Method and device for acquiring lateral deviation force of tire, computer equipment and storage medium

Abstract

The invention relates to the technical field of vehicles, and discloses a method and a device for acquiring lateral deviation force of a tire, computer equipment and a storage medium, the method comprises the following steps: determining a target time period of the tire, the target time period is the time period between the time for collecting the minimum value of the circumferential acceleration of the tire in the process of rotating the tire by one circle and the time for collecting the maximum value of the circumferential acceleration of the tire in the process; obtaining the lateral displacement of the tire in each target time period according to the lateral acceleration data of the tire in each target time period; obtaining a side slip angle of the tire in each target time period according to the lateral displacement of the tire in each target time period; according to the side slip angle of the tire in each target time period, the side slip force of the tire is obtained.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technologies, and particularly to a method, an apparatus, a computer device, and a storage medium for obtaining the lateral force of a tire. Background Art

[0002] As the only component of a vehicle that contacts the ground, the vehicle's tire directly affects the driving dynamic performance of the vehicle. During the vehicle's driving process, the lateral force of the vehicle's tire is a key parameter for measuring the vehicle's lateral stability and steering performance. In order to perform real-time monitoring and control of the vehicle, it is necessary to obtain the lateral force of the tire.

[0003] In the related art, the lateral force of the tire is obtained through the overall dynamic response of the vehicle. Obtaining the lateral force of the tire through the overall dynamic response of the vehicle is a method of indirectly deriving the lateral force of the tire, and the data used has a low correlation with the running condition of the tire, resulting in a low accuracy of the obtained lateral force of the tire. Summary of the Invention

[0004] In view of this, embodiments of the present disclosure provide a method, an apparatus, a computer device, and a storage medium for obtaining the lateral force of a tire.

[0005] In a first aspect, embodiments of the present disclosure provide a method for obtaining the lateral force of a tire, the method including:

[0006] Determine a target time period of the tire, where the target time period is the time period between the time when the minimum value of the circumferential acceleration of the tire is collected and the time when the maximum value of the circumferential acceleration of the tire is collected during one rotation of the tire;

[0007] Obtain the lateral displacement of the tire in each target time period according to the lateral acceleration data of the tire in each target time period;

[0008] Obtain the slip angle of the tire in each target time period according to the lateral displacement of the tire in each target time period;

[0009] Obtain the lateral force of the tire according to the slip angle of the tire in each target time period. In a possible implementation manner, obtaining the lateral displacement of the tire in each target time period according to the lateral acceleration data of the tire in each target time period includes:

[0010] Perform a Fourier transform on the lateral acceleration data of the tire in the target time period to obtain a frequency domain signal corresponding to the lateral acceleration data of the tire in the target time period;

[0011] Obtain an integration result corresponding to the lateral acceleration data of the tire within a target time period according to the frequency-domain signal;

[0012] Obtain the lateral displacement of the tire within the target time period according to the integration result.

[0013] In a possible implementation manner, obtaining the lateral displacement of the tire within the target time period according to the integration result includes:

[0014] When the frequency of any component in the integration result is within a preset frequency range, perform an inverse Fourier transform on the integration result to obtain the lateral displacement of the tire within the target time period;

[0015] When the integration result includes components with frequencies within the preset frequency range and the integration result includes components with frequencies not within the preset frequency range, remove the components with frequencies not within the preset frequency range from the integration result to obtain a processed integration result, and perform an inverse Fourier transform on the processed integration result to obtain the lateral displacement of the tire within the target time period.

[0016] In a possible implementation manner, obtaining the lateral force of the tire according to the sideslip angle of the tire within each target time period includes:

[0017] Determine the total sideslip angle of the tire as the sum of the sideslip angles of the tire within each target time period;

[0018] Divide the total sideslip angle by the number of target time periods to obtain the target sideslip angle of the tire;

[0019] Obtain the lateral force of the tire according to the target sideslip angle.

[0020] In a possible implementation manner, each target time period is a sub-time period of a monitoring time period, the duration of the monitoring time period is a preset duration, and the end moment of the monitoring time period is the current moment.

[0021] In a possible implementation manner, obtaining the lateral force of the tire according to the target sideslip angle includes:

[0022] Determine the working conditions for obtaining the lateral force of the tire. The working conditions for obtaining the lateral force of the tire include: the load of the tire, the vehicle speed of the target vehicle to which the tire belongs;

[0023] Obtain a plurality of calibrated lateral stiffness values, where each calibrated lateral stiffness value corresponds to different calibration working conditions. The calibration working conditions include: the calibration load, the calibration vehicle speed;

[0024] Determine the target cornering stiffness value of the tire from multiple calibrated cornering stiffness values according to the working conditions for obtaining the cornering force of the tire and the working conditions for calibration corresponding to each calibrated cornering stiffness value;

[0025] Obtain the cornering force of the tire according to the target slip angle and the target cornering stiffness value.

[0026] In a second aspect, an embodiment of the present disclosure provides a device for obtaining the cornering force of a tire, which is installed on a vehicle. The device for obtaining the cornering force of the tire includes:

[0027] A target time period determination unit for determining the target time period of the tire, where the target time period is the time period between the time when the minimum value of the circumferential acceleration of the tire is collected and the time when the maximum value of the circumferential acceleration of the tire is collected during one rotation of the tire;

[0028] A lateral displacement acquisition unit for acquiring the lateral displacement of the tire in each target time period according to the lateral acceleration data of the tire in each target time period;

[0029] A slip angle acquisition unit for acquiring the slip angle of the tire in each target time period according to the lateral displacement of the tire in each target time period;

[0030] A cornering force acquisition unit for acquiring the cornering force of the tire according to the slip angle of the tire in each target time period.

[0031] In a possible implementation, the lateral displacement determination unit is further configured to perform a Fourier transform on the lateral acceleration data of the tire in the target time period to obtain a frequency domain signal corresponding to the lateral acceleration data of the tire in the target time period; obtain an integration result corresponding to the lateral acceleration data of the tire in the target time period according to the frequency domain signal; and acquire the lateral displacement of the tire in the target time period according to the integration result.

[0032] In a possible implementation, the lateral displacement determination unit is further configured to perform an inverse Fourier transform on the integration result when the frequency of any component in the integration result is within a preset frequency range to obtain the lateral displacement of the tire in the target time period; when the integration result includes components with frequencies within the preset frequency range and the integration result includes components with frequencies not within the preset frequency range, remove the components with frequencies not within the preset frequency range from the integration result to obtain a processed integration result, and perform an inverse Fourier transform on the processed integration result to obtain the lateral displacement of the tire in the target time period.

[0033] In a possible implementation, the cornering force determination unit is further configured to determine the sum of the cornering angles of the tire in each target time period as the total cornering angle of the tire; divide the total cornering angle by the number of target time periods to obtain the target cornering angle of the tire; and obtain the cornering force of the tire according to the target cornering angle.

[0034] In a possible implementation, each of the target time periods is a sub-time period of a monitoring time period, the duration of the monitoring time period is a preset duration, and the end time of the monitoring time period is the current time.

[0035] In a possible implementation, the cornering force determination unit is further configured to determine the working conditions for obtaining the cornering force of the tire. The working conditions for obtaining the cornering force of the tire include: the load of the tire and the vehicle speed of the target vehicle to which the tire belongs; obtain a plurality of calibrated cornering stiffness values, where each calibrated cornering stiffness value corresponds to different calibration working conditions, and the calibration working conditions include: the calibration load and the calibration vehicle speed; determine the target cornering stiffness value of the tire from the plurality of calibrated cornering stiffness values according to the working conditions for obtaining the cornering force of the tire and the calibration working conditions corresponding to each calibrated cornering stiffness value; and obtain the cornering force of the tire according to the target cornering angle and the target cornering stiffness value.

[0036] In a third aspect, an embodiment of the present disclosure provides a computer device installed on a vehicle, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the method according to the first aspect or any corresponding implementation manner thereof.

[0037] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the method according to the first aspect or any corresponding implementation manner thereof.

[0038] In a fifth aspect, the present invention provides a computer program product, including computer instructions, and the computer instructions are used to cause a computer to execute the method according to the first aspect or any corresponding implementation manner thereof.

[0039] The method for obtaining the cornering force provided by the embodiment of the present disclosure obtains the lateral displacement of the tire in each target time period according to the lateral acceleration data of the tire in each target time period; obtains the cornering angle of the tire in each target time period according to the lateral displacement of the tire in each target time period; and obtains the cornering force of the tire according to the cornering angle of the tire in each target time period.

[0040] On the one hand, when obtaining the cornering force of a tire, data reflecting the operating conditions of the tire, namely the lateral acceleration data of the tire, is utilized to improve the accuracy of the obtained cornering force of the tire. On the other hand, it is considered that: the cornering force of the tire is caused by the contact deformation between the tire and the road surface. That is to say, the cornering force of the tire is caused by the deformation of the tire during the ground contact period within the time period of one tire rotation. Therefore, the lateral acceleration data of the tire collected during the ground contact period within the time period of one tire rotation is strongly correlated with the lateral displacement of the tire. In the embodiments of the present disclosure, according to the characteristic that the circumferential acceleration extreme values of the tire will appear at the start time of the ground contact period within the time period of one tire rotation and the end time of the ground contact period within the time period of one tire rotation, the ground contact period within the time period of one tire rotation, that is, the target period, can be obtained more accurately. The target period is the time period between the time of collecting the minimum circumferential acceleration of the tire during one tire rotation and the time of collecting the maximum circumferential acceleration of the tire during one tire rotation. The lateral acceleration data of the tire collected within the target period is strongly correlated with the lateral displacement of the tire. The lateral displacement is obtained by using the lateral acceleration data strongly correlated with the lateral displacement of the tire, and the accuracy of the obtained lateral displacement is relatively high. The cornering force of the tire is obtained by using the relatively accurate lateral displacement of the tire, and the accuracy of the obtained cornering force of the tire is relatively high, thus improving the accuracy of the obtained cornering force of the tire. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] Figure 1 is a schematic flowchart of a method for obtaining the cornering force of a tire provided by an embodiment of the present disclosure;

[0043] Figure 2 is a schematic diagram of an example of circumferential acceleration data and lateral acceleration data collected during multiple tire rotations;

[0044] Figure 3 is a schematic flowchart of another method for obtaining the cornering force of a tire provided by an embodiment of the present disclosure;

[0045] Figure 4 is a schematic diagram of the structure of a computer device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those skilled in the art based on the embodiments in the present disclosure without creative efforts fall within the scope of protection of the present disclosure.

[0047] Reference Figure 1 , which shows a schematic flowchart of a method for obtaining the cornering force of a tire provided by an embodiment of the present disclosure.

[0048] In step S101, determine the target time period of the tire.

[0049] Among them, the tire can be any tire of a vehicle to which the method for obtaining the cornering force of a tire provided by an embodiment of the present disclosure can be applied.

[0050] In an embodiment of the present disclosure, a tire sensor can be pasted inside the tire. The tire sensor installed on the tire periodically collects the circumferential acceleration in the x direction of the tire, i.e., the circumferential acceleration, the lateral acceleration in the y direction of the tire, and the acceleration in the z direction of the tire according to the sampling rate of the tire sensor, and obtains the circumferential acceleration data in the x direction of the tire, i.e., the circumferential acceleration data, the lateral acceleration data in the y direction of the tire, and the acceleration data in the z direction of the tire.

[0051] As an example, the sampling rate of the tire sensor installed on the tire is 1600 Hz.

[0052] In an embodiment of the present disclosure, the target time period is: the time period between the time when the minimum value of the circumferential acceleration of the tire is collected and the time when the maximum value of the circumferential acceleration of the tire is collected during one rotation of the tire.

[0053] Among them, the time when the minimum value of the circumferential acceleration of the tire is collected is the collection time of the minimum value of the circumferential acceleration of the tire, and the time when the maximum value of the circumferential acceleration of the tire is collected is the collection time of the maximum value of the circumferential acceleration of the tire.

[0054] It can also be said that the target time period is: the time period between the collection time of the minimum value of the circumferential acceleration of the tire collected during one rotation of the tire and the collection time of the maximum value of the circumferential acceleration of the tire collected during this process.

[0055] It should be noted that the minimum value of the circumferential acceleration of the tire and the maximum value of the circumferential acceleration of the tire are relative to one rotation process of the corresponding tire.

[0056] The minimum value of the circumferential acceleration of the tire is the minimum circumferential acceleration among all the circumferential accelerations of the tire collected during one rotation of the tire, and the minimum value of the circumferential acceleration of the tire is negative.

[0057] The maximum value of the circumferential acceleration of the tire is the maximum circumferential acceleration among all the circumferential accelerations of the tire collected during one rotation of the tire, and the maximum value of the circumferential acceleration of the tire is positive.

[0058] If the positive direction of the tire sensor installed on the tire is consistent with the tire traveling direction, then the maximum value of the circumferential acceleration of the tire collected during one rotation of the tire is the ground contact peak circumferential acceleration, and the minimum value of the circumferential acceleration of the tire collected by the tire sensor installed on the tire during one rotation of the tire is the off - ground peak circumferential acceleration.

[0059] If the positive direction of the tire sensor installed on the tire is opposite to the tire traveling direction, then the minimum value of the circumferential acceleration of the tire collected by the tire sensor installed on the tire during one rotation of the tire is the ground contact peak circumferential acceleration, and the maximum value of the circumferential acceleration of the tire collected by the tire sensor installed on the tire during one rotation of the tire is the off - ground peak circumferential acceleration.

[0060] In the embodiment of the present disclosure, the target time period can be regarded as the ground contact time period within the time period of one rotation of the tire.

[0061] The acquisition time of the ground contact peak circumferential acceleration collected during one rotation of the tire can be regarded as the moment when the tire sensor installed on the tire enters the tire contact area during one rotation of the tire.

[0062] The acquisition time of the off - ground peak circumferential acceleration collected during one rotation of the tire can be regarded as the moment when the tire sensor installed on the tire leaves the tire contact area during one rotation of the tire.

[0063] Among them, the tire contact area can also be called the ground contact area.

[0064] When the tire sensor installed on the tire rolls to the front of the ground contact during one rotation of the tire, the tread rubber of the tire is suddenly compressed, resulting in an increase in the amplitude of the circumferential acceleration of the tire. The circumferential acceleration collected when the tire sensor rolls to the front of the ground contact is the ground contact peak circumferential acceleration of the tire.

[0065] When the tire sensor mounted on the tire rolls to the rear section of the ground contact during one rotation of the tire, the originally compressed tread rubber of the tire suddenly releases and recovers, causing a further increase in the amplitude of the circumferential acceleration of the tire. The circumferential acceleration collected when the tire sensor mounted on the tire rolls to the rear section of the ground contact during one rotation of the tire is the peak circumferential acceleration of the tire when it leaves the ground.

[0066] Therefore, the target time period can be regarded as: the ground contact time period within the time period of one rotation of the tire. Within the target time period, there are relatively obvious peaks in the lateral acceleration of the tire, and the fluctuation of the lateral acceleration of the tire is related to the lateral deformation of the tire. When the tire is side-slipped, the transition between the adhesion area at the front section of the ground contact and the slip area at the rear section of the ground contact results in the peak of the lateral acceleration of the tire.

[0067] It should be noted that the number of target time periods determined in step S101 is one or more.

[0068] When the number of target time periods is one, the target time period can be: the time period of the most recent one rotation of the tire. Among them, the end time of the most recent one rotation of the tire is before the current time, and the current time can be the time when step S101 starts to be executed.

[0069] When the number of target time periods is multiple, the number of target time periods is denoted as n, and each target time period corresponds to a different one rotation process during the continuous n rotations of the tire. For a target time period, the target time period is: a sub-time period of the time period of one rotation of the tire corresponding to this target time period. The target time period is: the time period between the time when the minimum value of the circumferential acceleration of the tire is collected and the time when the maximum value of the circumferential acceleration of the tire is collected during one rotation of the tire corresponding to this target time period.

