Vehicle tire slipping simulation method, device and equipment and storage medium

Abstract

The invention discloses a vehicle tire slip simulation method, device and equipment and a storage medium, and relates to the technical field of vehicle test.The method comprises the steps that when a vehicle tire slip simulation system simulates a driving working condition, the real-time torque and the real-time rotating speed of a vehicle tire when a vehicle runs under the driving working condition are obtained; according to the real-time torque of the vehicle tire and the marked slip rate, the slip rotating speed of the vehicle tire is determined; and performing slip simulation on the vehicle tire by adjusting the next rotating speed corresponding to the real-time rotating speed to the slip rotating speed. According to the technical scheme, according to the real-time torque when the vehicle is simulated to run under various running conditions and the marked slip rate under various running conditions, the slip rotating speed of the vehicle tire under various running conditions is determined, and the next rotating speed corresponding to the real-time rotating speed of the vehicle tire under various running conditions is adjusted to the corresponding slip rotating speed. Therefore, the vehicle tire slips at the next moment corresponding to the next rotating speed, and the slip simulation of the vehicle tire is realized.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of vehicle testing, and in particular, to a method, device, equipment and storage medium for simulating tire skidding of a vehicle. Background Art

[0002] Before a vehicle leaves the factory, vehicle testing is required. For example, it is necessary to test the performance and safety of vehicle tires. The performance and safety of vehicle tires are reflected by the slip ratio of vehicle tires under various working conditions. Therefore, it is necessary to simulate tire skidding of a vehicle under various working conditions to determine the slip ratio of vehicle tires under various working conditions.

[0003] It is difficult for the prior art to simulate tire skidding of a vehicle under complex working conditions, and thus it is difficult to effectively test vehicle skidding. Therefore, there is an urgent need for a method for simulating tire skidding of a vehicle to realize simulating tire skidding of a vehicle under various working conditions. Summary of the Invention

[0004] The present invention provides a method, device, equipment and storage medium for simulating tire skidding of a vehicle to realize simulating tire skidding of a vehicle under various driving working conditions provided by a test device.

[0005] In a first aspect, an embodiment of the present invention provides a method for simulating tire skidding of a vehicle, including:

[0006] Obtaining the real-time torque and real-time speed of a vehicle tire when the vehicle runs under the driving working condition when a tire skidding simulation system of the vehicle tire simulates the driving working condition;

[0007] Determining the skidding speed of the vehicle tire according to the real-time torque of the vehicle tire and the marked skidding slip ratio;

[0008] Simulating tire skidding of the vehicle by adjusting the next speed corresponding to the real-time speed to the skidding speed.

[0009] The technical solution of the embodiment of the present invention provides a method for simulating tire skidding of a vehicle, including: obtaining the real-time torque and real-time rotational speed of the vehicle tire when the vehicle is running under the driving condition simulated by the tire skidding simulation system of the vehicle; determining the skidding rotational speed of the vehicle tire according to the real-time torque of the vehicle tire and the marked skidding slip ratio; and performing skidding simulation on the vehicle tire by adjusting the next rotational speed corresponding to the real-time rotational speed to the skidding rotational speed. In the above technical solution, when the tire skidding simulation system of the vehicle simulates the driving condition of the vehicle, the real-time torque and real-time rotational speed of the vehicle tire when the vehicle is simulated to run under each driving condition are obtained, and the skidding rotational speed of the vehicle tire when the vehicle is simulated to run under each driving condition is determined according to the obtained real-time torque and the marked skidding slip ratio under various driving conditions, so as to realize the determination of the skidding rotational speed of the vehicle tire when the vehicle is simulated to run under each driving condition. Furthermore, the next rotational speed corresponding to the real-time rotational speed of the vehicle tire when the vehicle is simulated to run under each driving condition can be adjusted to the skidding rotational speed, so that the vehicle tire skids at the next moment corresponding to the next rotational speed, and the skidding simulation of the vehicle tire when the vehicle is simulated to run under each driving condition is realized.

[0010] Further, determining the skidding rotational speed of the vehicle tire according to the real-time torque of the vehicle tire and the marked skidding slip ratio includes:

[0011] Determining the vehicle driving force according to the real-time torque of the vehicle tire, and determining the road driving force according to the vehicle driving force and the marked skidding slip ratio of the vehicle tire;

[0012] Calculating the angular acceleration of the vehicle tire according to the vehicle driving force, the road driving force and the rotational inertia of the vehicle tire, and determining the skidding rotational speed of the vehicle tire according to the angular acceleration of the vehicle tire.

[0013] Further, determining the vehicle driving force according to the real-time torque of the vehicle tire, and determining the road driving force according to the vehicle driving force and the marked skidding slip ratio of the vehicle tire includes:

[0014] Determining the vehicle driving force according to the ratio of the real-time torque of the vehicle tire to the effective radius;

[0015] Determining the normal force of the vehicle tire according to the current simulated driving condition, the parameter information of the vehicle and the vehicle driving force;

[0016] Substituting the normal force of the vehicle tire and the marked skidding slip ratio into the tire model to obtain the road driving force.

[0017] Further, calculating the angular acceleration of the vehicle tire based on the vehicle driving force, the road driving force, and the rotational inertia of the vehicle tire includes:

[0018] Determining a first torque according to the vehicle driving force and a second torque according to the road driving force;

[0019] Determining the angular acceleration of the vehicle tire according to the ratio of the torque difference between the first torque and the second torque to the rotational inertia of the vehicle tire.

[0020] Further, determining the slip speed of the vehicle tire according to the angular acceleration of the vehicle tire includes:

[0021] Determining the angular velocity of the vehicle tire by performing an integral operation on the angular acceleration of the vehicle tire;

[0022] Substituting the angular velocity of the vehicle tire into the rotational speed formula to obtain the slip speed of the vehicle tire.

[0023] Further, it further includes:

[0024] Determining the actual slip slip ratio of the vehicle tire according to the real-time speed of the vehicle and the real-time rotational speed of the vehicle tire.

[0025] Further, determining the actual slip slip ratio of the vehicle tire according to the real-time speed of the vehicle and the real-time rotational speed of the vehicle tire includes:

[0026] Determining the real-time linear speed of the vehicle tire according to the real-time rotational speed and the effective radius of the vehicle tire;

[0027] Determining a speed difference according to the real-time speed of the vehicle and the real-time linear speed of the vehicle tire, and determining the actual slip slip ratio of the vehicle tire according to the ratio of the difference to the real-time speed of the vehicle.

[0028] In a second aspect, an embodiment of the present invention further provides a slip simulation device for a vehicle tire, including:

[0029] An acquisition module, configured to acquire the real-time torque and real-time rotational speed of the vehicle tire when the vehicle is operating in the driving condition when the slip simulation system of the vehicle tire simulates the driving condition;

[0030] A determination module, configured to determine the slip speed of the vehicle tire according to the real-time torque of the vehicle tire and the marked slip slip ratio;

[0031] A simulation module, configured to perform slip simulation on the vehicle tire by adjusting the next rotational speed corresponding to the real-time rotational speed to the slip speed.

[0032] In a third aspect, an embodiment of the present invention further provides an electronic device, which includes:

[0033] At least one processor; and a memory communicatively connected to the at least one processor;

[0034] Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the skid simulation method of the vehicle tire as described in any one of the first aspect.

[0035] In a fourth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, characterized in that the computer-executable instructions are used to execute the skid simulation method of the vehicle tire as described in any one of the first aspect when executed by a computer processor.

[0036] In a fifth aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions run on a computer, the computer is caused to execute the skid simulation method of the vehicle tire provided in the first aspect.

[0037] It should be noted that the above computer instructions can be stored in whole or in part on a computer-readable storage medium. Among them, the computer-readable storage medium can be packaged together with the processor of the skid simulation device of the vehicle tire, or can be separately packaged from the processor of the skid simulation device of the vehicle tire. The present application does not make any limitation on this.

[0038] The descriptions of the second aspect, the third aspect, the fourth aspect, and the fifth aspect in the present application can refer to the detailed description of the first aspect; and, for the beneficial effects of the descriptions of the second aspect, the third aspect, the fourth aspect, and the fifth aspect, reference can be made to the beneficial effect analysis of the first aspect, which will not be elaborated here.

[0039] In the present application, the name of the above skid simulation device of the vehicle tire does not constitute a limitation on the device or functional module itself. In actual implementation, these devices or functional modules may appear under other names. As long as the functions of each device or functional module are similar to those of the present application and fall within the scope of the claims of the present application and its equivalent technologies.

[0040] These aspects or other aspects of the present application will be more clearly understood in the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0042] Figure 1 It is a flowchart of a method for simulating tire skidding of a vehicle provided by an embodiment of the present invention;

[0043] Figure 2 It is a schematic diagram of a system for simulating tire skidding of a vehicle provided by an embodiment of the present invention;

[0044] Figure 3 It is a flowchart of another method for simulating tire skidding of a vehicle provided by an embodiment of the present invention;

[0045] Figure 4 It is a schematic structural diagram of a device for simulating tire skidding of a vehicle provided by an embodiment of the present invention;

[0046] Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed Embodiments

[0047] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of convenience of description, only parts related to the present invention are shown in the accompanying drawings, rather than all the structures.

[0048] The term "and / or" in this document is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone.

[0049] The terms "first" and "second" in the specification and drawings of this application are used to distinguish different objects or different processes for the same object, rather than to describe the specific order of the objects.

[0050] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include other unlisted steps or units, or may optionally further include other steps or units inherent to these processes, methods, products, or devices.

[0051] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operations are completed, but it can also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc. In addition, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0052] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0053] In the description of the present application, unless otherwise specified, the meaning of "a plurality of" refers to two or more.

[0054] Figure 1 The flowchart of a method for simulating tire skidding of a vehicle provided by an embodiment of the present invention is applicable to situations where it is necessary to simulate tire skidding of a vehicle. This method can be executed by a device for simulating tire skidding of a vehicle, such as Figure 1 shown, and specifically includes the following steps:

[0055] Step 110: Obtain the real-time torque and real-time rotational speed of the vehicle tires when the vehicle is running under the driving condition simulated by the tire skidding simulation system of the vehicle tires.

[0056] Figure 2 The schematic diagram of a tire skidding simulation system of a vehicle provided by an embodiment of the present invention is shown in Figure 2 shown. The system includes a simulation plane, a dynamometer and a controller arranged on one side of each vehicle tire of the vehicle to be tested. The simulation plane is used to simulate various driving conditions. Each dynamometer includes a torque sensor, and the torque sensor is used to obtain the half-shaft torque of the wheel tire. The controller is communicatively connected to each dynamometer.

[0057] The tire skidding simulation system of the vehicle tires can simulate various driving conditions based on the simulation plane and provide driving conditions for the tire skidding simulation of the vehicle tires.

[0058] The vehicle includes a rotational speed sensor arranged near each vehicle tire, and the rotational speed sensor is used to obtain the real-time rotational speed of the vehicle tires.

[0059] Specifically, when the skid simulation system of vehicle tires simulates various driving conditions based on the simulation plane, it simulates various driving conditions by placing the vehicle on the simulation plane. When the vehicle is simulated to be driving in any driving condition, the real-time torque and real-time rotational speed of the vehicle tires when the vehicle is operating in this driving condition are obtained. Specifically, the real-time torque of each vehicle tire can be obtained based on the torque sensor in the dynamometer set on one side of each vehicle tire, and the real-time rotational speed of the vehicle tires can be obtained based on the rotational speed sensors near each vehicle tire in the vehicle.

[0060] It should be noted that this application can simulate skidding for the vehicle to be tested, and can also simulate skidding for the semi-finished vehicle composed of vehicle tires and the power system.

[0061] In the embodiments of the present invention, the real-time torque and real-time rotational speed of the vehicle tires when the vehicle is simulated to be operating in various driving conditions are obtained, and the real-time acquisition of the data related to the vehicle tires when the vehicle is simulated to be operating in various driving conditions is realized.

[0062] Step 120: Determine the skid rotational speed of the vehicle tire according to the real-time torque of the vehicle tire and the marked skid slip ratio.

[0063] Among them, different marked skid slip ratios correspond to various driving conditions. The marked skid slip ratio can be understood as the standard parameter of the vehicle tire. Under the determined driving condition, the corresponding marked skid slip ratio can be determined according to the vehicle model or tire model.

[0064] The marked skid slip ratio of the vehicle tire can be understood as the slip ratio when the vehicle tire theoretically skids. Therefore, when the vehicle tire rotates at the skid rotational speed corresponding to the marked skid slip ratio when theoretically skidding, skidding will occur. By adjusting the rotational speed of the vehicle tire to the skid rotational speed corresponding to the marked skid slip ratio, the simulation of the skidding of the vehicle tire can be realized.

[0065] Specifically, first, the vehicle driving force when the vehicle is simulated to be operating in various driving conditions can be determined according to the real-time torque of the vehicle tires when the vehicle is simulated to be operating in various driving conditions. Secondly, the road driving force when the vehicle is simulated to be operating in various driving conditions can be determined according to the vehicle driving force when the vehicle is simulated to be operating in various driving conditions and the marked skid slip ratio of the vehicle tires under various driving conditions. Then, the angular acceleration of the vehicle tires when the vehicle is simulated to be operating in various driving conditions is calculated according to the vehicle driving force, road driving force, and rotational inertia of the vehicle tires when the vehicle is simulated to be operating in various driving conditions. The skid rotational speed of the vehicle tires when the vehicle is simulated to be operating in various driving conditions is determined according to the angular acceleration of the vehicle tires when the vehicle is simulated to be operating in various driving conditions.

[0066] In an embodiment of the present invention, the slip speed of the vehicle tires when the vehicle is simulated running in each driving condition is determined according to the real-time torque and the marked slip rate of the vehicle tires when the vehicle is simulated running in each driving condition, thereby realizing data preparation for slip simulation of the vehicle tires.

[0067] Step 130: Perform a slip simulation on the vehicle tire by adjusting the next speed corresponding to the real-time speed to the slip speed.

[0068] Specifically, by adjusting the next speed corresponding to the real-time speed of the vehicle tires when the vehicle is simulated running in various driving conditions to the slipping speed, the vehicle tires slip at the next moment corresponding to the next speed, thereby realizing the slipping simulation of the vehicle tires when the vehicle is simulated running in various driving conditions.

[0069] In the embodiment of the present invention, by adjusting the rotation speed of the vehicle tires, the simulation of the vehicle tire slipping when the vehicle simulates running in various driving conditions is achieved.

[0070] The slip simulation method of a vehicle tire provided by an embodiment of the present invention comprises: obtaining the real-time torque and real-time speed of the vehicle tire when the vehicle is running in the driving condition when the slip simulation system of the vehicle tire simulates the driving condition; determining the slip speed of the vehicle tire according to the real-time torque and the marked slip slip rate of the vehicle tire; and simulating the slip of the vehicle tire by adjusting the next speed corresponding to the real-time speed to the slip speed. In the above technical scheme, when the slip simulation system of the vehicle tire simulates the driving condition of the vehicle, the real-time torque and real-time speed of the vehicle tire when the vehicle is simulated running in each driving condition are obtained, and the slip speed of the vehicle tire when the vehicle is simulated running in each driving condition is determined according to the obtained real-time torque and the marked slip slip rate under various driving conditions, so as to determine the slip speed of the vehicle tire when the vehicle is simulated running in each driving condition, and then the next speed corresponding to the real-time speed of the vehicle tire when the vehicle is simulated running in each driving condition can be adjusted to the slip speed, so that the vehicle tire slips at the next moment corresponding to the next speed, so as to realize the slip simulation of the vehicle tire when the vehicle is simulated running in each driving condition.

[0071] Figure 3 This is a flow chart of another method for simulating the slippage of a vehicle tire provided by an embodiment of the present invention. This embodiment is specific based on the above embodiment. Figure 3 As shown, in this embodiment, the method may further include:

[0072] Step 310: When the vehicle tire slip simulation system simulates the driving condition, the real-time torque and real-time rotation speed of the vehicle tire when the vehicle is running in the driving condition are obtained.

[0073] As described in the previous embodiment, the real-time torque of each vehicle tire can be obtained based on the torque sensor in the dynamometer provided on one side of each vehicle tire, and the real-time rotational speed of the vehicle tire can be obtained based on the rotational speed sensor near each vehicle tire in the vehicle. It is possible to obtain the real-time torque and the actual rotational speed of the vehicle tire when the vehicle is simulated to operate in each driving condition, and to obtain the relevant data of the vehicle tire in real time when the vehicle is simulated to operate in the driving condition.

[0074] Step 320: Determine the vehicle driving force according to the real-time torque of the vehicle tire.

[0075] Among them, the vehicle driving force can be determined by the real-time torque and the effective radius of the vehicle tire. Therefore, the vehicle driving force can be determined according to the real-time torque and the effective radius of the vehicle tire.

[0076] In one embodiment, step 320 may specifically include:

[0077] Determine the vehicle driving force according to the ratio of the real-time torque and the effective radius of the vehicle tire.

[0078] Specifically, the effective radius of the vehicle tire can be determined according to the model information of the vehicle tire. After obtaining the real-time torque of the vehicle tire when the vehicle is simulated to operate in each driving condition, the ratio of the real-time torque and the effective radius of the vehicle tire when the vehicle is simulated to operate in each driving condition can be determined, and then this ratio can be determined as the vehicle driving force when the vehicle is simulated to operate in each driving condition.

[0079] For example, after determining the real-time torque and the effective radius of the vehicle tire, the real-time torque and the effective radius of the vehicle tire can be substituted into Formula 1 to determine the vehicle driving force.

[0080]

[0081] