides an electronic device, including:

[0096] At least one processor, at least one memory, and computer program instructions stored in the memory, when the computer program instructions are executed by the processor, implement the method described in any of the above embodiments.

[0097] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium having computer program instructions stored thereon, which implement the method described in any of the above embodiments when the computer program instructions are executed by a processor.

[0098] How it works

[0099] The embodiment of the present application provides a multifunctional tire monitoring method and system with tire parameter perception. The multifunctional tire monitoring method with tire parameter perception of the present application first uses tire sensors to obtain the tire temperature, tire pressure, and acceleration data of each wheel position in real time, and transmits them to the tire pressure controller; secondly, the tire pressure controller obtains the tire load of each wheel position according to the tire temperature, tire pressure, and acceleration data; then, the calibrated tire pressure corresponding to the tire load of each wheel position is queried, and the calibrated tire pressure is compared with the real-time tire pressure; next, when the absolute value of the difference between the calibrated tire pressure and the real-time tire pressure exceeds the set threshold, the tire load and the difference are sent to the inflation and deflation controller; finally, the inflation and deflation controller controls the inflation and deflation of the tire according to the difference, so that the real-time tire pressure of the tire tends to the calibrated tire pressure.

[0100] Therefore, the tire parameter-aware multifunctional tire monitoring method of the present application configures tire sensors for real-time monitoring of tire temperature, tire pressure, and acceleration data in each wheel position tire. The tire pressure controller can process the tire temperature, tire pressure, and acceleration data monitored by the tire sensor to obtain the tire load of each wheel position, and the size of the tire load can reflect the load change of the vehicle. According to the tire load, the calibrated tire pressure under the tire load calibrated in advance is queried. If the real-time tire pressure is inconsistent, the inflation and deflation controller is used to control the inflation and deflation of the tire, so that the real-time tire pressure of the tire tends to the calibrated tire pressure. In addition, the tire pressure can be adjusted in real time according to the change of tire load, which can effectively reduce abnormal tire wear, especially shoulder wear, increase the average life of the tire, and save costs.

[0101] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0102] In the present disclosure, a computer readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, a computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.

[0103] The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0104] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0105] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0106] The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the electronic device, the electronic device: obtains scene observation information including lane lines in real time through sensors; determines multiple feature points based on the scene observation information, and the feature points are used to characterize the position and posture of the lane lines in the scene observation information; determines the lane line information of the lane lines using the multiple feature points; and determines the position and posture information of the vehicle through the lane line information.

[0107] Optionally, when the above one or more programs are executed by the electronic device, the electronic device may also execute other steps described in the above embodiments.

[0108] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0109] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0110] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0111] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0112] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0113] In the embodiment of the present invention, the scene observation information including the lane line is first obtained in real time through the sensor, and multiple feature points are determined based on the scene observation information. The feature points are used to characterize the position and posture of the lane line in the scene observation information. The lane line information of the lane line is determined using the multiple feature points, and the position and posture information of the vehicle is determined by the lane line information. Compared with the related technologies, the problem of high cost, low accuracy and poor model fitting effect of vehicle positioning is solved. On the basis of ensuring the overall positioning accuracy, the implementation cost is low and the robustness is high. It can accurately identify the lane line and accurately position the vehicle during the automatic driving process to ensure driving safety.

[0114] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0115] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0116] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0118] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0119] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A multifunctional tire monitoring method for tire parameter perception, characterized in that: The method comprises: Use tire sensors to obtain tire temperature, tire pressure, and acceleration data of each wheel position in real time and transmit them to the tire pressure controller; The tire pressure controller processes the tire temperature, tire pressure, and acceleration data to obtain the tire load of each wheel position; Query the calibrated tire pressure corresponding to the tire load of each wheel position, and compare the calibrated tire pressure with the real-time tire pressure; When the absolute value of the difference between the calibrated tire pressure and the real-time tire pressure exceeds the set threshold, the tire load and the difference are sent to the inflation and deflation controller; The inflation and deflation controller controls the inflation and deflation of the tire according to the difference, so that the real-time tire pressure tends to the calibrated tire pressure.

2. A multifunctional tire monitoring method for tire parameter perception as claimed in claim 1, characterized in that: The tire sensor includes a temperature sensor, a pressure sensor, and an acceleration sensor built into the tire, and the temperature sensor, the pressure sensor, and the acceleration sensor are all connected to the tire pressure controller.

3. A multifunctional tire monitoring method for tire parameter perception as claimed in claim 2, characterized in that: The tire pressure controller converts tire temperature, tire pressure, and acceleration data collected by the temperature sensor, pressure sensor, and acceleration sensor into tire temperature values, tire pressure values, and acceleration values; The tire pressure controller is connected to the automobile instrument and sends the tire temperature value, tire pressure value, acceleration value and tire load value to the automobile instrument for display.

4. The multifunctional tire monitoring method for tire parameter perception according to claim 1, characterized in that: The acceleration data includes obtaining the radial acceleration of the tire and the centripetal acceleration of the tire; The tire pressure controller calculates the length of the tire contact footprint when the tire rolls according to the radial acceleration, and calculates the rolling speed of the tire when the tire rolls according to the centripetal acceleration; The tire pressure controller establishes a functional relationship according to the footprint length, rolling speed and real-time tire pressure to obtain the vertical load on the tire.

5. The multifunctional tire monitoring method for tire parameter perception according to claim 1, characterized in that: The tire pressure controller includes a processor and a memory, wherein the memory stores the calibrated tire pressure corresponding to each tire load, and the processor selects the calibrated tire pressure corresponding to each tire load stored in the memory according to the tire load of each wheel position obtained.

6. A multifunctional tire monitoring system for tire parameter perception, characterized in that: include: A tire sensor, which is used to obtain tire temperature, tire pressure, and acceleration data of each wheel position tire in real time and transmit the data to the tire pressure controller; A tire pressure controller, which processes tire temperature, tire pressure, and acceleration data to obtain tire loads of tires at each wheel position; A query and comparison module, which is used to query the calibrated tire pressure corresponding to the tire load of each wheel position tire, and compare the calibrated tire pressure with the real-time tire pressure; A judgment module, wherein when the absolute value of the difference between the calibrated tire pressure and the real-time tire pressure exceeds a set threshold, the judgment module is used to send the tire load and the difference to the inflation and deflation controller; The inflation and deflation controller is used to control the inflation and deflation of the tire according to the difference, so that the real-time tire pressure of the tire tends to the calibrated tire pressure.

7. A multifunctional tire monitoring system for tire parameter perception as claimed in claim 6, characterized in that: The tire sensor includes a temperature sensor, a pressure sensor, and an acceleration sensor built into the tire, and the temperature sensor, the pressure sensor, and the acceleration sensor are all connected to the tire pressure controller.

8. A multifunctional tire monitoring system for tire parameter perception as claimed in claim 7, characterized in that: The tire pressure controller converts tire temperature, tire pressure, and acceleration data collected by the temperature sensor, pressure sensor, and acceleration sensor into tire temperature values, tire pressure values, and acceleration values; The tire pressure controller is connected to the automobile instrument and sends the tire temperature value, tire pressure value, acceleration value and tire load value to the automobile instrument for display.

9. The multifunctional tire monitoring system for tire parameter perception according to claim 6, characterized in that: The acceleration data includes obtaining the radial acceleration of the tire and the centripetal acceleration of the tire; The tire pressure controller calculates the length of the tire contact footprint when the tire rolls according to the radial acceleration, and calculates the rolling speed of the tire when the tire rolls according to the centripetal acceleration; The tire pressure controller establishes a functional relationship according to the footprint length, rolling speed and real-time tire pressure to obtain the vertical load on the tire.

10. The multifunctional tire monitoring system for tire parameter perception according to claim 6, characterized in that: The tire pressure controller includes a processor and a memory, wherein the memory stores the calibrated tire pressure corresponding to each tire load, and the processor selects the calibrated tire pressure corresponding to each tire load stored in the memory according to the tire load of each wheel position obtained.

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