[0070] For example, the process of the tire rotating one full circle for the last time is recorded as the process of the k-th rotation of the tire for one full circle. The consecutive n rotations of the tire for one full circle include: the process of the j-th rotation of the tire for one full circle, the process of the (j + 1)-th rotation of the tire for one full circle... the process of the (k - 1)-th rotation of the tire for one full circle, and the k-th rotation of the tire for one full circle. Among them, k - j + 1 = n. The time period between the time when the minimum circumferential acceleration of the tire is collected during the process of the j-th rotation of the tire for one full circle and the time when the maximum circumferential acceleration of the tire is collected during the process of the j-th rotation of the tire for one full circle is used as a target time period. The time period between the time when the minimum circumferential acceleration of the tire is collected during the process of the (j + 1)-th rotation of the tire for one full circle and the time when the maximum circumferential acceleration of the tire is collected during the process of the (j + 1)-th rotation of the tire for one full circle is used as a target time period. The j-th, (j + 1)-th, (k - 1)-th, k-th, etc. are all relative to the first rotation of the tire for one full circle during a driving process of the target vehicle to which the tire belongs.

[0071] Reference Figure 2 , which shows a schematic diagram of an example of circumferential acceleration data and lateral acceleration data collected during the process of the tire rotating multiple circles.

[0072] Figure 2 The red curve shown is the circumferential acceleration data of the tire, Figure 2 The green curve shown is the lateral acceleration data of the tire.

[0073] The multiple circles are 5 circles. The process of the tire rotating 5 circles includes: the process of the m-th rotation of the tire for one full circle, the process of the (m + 1)-th rotation of the tire for one full circle, the process of the (m + 2)-th rotation of the tire for one full circle, the process of the (m + 3)-th rotation of the tire for one full circle, and the process of the (m + 4)-th rotation of the tire for one full circle. The process of the (m + 4)-th rotation of the tire for one full circle is the process of the tire rotating one full circle for the last time.

[0074] In this example, the minimum circumferential acceleration of the tire collected during the process of the tire rotating one full circle is the ground peak circumferential acceleration of the tire, and the maximum circumferential acceleration collected during the process of the tire rotating one full circle is the off-ground peak circumferential acceleration of the tire.

[0075] During the process of the m-th rotation of the tire for one full circle, the minimum circumferential acceleration P1 is collected, and during the process of the m-th rotation of the tire for one full circle, the maximum circumferential acceleration V1 is collected. The target time period corresponding to the process of the m-th rotation of the tire for one full circle is: the time period between the collection time of the minimum circumferential acceleration P1 and the collection time of the maximum circumferential acceleration V1.

[0076] During the (m + 1)-th rotation of the tire for one full circle, the minimum value P2 of the circumferential acceleration is collected, and during the (m + 1)-th rotation of the tire for one full circle, the maximum value V2 of the circumferential acceleration is collected. The target time period corresponding to the (m + 1)-th rotation of the tire for one full circle is: the time period between the collection time of the minimum value P2 of the circumferential acceleration and the collection time of the maximum value V2 of the circumferential acceleration.

[0077] During the (m + 2)-th rotation of the tire for one full circle, the minimum value P3 of the circumferential acceleration is collected, and during the (m + 2)-th rotation of the tire for one full circle, the maximum value V3 of the circumferential acceleration is collected. The target time period corresponding to the (m + 2)-th rotation of the tire for one full circle is the time period between the collection time of the minimum value P3 of the circumferential acceleration and the collection time of the maximum value V3 of the circumferential acceleration.

[0078] During the (m + 3)-th rotation of the tire for one full circle, the minimum value P4 of the circumferential acceleration is collected, and during the (m + 3)-th rotation of the tire for one full circle, the maximum value V4 of the circumferential acceleration is collected. The target time period corresponding to the (m + 3)-th rotation of the tire for one full circle is: the time period between the collection time of the minimum value P4 of the circumferential acceleration and the collection time of the maximum value V4 of the circumferential acceleration.

[0079] During the (m + 4)-th rotation of the tire for one full circle, the minimum value P5 of the circumferential acceleration is collected, and during the (m + 4)-th rotation of the tire for one full circle, the maximum value V5 of the circumferential acceleration is collected. The target time period corresponding to the (m + 4)-th rotation of the tire for one full circle is: the time period between the collection time of the minimum value P5 of the circumferential acceleration and the collection time of the maximum value V5 of the circumferential acceleration.

[0080] In step S102, according to the lateral acceleration data of the tire in each target time period, the lateral displacement of the tire in each target time period is obtained.

[0081] It should be noted that the lateral displacement can also be called the transverse displacement.

[0082] The lateral acceleration data of the tire in a target time period includes: multiple lateral accelerations of the tire collected by a tire sensor installed on the tire during the target time period, and the collection times of the multiple lateral accelerations of the tire are all within the target time period.

[0083] When the number of target time periods is multiple, in step S102, for each target time period related to the tire, according to the lateral acceleration data of the tire in the target time period, the lateral displacement of the tire in the target time period is obtained.

[0084] In a possible implementation, in step S102, obtaining the lateral displacement of the tire during the target time period based on the lateral acceleration data of the tire during the target time period includes: performing double integration on the lateral acceleration data of the tire during the target time period to obtain the lateral displacement of the tire during the target time period. The lateral acceleration data of the tire during a target time period is a time-domain signal. Among them, performing double integration on the lateral acceleration data of the tire during the target time period to obtain the lateral displacement of the tire during the target time period may include: integrating the lateral acceleration data of the tire during the target time period to obtain the lateral velocity data of the tire during the target time period; integrating the lateral velocity data of the tire during the target time period to obtain the lateral displacement of the tire during the target time period.

[0085] In step S103, obtaining the slip angle of the tire during each target time period based on the lateral displacement of the tire during each target time period.

[0086] When the number of target time periods is multiple, in step S103, for each target time period related to the tire, obtaining the slip angle of the tire during the target time period based on the lateral displacement of the tire during the target time period.

[0087] In a possible implementation, in step S103, obtaining the slip angle of the tire during a target time period based on the lateral displacement of the tire during the target time period includes: calculating the length of the tire contact area of the tire during the target time period; obtaining the tangent value of the slip angle of the tire during the target time period based on the length of the tire contact area of the tire during the target time period and the lateral displacement of the tire during a target time period, i.e., the y-direction displacement; obtaining the slip angle of the tire during the target time period based on the tangent value of the slip angle of the tire during the target time period.

[0088] Among them, the tangent value of the slip angle of the tire during the target time period is: the lateral displacement of the tire during the target time period divided by the length of the tire contact area of the tire during the target time period.

[0089] It should be noted that the length of the tire contact area can also be called the ground contact length.

[0090] The length of the tire contact area of the tire during the target time period can be understood as: the length of the area passed by the tire sensor installed on the tire during the target time period.

[0091] In step S103, in order to calculate the length of the tire contact area of the tire during the target time period, the vehicle speed of the target vehicle can be obtained, and the length of the tire contact area of the tire during the target time period can be determined according to the duration of the target time period and the vehicle speed of the target vehicle.

[0092] As an example, the duration of a target time period is 0.009375 s, the target vehicle speed is 40 Km / h, the length of the tire contact area of the tire during the target time period is 104 mm, and the lateral displacement of the tire during the target time period, i.e., the displacement in the y direction, is -5.36 mm. Therefore, the tangent value of the slip angle of the tire during the target time period is -5.36 / 104, and the slip angle of the tire during the target time period is -2.9503.

[0093] In step S104, according to the slip angle of the tire in each target time period, the lateral force of the tire is obtained.

[0094] In a possible implementation manner, in step S104, if the number of target time periods is one, when obtaining the lateral force of the tire according to the slip angle of the tire in each target time period, the slip angle of the tire in the target time period is multiplied by the target lateral stiffness value of the tire to obtain the lateral force of the tire.

[0095] In a possible implementation manner, in step S104, if the number of target time periods is multiple, when obtaining the lateral force of the tire according to the slip angle of the tire in each target time period, one of the following items is used as the target slip angle of the tire: the maximum value of the slip angles of the tire in each target time period, the minimum value of the slip angles of the tire in each target time period, the median of the slip angles of the tire in each target time period; the target slip angle of the tire is multiplied by the target lateral stiffness value of the tire to obtain the lateral force of the tire.

[0096] Wherein, the target lateral stiffness value of the tire can be found from multiple calibrated lateral stiffness values. The calibrated lateral stiffness value corresponding to each of multiple calibration loads for calibration can be measured in advance. For one of the multiple calibration loads for calibration, when the calibration tire has this calibration load, the lateral stiffness value of the calibration tire is measured, and the lateral stiffness value of the calibration tire measured when the calibration tire has this calibration load is determined as the calibrated lateral stiffness value corresponding to this calibration load. The calibration tire is the same model as the tire in step S101 or the lateral-related characteristics of the calibration tire are at least close to the lateral-related characteristics of the tire in step S101.

[0097] In order to find the target cornering stiffness value of the tire from multiple calibrated cornering stiffness values, in step S104, the load of the tire can be obtained. The target cornering stiffness value of the tire can be: the calibrated cornering stiffness value corresponding to the load for calibration that is closest to the load of the tire.

[0098] Reference Figure 3 , which shows a schematic flow chart of another method for obtaining the side force of a tire provided by an embodiment of the present disclosure.

[0099] Step S301, determine multiple target time periods of the tire.

[0100] In a possible implementation, each target time period is a sub-time period of the monitoring time period. That is to say, each target time period is within the monitoring time period. The duration of the monitoring time period is a preset duration, and the end moment of the monitoring time period is the current moment.

[0101] As an example, the preset duration is 1 s.

[0102] The start moment of the monitoring time period is the moment with a time interval of the preset duration from the current moment. Among them, the current moment can refer to the moment when step S301 starts to be executed.

[0103] Step S302, according to the lateral acceleration data of the tire in each target time period, obtain the lateral displacement of the tire in each target time period.

[0104] In a possible implementation, in step S302, obtaining the lateral displacement of the tire in a target time period according to the lateral acceleration data of the tire in the target time period includes: performing a Fourier transform on the lateral acceleration data of the tire in the target time period to obtain the frequency domain signal corresponding to the lateral acceleration data of the tire in the target time period; according to the frequency domain signal corresponding to the lateral acceleration data of the tire in the target time period, obtaining the integration result corresponding to the lateral acceleration data of the tire in the target time period; according to the integration result corresponding to the lateral acceleration data of the tire in the target time period, obtaining the lateral displacement of the tire in the target time period. Among them, obtaining the lateral displacement of the tire in the target time period according to the integration result corresponding to the lateral acceleration data of the tire in the target time period may include: performing an inverse Fourier transform on the integration result corresponding to the lateral acceleration data of the tire in the target time period, and the lateral displacement curve of the tire in the target time period can be obtained. According to the lateral displacement curve, the lateral displacement of the tire in the target time period can be determined.

[0105] According to the properties of the Fourier transform, the second integral of a time-domain signal can correspond to dividing the frequency-domain signal obtained by performing the Fourier transform on the time-domain signal by -ω², where ω is the angular frequency. The lateral acceleration data of the tire within the target time period is a time-domain signal. In step S302, obtaining the integration result corresponding to the lateral acceleration data of the tire within the target time period based on the frequency-domain signal corresponding to the lateral acceleration data of the tire within the target time period includes: dividing the frequency-domain signal corresponding to the lateral acceleration data of the tire within the target time period by -ω² to obtain the integration result corresponding to the lateral acceleration data of the tire within the target time period. Among them, the angular frequency resolution Δω is 2πΔf. The range of the angular frequency ω is [0:Δω:2π(0.5fs - Δf), 2π(0.5fs - Δf):-Δω:0], and [] represents the splicing of two parts of the frequency range. 0:Δω:2π(0.5fs - Δf) can mean that within the range of 0 to 2π(0.5fs - Δf), the step size is Δω. The frequency resolution Δf is the sampling rate of the tire sensor installed on the tire divided by N. As an example, the sampling rate of the tire sensor installed on the tire is 1600Hz, and N is the length of the lateral acceleration data of the tire within the target time period.

[0106] In a possible implementation manner, obtaining the lateral displacement of the tire within the target time period according to the integration result corresponding to the lateral acceleration data of the tire within a target time period includes: when the frequency of any component in the integration result corresponding to the lateral acceleration data of the tire within the target time period is within the preset frequency range, performing an inverse Fourier transform on the integration result to obtain the lateral displacement of the tire within the target time period; when the integration result includes components with frequencies within the preset frequency range and the integration result includes components with frequencies not within the preset frequency range, removing the components with frequencies not within the preset frequency range from the integration result to obtain a processed integration result, and performing an inverse Fourier transform on the processed integration result to obtain the lateral displacement of the tire within the target time period, that is, the displacement in the y direction. Among them, the frequency of any component in the processed integration result is within the preset frequency range. Performing an inverse Fourier transform on the processed integration result can obtain the lateral displacement curve of the tire within the target time period, and the lateral displacement of the tire within the target time period can be determined according to the lateral displacement curve. Among them, removing the components with frequencies not within the preset frequency range from the integration result can be: setting the components with frequencies not within the preset frequency range in the integration result to 0, that is, replacing the components with frequencies not within the preset frequency range in the integration result with 0.

[0107] Components not within the preset frequency range can be noise components, low-frequency components causing signal offset, etc. Considering that the integral result corresponding to the lateral acceleration data of the tire within a target time period includes noise components and low-frequency components causing signal offset, the components with frequencies not within the preset frequency range are removed from the integral result corresponding to the lateral acceleration data of the tire within the target time period, obtaining a processed integral result. Thus, only the components with frequencies within the preset frequency range in the integral result corresponding to the lateral acceleration data of the tire within the target time period can be retained, and the components with frequencies not within the preset frequency range in the integral result corresponding to the lateral acceleration data of the tire within the target time period are removed. Components related to the lateral deformation of the tire, i.e., components with frequencies within the preset frequency range, can be retained to a large extent, and noise components can be removed to a large degree. The accuracy of the lateral displacement of the tire within the target time period is improved.

[0108] In a possible implementation, through experiments, it is found that when the sampling rate of the tire sensor installed on the tire is 1600 Hz, the preset frequency range is 5 - 50 Hz, and components related to the lateral deformation of the tire can be retained to a large extent, and noise components can be removed to a large degree.

[0109] In step S303, according to the lateral displacement of the tire within each target time period, the sideslip angle of the tire within each target time period is obtained.

[0110] The process of step S303 refers to step S103.

[0111] In step S304, the sum of the sideslip angles of the tire within each target time period is determined as the total sideslip angle of the tire; the total sideslip angle of the tire is divided by the number of target time periods to obtain the target sideslip angle of the tire; according to the target sideslip angle of the tire, the sideslip force of the tire is obtained.

[0112] Step S304 takes into account the sideslip degree of the tire within multiple target time periods. The target sideslip angle of the tire can reflect the overall sideslip degree of the tire, and the accuracy of the target sideslip angle is relatively high. The accuracy of the obtained sideslip force of the tire is relatively high, which can avoid the following situation: determining the sideslip force of the tire through the sideslip angle of the tire within a single target time period, and the obtained sideslip angle of the tire within a single target time period may have a relatively low accuracy due to occasional interference, resulting in a decrease in the accuracy of the obtained sideslip force of the tire.

[0113] In a possible implementation, in step S304, obtaining the cornering force of the tire according to the target slip angle of the tire includes: determining the working conditions for obtaining the cornering force of the tire, where the working conditions for obtaining the cornering force of the tire include: the load of the tire, and the vehicle speed of the target vehicle to which the tire belongs; obtaining a plurality of calibrated cornering stiffness values, where each calibrated cornering stiffness value corresponds to different calibration working conditions respectively, and the calibration working conditions include: the load for calibration, and the vehicle speed for calibration; determining the target cornering stiffness value of the tire from the plurality of calibrated cornering stiffness values according to the working conditions for obtaining the cornering force of the tire and the calibration working conditions corresponding to each calibrated cornering stiffness value; and obtaining the cornering force of the tire according to the target slip angle of the tire and the target cornering stiffness value of the tire.

[0114] It is possible to pre-measure the calibrated cornering stiffness value corresponding to each calibration working condition among a plurality of calibration working conditions. For one calibration working condition among the plurality of calibration working conditions, when the tire for calibration has the load for calibration in the calibration working condition and the speed of the movable object on which the tire for calibration is installed is the vehicle speed for calibration in the calibration working condition, measure the cornering stiffness value of the tire for calibration, and determine the measured cornering stiffness value as the calibrated cornering stiffness value corresponding to the calibration working condition. The tire for calibration is the same model as the tire targeted in step S301 or the cornering-related characteristics of the tire for calibration are at least close to the cornering-related characteristics of the tire targeted in step S301.

[0115] As an example, measure the calibrated cornering stiffness value corresponding to each calibration working condition among a plurality of calibration working conditions by a six-component force testing machine.

[0116] The target cornering stiffness value of the tire may be: the calibrated cornering stiffness value with the highest similarity between the corresponding calibration working condition and the working conditions for obtaining the cornering force of the tire.

[0117] In step S304, the target slip angle of the tire may be multiplied by the target cornering stiffness value of the tire to obtain the cornering force of the tire.

[0118] The calibrated cornering stiffness value corresponding to each calibration working condition among the plurality of calibration working conditions is obtained by measurement, and all are calibrated cornering stiffness values with relatively high precision under the corresponding calibration working conditions. The target cornering stiffness value of the tire obtained by using the calibrated cornering stiffness value corresponding to each calibration working condition among the plurality of calibration working conditions is: a cornering stiffness value with relatively high precision under the working conditions for obtaining the cornering force of the tire. This improves the accuracy of the obtained cornering force of the tire.

[0119] An embodiment of the present disclosure provides a device for obtaining the cornering force of a tire. The device for obtaining the cornering force of the tire is installed on a vehicle. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated here. As used below, the term "unit" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0120] The device for obtaining the cornering force of the tire includes:

[0121] A target time period determination unit, configured to determine the target time period of the tire, where the target time period is the time period between the time when the minimum value of the circumferential acceleration of the tire is collected and the time when the maximum value of the circumferential acceleration of the tire is collected during one rotation of the tire;

[0122] A lateral displacement acquisition unit, configured to obtain the lateral displacement of the tire in each target time period according to the lateral acceleration data of the tire in each target time period;

[0123] A slip angle acquisition unit, configured to obtain the slip angle of the tire in each target time period according to the lateral displacement of the tire in each target time period;

[0124] A cornering force acquisition unit, configured to obtain the cornering force of the tire according to the slip angle of the tire in each target time period.

[0125] In a possible implementation manner, the lateral displacement determination unit is further configured to perform a Fourier transform on the lateral acceleration data of the tire in the target time period to obtain a frequency domain signal corresponding to the lateral acceleration data of the tire in the target time period; obtain an integration result corresponding to the lateral acceleration data of the tire in the target time period according to the frequency domain signal; and obtain the lateral displacement of the tire in the target time period according to the integration result.

[0126] In a possible implementation manner, the lateral displacement determination unit is further configured to perform an inverse Fourier transform on the integration result when the frequency of any component in the integration result is within a preset frequency range to obtain the lateral displacement of the tire in the target time period; when the integration result includes components with frequencies within the preset frequency range and the integration result includes components with frequencies not within the preset frequency range, remove the components with frequencies not within the preset frequency range from the integration result to obtain a processed integration result, and perform an inverse Fourier transform on the processed integration result to obtain the lateral displacement of the tire in the target time period.

[0127] In a possible implementation, the cornering force determination unit is further configured to determine the sum of the cornering angles of the tire within each target time period as the total cornering angle of the tire; divide the total cornering angle by the number of target time periods to obtain the target cornering angle of the tire; and obtain the cornering force of the tire according to the target cornering angle.

[0128] In a possible implementation, each of the target time periods is a sub-time period of a monitoring time period, the duration of the monitoring time period is a preset duration, and the end time of the monitoring time period is the current time.

[0129] In a possible implementation, the cornering force determination unit is further configured to determine the working conditions for obtaining the cornering force of the tire. The working conditions for obtaining the cornering force of the tire include: the load of the tire and the vehicle speed of the target vehicle to which the tire belongs; obtain a plurality of calibrated cornering stiffness values, where each calibrated cornering stiffness value corresponds to a different calibration working condition, and the calibration working conditions include: the calibration load and the calibration vehicle speed; determine the target cornering stiffness value of the tire from the plurality of calibrated cornering stiffness values according to the working conditions for obtaining the cornering force of the tire and the calibration working conditions corresponding to each calibrated cornering stiffness value; and obtain the cornering force of the tire according to the target cornering angle and the target cornering stiffness value.

[0130] In this embodiment, the device is presented in the form of functional units. Here, the unit refers to an ASIC circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0131] The further function descriptions of the above-mentioned respective units are the same as those in the corresponding embodiments above, and will not be repeated here.

[0132] Reference Figure 4 , which shows a schematic structural diagram of a computer device provided by an embodiment of the present disclosure. The computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common main board or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (such as an array of servers, a set of blade servers, or a multi-processor system).

[0133] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above-mentioned hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device can be a complex programmable logic device, a field-programmable gate array, a generic array logic, or any combination thereof.

[0134] Among them, the memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiments.

[0135] The memory 20 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the computer device, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 can optionally include a memory remotely provided with respect to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0136] The memory 20 can include a volatile memory, such as a random access memory; the memory can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive; the memory 20 can also include a combination of the above types of memories.

[0137] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 can be connected through a bus or other means.

[0138] The input device 30 can receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 can include a display device, an auxiliary lighting device (such as an LED), and a tactile feedback device (such as a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light-emitting diode, a display, and a plasma display. In some alternative embodiments, the display device can be a touch screen.

[0139] Embodiments of the present disclosure also provide a computer-readable storage medium. The methods according to the embodiments of the present disclosure can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the methods described herein can be processed by such software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods shown in the above embodiments are implemented.

[0140] A part of the embodiments of the present disclosure can be applied as a computer program product, for example, computer program instructions, which when executed by a computer, can call or provide the methods and / or technical solutions according to the present invention through the operation of the computer. Those skilled in the art should understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Herein, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0141] Although the embodiments of the present disclosure are described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for obtaining the cornering force of a tire, characterized in that: The method comprises: Determine a target time period of the tire, wherein the target time period is a time period between a time when a minimum value of the circumferential acceleration of the tire is collected during one rotation of the tire and a time when a maximum value of the circumferential acceleration of the tire is collected during the process; Acquire the lateral displacement of the tire in each target time period according to the lateral acceleration data of the tire in each target time period; Obtaining a sideslip angle of the tire in each target time period according to the lateral displacement of the tire in each target time period; The cornering force of the tire is obtained according to the slip angle of the tire in each target time period.

2. The method according to claim 1, characterized in that According to the lateral acceleration data of the tire in each target time period, obtaining the lateral displacement of the tire in each target time period includes: Performing Fourier transformation on the lateral acceleration data of the tire within the target time period to obtain a frequency domain signal corresponding to the lateral acceleration data of the tire within the target time period; Obtaining, according to the frequency domain signal, an integral result corresponding to the lateral acceleration data of the tire within a target time period; The lateral displacement of the tire within a target time period is obtained according to the integration result.

3. The method according to claim 2, characterized in that According to the integration result, obtaining the lateral displacement of the tire within a target time period includes: When the frequency of any one component in the integration result is within a preset frequency range, performing an inverse Fourier transform on the integration result to obtain the lateral displacement of the tire within a target time period; When the integration result includes a frequency component within a preset frequency range and the integration result includes a frequency component not within the preset frequency range, the frequency component not within the preset frequency range is removed from the integration result to obtain a processed integration result, and an inverse Fourier transform is performed on the processed integration result to obtain the lateral displacement of the tire within a target time period.

4. The method according to any one of claims 1 to 3, characterized in that According to the slip angle of the tire in each target time period, obtaining the cornering force of the tire comprises: Determine the sum of the sideslip angles of the tire in each target time period as the total sideslip angle of the tire; Dividing the total slip angle by the number of target time periods to obtain a target slip angle of the tire; The cornering force of the tire is obtained according to the target slip angle.

5. The method according to claim 4, characterized in that Each of the target time periods is a sub-time period of the monitoring time period, the duration of the monitoring time period is a preset duration, and the end time of the monitoring time period is the current time.

6. The method according to claim 4, characterized in that According to the target slip angle, obtaining the cornering force of the tire comprises: Determining a working condition for obtaining the cornering force of the tire, wherein the working condition for obtaining the cornering force of the tire includes: a load of the tire and a speed of a target vehicle to which the tire belongs; Acquire a plurality of calibrated cornering stiffness values, wherein each calibrated cornering stiffness value corresponds to a different working condition for calibration, and the working condition for calibration includes: a load for calibration and a vehicle speed for calibration; Determining a target cornering stiffness value of the tire from a plurality of calibrated cornering stiffness values ​​according to a working condition for obtaining the cornering force of the tire and a working condition for calibration corresponding to each calibrated cornering stiffness value; The cornering force of the tire is obtained according to the target slip angle and the target cornering stiffness value.

7. A device for obtaining the cornering force of a tire, mounted on a vehicle, characterized in that: The device comprises: a target time period determination unit, configured to determine a target time period of the tire, wherein the target time period is a time period between a time when a minimum value of the circumferential acceleration of the tire is collected during one rotation of the tire and a time when a maximum value of the circumferential acceleration of the tire is collected during the process; A lateral displacement acquisition unit, used to acquire the lateral displacement of the tire in each target time period according to the lateral acceleration data of the tire in each target time period; A sideslip angle acquisition unit, used for acquiring the sideslip angle of the tire in each target time period according to the lateral displacement of the tire in each target time period; The cornering force acquisition unit is used to acquire the cornering force of the tire according to the slip angle of the tire in each target time period.

8. A computer device installed in a vehicle, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the method according to any one of claims 1 to 6.

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