Vehicle push rod displacement interconnection method, device and equipment and storage medium

Abstract

The invention discloses a vehicle push rod displacement interconnection method, device and equipment and a storage medium, and the method comprises the steps: calculating the displacement change capability limit ratio of each push rod based on the sum of the displacement change capability limit of each push rod and the displacement change capability limit of a whole machine; calculating the displacement target difference of each push rod and the displacement change absolute sum of the whole machine, and calculating the displacement target proportion of each push rod according to the displacement target difference and the displacement change absolute sum; calculating the displacement relative ratio of each push rod according to the displacement change capacity limit ratio of each push rod and the displacement target proportion of each push rod, and calculating the displacement utilization ratio of each push rod according to the displacement relative ratio of each push rod and the displacement target proportion of each push rod; and calculating the displacement change execution value of each push rod based on the calculated complete machine displacement change reference value and the displacement utilization ratio of each push rod, and calculating and executing the current state execution displacement of each push rod according to the displacement change execution value of each push rod and the executed displacement of each push rod, so as to realize mutual correlation among the push rods.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly relates to a method, device, equipment and storage medium for interconnecting the displacements of vehicle push rods. Background Art

[0002] When a driver steps on the brake pedal, the piston in the master cylinder is pushed, and hydraulic oil is delivered through the brake pipeline to the brakes (such as disc brakes or drum brakes) of each wheel. The role of the piston in the brake is to push the brake pads (disc brakes) or brake shoes (drum brakes) into contact with the brake disc or drum, generating frictional force to decelerate or stop the vehicle.

[0003] Then, the pistons of hydraulic devices such as brakes or suspensions on the vehicle will push the push rods at the rear end to move. However, the target displacements of multiple push rods are real-time dynamic and randomly changing, and it is easy to occur that the displacements of each push rod cannot be correlated with each other, resulting in poor timeliness consistency of the displacement changes of the push rods and the problem that the stable target displacement state cannot be achieved at the same moment, and further possibly inducing the problem of vehicle jitter.

[0004] Therefore, how to ensure that the displacement change processes of the push rods are correlated and coordinated with each other to ensure the timeliness consistency of the system operation is a technical problem that urgently needs to be solved at present. Summary of the Invention

[0005] The main purpose of the present invention is to provide a method, device, equipment and storage medium for interconnecting the displacements of vehicle push rods, which ensures that the displacement change processes of the push rods are correlated and coordinated with each other, ensures the timeliness consistency of the system operation, and avoids damage to the push rods caused by violent operation of the push rods.

[0006] In a first aspect, the present application provides a method for interconnecting the displacements of vehicle push rods, and the method includes the following steps:

[0007] Based on the sum of the displacement change ability limitations of each push rod and the displacement change ability limitation of the whole machine, calculate the displacement change ability limitation ratio of each push rod;

[0008] Calculate the displacement target difference of each push rod and the absolute total displacement change of the whole machine, and calculate the displacement target proportion of each push rod through the displacement target difference and the absolute total displacement change;

[0009] Calculate the relative displacement ratio of each push rod through the displacement change ability limitation ratio of each push rod and the displacement target proportion of each push rod, and calculate the displacement utilization ratio of each push rod through the relative displacement ratio of each push rod and the displacement target proportion of each push rod;

[0010] Calculate the displacement change execution value of each push rod based on the reference value of the overall machine displacement change calculated and the ratio of the displacements of the respective push rods, and calculate the current state execution displacement of each push rod according to the displacement change execution value of each push rod and the displacement already executed by each push rod, and execute it so that the time required for the current state execution displacement of each push rod to reach the target displacement of its push rod is the same.

[0011] Combined with the above first aspect, as an optional implementation manner, use a test bench to obtain the displacement change ability limit of each push rod to calculate the total sum of the displacement change ability limits of the overall machine;

[0012] According to the formula: Calculate the displacement change ability limit ratio of each push rod, where ΔS allmax is the total sum of the displacement change ability limits of the overall machine, and ΔSmax i is the displacement change ability limit of the i-th push rod.

[0013] Combined with the above first aspect, as an optional implementation manner, calculate the displacement target difference of each push rod based on the target displacement of each push rod and the displacement already executed by each push rod, and calculate the absolute total sum of the displacement change of the overall machine through the displacement target difference of each push rod;

[0014] According to the formula: Calculate the displacement target proportion of each push rod, where Δδ i is the displacement target proportion of the i-th push rod, ΔS i is the displacement target difference of the i-th push rod, and ΔS all is the absolute total sum of the displacement change of the overall machine.

[0015] Combined with the above first aspect, as an optional implementation manner, according to the formula: Calculate the relative ratio of the displacement of each push rod, where β i is the relative ratio of the i-th push rod, and Δτmax i is the displacement change ability limit ratio of the i-th push rod;

[0016] Obtain the reference relative ratio of the overall machine displacement based on the relative ratio of the displacement of each push rod;

[0017] According to the formula: Δδ1 i = βC * Δδ i , calculate the displacement utilization ratio of each push rod, where Δδ1 i is the displacement utilization ratio of the i-th push rod, and βC is the reference relative ratio of the overall machine displacement.

[0018] Combined with the above first aspect, as an optional implementation manner, calculate the reference value of the overall machine displacement change based on the total sum of the displacement change ability limits of the overall machine and the absolute total sum of the displacement change of the overall machine;

[0019] According to the formula: ΔS1i = ΔS1 * Δδ1 i , calculate the execution value of the displacement change of each push rod, where ΔS1 i is the execution value of the displacement change of the i-th push rod, and ΔS1 is the reference value of the displacement change of the whole machine;

[0020] According to the formula: S(K) i = S(K - 1) i + ΔS1 i , calculate the execution displacement of each push rod in the current state, where S(K) i is the execution displacement of the i-th push rod in the current state, and S(K - 1) i is the execution displacement of the i-th push rod at time K - 1.

[0021] Combined with the above first aspect, as an optional implementation manner, according to the formula: Calculate the time required for the execution displacement change of each push rod to reach the target displacement of its push rod to verify whether the push rods are interconnected, where time i is the time required for the execution displacement change of the i-th current state to reach the target displacement of its push rod, and ΔS i is the displacement target difference of the i-th push rod.

[0022] Combined with the above first aspect, as an optional implementation manner, judge whether the execution value of the push rod displacement change is less than or equal to the push rod displacement change ability limit to verify whether the push rod is damaged.

[0023] In the second aspect, the present application provides a vehicle push rod displacement interconnection device, and the device includes:

[0024] A calculation module, which is used to calculate the ratio of the displacement change ability limit of each push rod based on the sum of the displacement change ability limits of each push rod and the displacement change ability limit of the whole machine;

[0025] Calculate the displacement target difference of each push rod and the absolute total displacement change of the whole machine, and calculate the proportion of the displacement target of each push rod through the displacement target difference and the absolute total displacement change;

[0026] Calculate the relative ratio of the displacement of each push rod through the ratio of the displacement change ability limit of each push rod and the proportion of the displacement target of each push rod, and calculate the utilization ratio of the displacement of each push rod through the relative ratio of the displacement of each push rod and the proportion of the displacement target of each push rod;

[0027] A processing module, which is used to calculate the execution value of the displacement change of each push rod based on the calculated reference value of the displacement change of the whole machine and the utilization ratio of the displacement of each push rod, and calculate the execution displacement of each push rod in the current state according to the execution value of the displacement change of each push rod and the displacement already executed by each push rod, and execute so that the time required for the execution displacement of each push rod in the current state to reach the target displacement of its push rod is the same.

[0028] In a third aspect, the present application also provides an electronic device, which includes: a processor; a memory, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by the processor, the method according to any one of the first aspect is implemented.

[0029] In a fourth aspect, the present application also provides a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are executed by a computer, the computer is enabled to execute the method according to any one of the first aspect.

[0030] A vehicle push rod displacement interconnection method, device, equipment and storage medium provided by the present application, wherein the method includes the steps of: calculating the ratio of the displacement change ability limit of each push rod based on the sum of the displacement change ability limits of each push rod and the displacement change ability limit of the whole machine; calculating the displacement target difference of each push rod and the absolute total displacement change of the whole machine, and calculating the proportion of the displacement target of each push rod through the displacement target difference and the absolute total displacement change; calculating the relative ratio of the displacement of each push rod through the ratio of the displacement change ability limit of each push rod and the proportion of the displacement target of each push rod, and calculating the utilization ratio of the displacement of each push rod through the relative ratio of the displacement of each push rod and the proportion of the displacement target of each push rod; calculating the displacement change execution value of each push rod based on the calculated reference value of the displacement change of the whole machine and the utilization ratio of the displacement of each push rod, and calculating the currently executed displacement of each push rod according to the displacement change execution value of each push rod and the displacement already executed by each push rod, and executing, so that the time required for the currently executed displacement of each push rod to reach the target displacement of its push rod is the same. The present application ensures that the displacement change processes of the push rods are interrelated and coordinated with each other, ensures the consistency of the timeliness of the system operation, and avoids damage to the push rods caused by violent operation of the push rods.

[0031] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention, and are used together with the specification to explain the principles of the present invention.

[0033] Figure 1 It is a flowchart of a vehicle push rod displacement interconnection method provided in an embodiment of the present application;

[0034] Figure 2 It is a schematic diagram of a vehicle push rod displacement interconnection device provided in an embodiment of the present application;

[0035] Figure 3 It is a schematic diagram of an electronic device provided in an embodiment of the present application;

[0036] Figure 4 Schematic diagram of a computer-readable program medium provided in an embodiment of the present application. Detailed implementation

[0037] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0038] In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0039] The embodiments of the present application will be further described in detail below with reference to the drawings.

[0040] Refer to Figure 1 , Figure 1 As shown in the flowchart of a vehicle push rod displacement interconnection method provided by the present invention, as Figure 1 shown, the method includes the steps:

[0041] Step S101: Calculate the limitation ratio of the displacement change ability of each push rod based on the sum of the limitation of the displacement change ability of each push rod and the limitation of the displacement change ability of the whole machine.

[0042] Specifically, calculate the sum of the limitation of the displacement change ability of the whole machine based on the limitation of the displacement change ability of each push rod. The sum of the limitation of the displacement change ability of the whole machine is equal to the sum of the limitation of the displacement change ability of each push rod. The calculation formula for the sum of the limitation of the displacement change ability of the whole machine is: Where, ΔS allmax is the sum of the limitation of the displacement change ability of the whole machine; ΔSmax i is the limitation of the displacement change ability of the i-th push rod, a bench test parameter; n is the total number of push rods.

[0043] Furthermore, ΔSmax i is the maximum value of the displacement change per unit time.

[0044] Calculate the limitation ratio of the displacement change ability of each push rod based on the limitation of the displacement change ability of each push rod and the sum of the limitation of the displacement change ability of the whole machine. The limitation ratio of the displacement change ability of each push rod is equal to the limitation of the displacement change ability of each push rod divided by the sum of the limitation of the displacement change ability of the whole machine. The calculation formula for the limitation ratio of the displacement change ability of each push rod is: According to the formula: Calculate the limitation ratio of the displacement change ability of each push rod, where ΔS allmaxIt is the total limit of the displacement change ability of the whole machine, ΔSmax i It is the limit of the displacement change ability of the i-th push rod.

[0045] Step S102: Calculate the displacement target difference of each push rod and the absolute total displacement change of the whole machine, and calculate the proportion of the displacement target of each push rod through the displacement target difference and the absolute total displacement change.

[0046] Specifically, based on the target displacement of each push rod and the displacement already executed by each push rod, calculate the displacement target difference of each push rod, and calculate the absolute total displacement change of the whole machine through the displacement target difference of each push rod;

[0047] According to the formula: Calculate the proportion of the displacement target of each push rod, where Δδ i is the proportion of the displacement target of the i-th push rod, ΔS i is the displacement target difference of the i-th push rod, ΔS all is the absolute total displacement change of the whole machine.

[0048] For easy understanding, specifically, based on the target displacement of each push rod and the displacement already executed by each push rod, calculate the displacement target difference of each push rod. The displacement target difference of each push rod is equal to the target displacement of each push rod minus the displacement already executed by its push rod. The calculation formula for the displacement target difference of each push rod is: ΔS i =Starget i -S(K - 1) i where Starget i is the target displacement of the i-th push rod, which is obtained by other algorithms or rules; S(K - 1) i is the displacement already executed by the i-th push rod, and the initial value is 0; ΔS i is the displacement target difference of the i-th push rod.

[0049] Calculate the absolute total displacement change of the whole machine based on the displacement target difference of each push rod. The absolute total displacement change of the whole machine is equal to the sum of the absolute values of the displacement target differences of each push rod. The calculation formula for the absolute total displacement change of the whole machine is: where ΔS all is the absolute total displacement change of the whole machine.

[0050] Calculate the proportion of the displacement target of each push rod based on the displacement target difference of each push rod and the absolute total displacement change of the whole machine. The proportion of the displacement target of each push rod is equal to the displacement target difference of its push rod divided by the absolute total displacement change of the whole machine. The calculation formula for the proportion of the displacement target of each push rod is: where Δδ i is the proportion of the displacement target of the i-th push rod.

[0051] Step S103: Calculate the relative displacement ratio of each push rod through the ratio of the displacement change ability limit of each push rod and the target proportion of each push rod displacement, and calculate the utilization ratio of each push rod displacement through the relative displacement ratio of each push rod and the target proportion of each push rod displacement.

[0052] Specifically, calculate the relative displacement ratio of each push rod based on the ratio of the displacement change ability limit of each push rod and the target proportion of each push rod displacement. The relative displacement ratio of each push rod is equal to the ratio of its displacement change ability limit divided by the absolute value of its target proportion of push rod displacement. The calculation formula for the relative displacement ratio of each push rod is: where β i is the relative ratio of the i-th push rod. Obtain the reference relative displacement ratio of the whole machine based on the relative displacement ratio of each push rod. The reference relative displacement ratio of the whole machine is equal to the minimum value among the relative displacement ratios of each push rod (selecting the minimum value is to limit the displacement change ability of the push rod and avoid damage to the push rod caused by intense operation of the push rod). The calculation formula for the reference relative displacement ratio of the whole machine is: βC = min 1≤i≤n β i , where βC is the reference relative displacement ratio of the whole machine.

[0053] Calculate the utilization ratio of each push rod displacement based on the reference relative displacement ratio of the whole machine and the target proportion of each push rod displacement. The utilization ratio of each push rod displacement is equal to the product of the reference relative displacement ratio of the whole machine and the target proportion of each push rod displacement. The calculation formula for the utilization ratio of each push rod displacement: Δδ1 i = βC * Δδ i , where Δδ1 i is the utilization ratio of the i-th push rod displacement.

[0054] Step S104: Calculate the execution value of each push rod displacement change based on the calculated reference value of the whole machine displacement change and the utilization ratio of each push rod displacement, and calculate the current state execution displacement of each push rod according to the execution value of each push rod displacement change and the displacement already executed by each push rod, and execute it so that the time required for the current state execution displacement of each push rod to reach the target displacement of its push rod is the same.

[0055] Specifically, calculate the reference value of the whole machine displacement change based on the total limit of the whole machine displacement change ability and the absolute total of the whole machine displacement change. The reference value of the whole machine displacement change is equal to the smaller value between the total limit of the whole machine displacement change ability and the absolute total of the whole machine displacement change. The calculation formula for the reference value of the whole machine displacement change is: ΔS1 = min(ΔS all , ΔS allmax ), where ΔS1 is the reference value of the whole machine displacement change. Calculate the execution value of each push rod displacement change based on the reference value of the whole machine displacement change and the utilization ratio of each push rod displacement. The execution value of each push rod displacement change is equal to the product of the reference value of the whole machine displacement change and the utilization ratio of each push rod displacement. The calculation formula for the execution value of each push rod displacement change is: ΔS1 i = ΔS1 * Δδ1i , where ΔS1 i is the execution value of the displacement change of the i-th push rod (which can be understood as the change amount of each push rod). Based on the execution values of the displacement changes of each push rod and the displacements already executed by each push rod, the current state execution displacements of each push rod are calculated. The current state execution displacement of each push rod is equal to the execution value of its push rod displacement change plus the displacements already executed by each push rod. The calculation formula for the current state execution displacement of each push rod is: S(K) i = S(K - 1) i + ΔS1 i , where S(K) i is the current state execution displacement of the i-th push rod.

[0056] In one embodiment, according to the formula: Calculate the time required for the current state execution displacement of each push rod to change to the target displacement of its push rod to verify whether the push rods are interrelated. Among them, time i is the time required for the current state execution displacement of the i-th push rod to change to the target displacement of its push rod, and ΔS i is the displacement target difference of the i-th push rod.

[0057] It can be understood that after verification by time i : The time required for the current state execution displacement of each push rod to change to the target displacement of its push rod is the same number, that is, the time required for the current state execution displacement of each push rod to change to the target displacement of its push rod is the same, ensuring that the displacement change processes of the push rods are interrelated and coordinated, and ensuring the consistency of the timeliness of the system operation.

[0058] Specifically, the verification process of time i is as follows:

[0059] Furthermore, S(K) i , S(K - 1) i are the execution displacements at adjacent moments.

[0060] Furthermore, after one unit of time, jump to step 1 for loop execution.

[0061] Furthermore, it can be known that the time required for the current state execution displacement of each push rod to change to the target displacement of its push rod is: Among them, time i is the time required for the current state execution displacement of the i-th push rod to change to the target displacement of its push rod.

[0062] Furthermore, it can be known that:

[0063]

[0064] Furthermore, it can be known that:

[0065]

[0066] Furthermore, it can be known that:

[0067]

[0068] Furthermore, it can be simplified to:

[0069]

[0070] From the above verification, it can be known that the time required for the current state of each push rod to execute the displacement change to the target displacement of its push rod is the same, ensuring that the displacement changes of the push rods are interrelated and coordinated with each other, and ensuring the consistency of the timeliness of the system operation.

[0071] In one embodiment, it is determined whether the execution value of the push rod displacement change is less than or equal to the push rod displacement change ability limit to verify whether the push rod is damaged. The specific verification process is as follows:

[0072] |ΔS1 i |≤S allmax *|Δδ1 i |

[0073] Furthermore, it can be known that:

[0074] |ΔS1 i |≤S allmax *|βC*Δδ i |

[0075] Furthermore, it can be known that:

[0076] |ΔS1 i |≤S allmax *β i *|Δδ i |

[0077] Furthermore, it can be known that:

[0078]

[0079] Furthermore, it can be known that:

[0080] |ΔS1 i |≤S allmax *Δτmax i

[0081] Furthermore, according to the push rod displacement change ability limit ratio of each push rod, that is, the formula: It can be known that:

[0082] |ΔS1 i |≤ΔSmax i

[0083] As can be seen from the above verification, the execution value of the displacement change of each push rod is less than or equal to the limit of its push rod displacement change ability, avoiding the problem of push rod damage caused by intense push rod operation.

[0084] In summary, in this application, by calculating the execution displacement of each push rod in the current state, the time required for the execution displacement of each push rod in the current state to change to the target displacement of its push rod is the same, ensuring that the displacement changes of the push rods are interrelated and coordinated with each other, and ensuring the consistency of the timeliness of the system operation. At the same time, the additional beneficial effect is that the execution value of the displacement change of the push rod is less than or equal to the limit of its push rod displacement change ability, avoiding the problem of push rod damage caused by intense push rod operation. In addition, it should also be noted that the reason why the time required for each push rod can be the same is that the execution displacement of each push rod in the current state is calculated. For example, the execution displacement of push rod A to the target displacement (1m) is 0.3m (in fact, A itself has already executed 0.7 displacement, and it is calculated that only 0.3 displacement needs to be executed), and the execution displacement of push rod B to the target displacement is 0.6 (that is, it has already executed 0.4 itself, and it is calculated that 0.6 needs to be executed to reach 1m), thereby ensuring that the time required for the execution displacement of each push rod in the current state to change to the target displacement of its push rod is the same, ensuring that the displacement changes of the push rods are interrelated and coordinated with each other, and ensuring the consistency of the timeliness of the system operation

[0085] Refer to Figure 2 , Figure 2 FIG. shows a schematic diagram of a vehicle push rod displacement interconnection device provided by the present invention. As Figure 2 shown, the device includes:

[0086] Calculation module 201: It is used to calculate the ratio of the displacement change ability limit of each push rod based on the sum of the displacement change ability limits of each push rod and the displacement change ability limit of the whole machine;

[0087] Calculate the displacement target difference of each push rod and the absolute total displacement change of the whole machine, and calculate the proportion of the displacement target of each push rod through the displacement target difference and the absolute total displacement change;

[0088] Calculate the relative ratio of the displacement of each push rod through the ratio of the displacement change ability limit of each push rod and the proportion of the displacement target of each push rod, and calculate the utilization ratio of the displacement of each push rod through the relative ratio of the displacement of each push rod and the proportion of the displacement target of each push rod;

[0089] Processing module 202: It is used to calculate the execution value of the displacement change of each push rod based on the calculated reference value of the displacement change of the whole machine and the utilization ratio of the displacement of each push rod, and calculate the execution displacement of each push rod in the current state according to the execution value of the displacement change of each push rod and the displacement already executed by each push rod, and execute it so that the time required for the execution displacement of each push rod in the current state to reach the target displacement of its push rod is the same.

[0090] Further, in a possible implementation, the calculation module is further configured to use a test bench to obtain the displacement change ability limits of each push rod, so as to calculate the total sum of the displacement change ability limits of the whole machine;

[0091] According to the formula: Calculate the displacement change ability limit ratio of each push rod, where ΔS allmax is the total sum of the displacement change ability limits of the whole machine, and ΔSmax i is the displacement change ability limit of the i-th push rod.

[0092] Further, in a possible implementation, the calculation module is further configured to calculate the displacement target difference of each push rod based on the target displacement and the executed displacement of each push rod, and calculate the absolute total sum of the displacement changes of the whole machine through the displacement target differences of the push rods;

[0093] According to the formula: Calculate the displacement target proportion of each push rod, where Δδ i is the displacement target proportion of the i-th push rod, ΔS i is the displacement target difference of the i-th push rod, and ΔS all is the absolute total sum of the displacement changes of the whole machine.

[0094] Further, in a possible implementation, the calculation module is further configured to calculate according to the formula: Calculate the relative ratio of the displacement of each push rod, where β i is the relative ratio of the i-th push rod, and Δτmax i is the displacement change ability limit ratio of the i-th push rod;

[0095] Obtain the reference relative ratio of the displacement of the whole machine based on the relative ratios of the displacement of each push rod;

[0096] According to the formula: Δδ1 i = βC * Δδ i , calculate the displacement utilization ratio of each push rod, where Δδ1 i is the displacement utilization ratio of the i-th push rod, and βC is the reference relative ratio of the displacement of the whole machine.

[0097] Further, in a possible implementation, the calculation module is further configured to calculate the reference value of the displacement change of the whole machine based on the total sum of the displacement change ability limits of the whole machine and the absolute total sum of the displacement changes of the whole machine;

[0098] According to the formula: ΔS1 i = ΔS1 * Δδ1 i , calculate the displacement change execution value of each push rod, where ΔS1 i is the displacement change execution value of the i-th push rod, and ΔS1 is the reference value of the displacement change of the whole machine;

[0099] According to the formula: S(K)i = S(K - 1) i + ΔS1 i , calculate the displacement executed by each push rod in the current state, where S(K) i is the displacement executed by the i-th push rod in the current state, and S(K - 1) i is the displacement executed by the i-th push rod at time K - 1.

[0100] Furthermore, in a possible implementation, the processing module is also used to calculate according to the formula: calculate the time required for the displacement executed by each push rod in the current state to change to the target displacement of its push rod, so as to verify whether the push rods are interconnected, where time i is the time required for the displacement executed by the i-th current state to change to the target displacement of its push rod, and ΔS i is the displacement target difference of the i-th push rod.

[0101] Furthermore, in a possible implementation, the processing module is also used to judge whether the execution value of the push rod displacement change is less than or equal to the push rod displacement change ability limit to verify whether the push rod is damaged.

[0102] Next, refer to Figure 3 to describe the electronic device 300 according to this implementation of the present invention. Figure 3 The displayed electronic device 300 is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present invention.

[0103] As Figure 3 shown, the electronic device 300 is presented in the form of a general-purpose computing device. The components of the electronic device 300 may include, but are not limited to: at least one of the above processing units 310, at least one of the above storage units 320, and a bus 330 connecting different system components (including the storage unit 320 and the processing unit 310).

[0104] Among them, the storage unit stores program code, and the program code can be executed by the processing unit 310, so that the processing unit 310 executes the steps according to various exemplary embodiments of the present invention described in the "Embodiment Method" section of this specification.

[0105] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 321 and / or a cache storage unit 322, and may further include a read-only storage unit (ROM) 323.

[0106] The storage unit 320 may also include a program / utilities 324 having a set (at least one) of program modules 325. Such program modules 325 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment.

[0107] The bus 330 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus structures.

[0108] The electronic device 300 may also communicate with one or more external devices (such as a keyboard, a pointing device, a Bluetooth device, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 300, and / or may communicate with any device that enables the electronic device 300 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication may be carried out through an input / output (I / O) interface 350. Also, the electronic device 300 may communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 360. As shown in the figure, the network adapter 360 communicates with other modules of the electronic device 300 through the bus 330. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0109] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or can be implemented by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which may be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0110] According to the solution of the present disclosure, there is also provided a computer-readable storage medium, on which a program product capable of implementing the above method of this specification is stored. In some possible implementation manners, various aspects of the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above "Exemplary Method" section of this specification.

[0111] Referring Figure 4 As shown, a program product 400 for implementing the above method according to an embodiment of the present invention is described. It can be a portable compact disc read-only memory (CD-ROM) and includes program code, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device.

[0112] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0113] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which the readable program code is carried. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable signal medium can also be any readable medium other than the readable storage medium, and this readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0114] The program code included on the readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination of the above.

[0115] The program code for performing the operations of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., by using an Internet service provider to connect through the Internet).

[0116] In addition, the above-mentioned drawings are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present invention, rather than for limiting purposes. It is easy to understand that the processes shown in the above-mentioned drawings do not indicate or limit the chronological order of these processes. Additionally, it is also easy to understand that these processes can be executed, for example, synchronously or asynchronously in multiple modules.

[0117] The above description is only the specific implementation manners of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to the embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

[0118] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

Claims

1. A vehicle push rod displacement interconnection method, characterized in that: include: Based on the sum of the displacement change capacity limit of each push rod and the displacement change capacity limit of the entire machine, the displacement change capacity limit ratio of each push rod is calculated; Calculate the displacement target difference of each push rod and the absolute sum of the displacement change of the whole machine, and calculate the displacement target proportion of each push rod through the displacement target difference and the absolute sum of the displacement change; Calculating the relative ratio of each push rod displacement by the displacement change capacity limit ratio of each push rod and the target proportion of each push rod displacement, and calculating the utilization ratio of each push rod displacement by the relative ratio of each push rod displacement and the target proportion of each push rod displacement; Based on the calculated reference value of the displacement change of the whole machine and the utilization ratio of the displacement of each push rod, the execution value of the displacement change of each push rod is calculated, and according to the execution value of the displacement change of each push rod and the executed displacement of each push rod, the execution displacement of the current state of each push rod is calculated and executed so that the time required for the execution displacement of each push rod in the current state to reach the target displacement of its push rod is the same.

2. The method according to claim 1, characterized in that The calculation of the displacement change capacity limit ratio of each push rod based on the sum of the displacement change capacity limit of each push rod and the displacement change capacity limit of the entire machine includes: The displacement change capacity limit of each push rod is obtained by using the test bench to calculate the total displacement change capacity limit of the whole machine; According to the formula: Calculate the displacement change capacity limit ratio of each push rod, where ΔS allmax ΔSmax is the total displacement change capacity limit of the whole machine, i is the displacement change capacity limit of the i-th push rod.

3. The method according to claim 1, characterized in that: The step of calculating the displacement target difference of each push rod and the absolute sum of the displacement change of the whole machine, and calculating the displacement target proportion of each push rod by using the displacement target difference and the absolute sum of the displacement change, includes: Calculating the displacement target difference of each push rod based on the target displacement of each push rod and the executed displacement of each push rod, and calculating the absolute sum of displacement changes of the whole machine through the displacement target difference of each push rod; According to the formula: Calculate the displacement target ratio of each push rod, where Δδ i is the target displacement ratio of the i-th push rod, ΔS i is the displacement target difference of the i-th push rod, ΔS all It is the absolute sum of displacement changes of the whole machine.

4. The method according to claim 1, characterized in that The step of calculating the relative ratio of each push rod displacement by the displacement change capacity limit ratio of each push rod and the target ratio of each push rod displacement, and calculating the utilization ratio of each push rod displacement by the relative ratio of each push rod displacement and the target ratio of each push rod displacement, comprises: According to the formula: Calculate the relative displacement ratio of each push rod, where β i is the relative ratio of the i-th push rod, Δτmax i is the displacement change capacity limit ratio of the i-th push rod; Obtain the reference relative displacement ratio of the whole machine based on the relative displacement ratio of each push rod; According to the formula: Δδ1 i =βC*Δδ i , calculate the displacement utilization ratio of each push rod, where Δδ1 i is the utilization ratio of the ith push rod displacement, and βC is the reference relative ratio of the whole machine displacement.

5. The method according to claim 1, characterized in that The step of calculating the displacement change execution value of each push rod based on the calculated whole machine displacement change reference value and the displacement utilization ratio of each push rod, and calculating the current state execution displacement of each push rod according to the displacement change execution value of each push rod and the executed displacement of each push rod, includes: Calculate the reference value of the displacement change of the whole machine based on the total displacement change capacity limit of the whole machine and the absolute total displacement change of the whole machine; According to the formula: ΔS1 i =ΔS1*Δδ1 i , calculate the displacement change execution value of each push rod, where ΔS1 i is the displacement change execution value of the i-th push rod, ΔS1 is the displacement change reference value of the whole machine; According to the formula: S(K) i =S(K-1) i +ΔS1 i , calculate the displacement of each push rod in the current state, where S(K) i Execute displacement for the current state of the i-th push rod, S(K-1) i Execute the displacement of the i-th push rod at time K-1.

6. The method according to claim 5, characterized in that Also includes: According to the formula: Calculate the time required for each push rod to change its displacement from its current state to its target displacement to verify whether the push rods are related to each other. i The time required for the displacement change of the i-th current state to the target displacement of its push rod, ΔS i is the displacement target difference of the i-th push rod.

7. The method according to claim 1, characterized in that Also includes: Determine whether the push rod displacement change execution value is less than or equal to its push rod displacement change capacity limit to verify whether the push rod is damaged.

8. A vehicle push rod displacement interconnection device, characterized in that: include: A calculation module, which is used to calculate the displacement change capacity limit ratio of each push rod based on the sum of the displacement change capacity limit of each push rod and the displacement change capacity limit of the entire machine; Calculate the displacement target difference of each push rod and the absolute sum of the displacement change of the whole machine, and calculate the displacement target proportion of each push rod through the displacement target difference and the absolute sum of the displacement change; Calculating the relative ratio of each push rod displacement by the displacement change capacity limit ratio of each push rod and the target proportion of each push rod displacement, and calculating the utilization ratio of each push rod displacement by the relative ratio of each push rod displacement and the target proportion of each push rod displacement; A processing module is used to calculate the displacement change execution value of each push rod based on the calculated whole machine displacement change reference value and the displacement utilization ratio of each push rod, and calculate the current state execution displacement of each push rod according to the displacement change execution value of each push rod and the executed displacement of each push rod, and execute it so that the time required for the current state execution displacement of each push rod to reach the target displacement of its push rod is the same.

9. An electronic device, characterized in that: The electronic device comprises: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer program instructions are stored therein, and when the computer program instructions are executed by a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

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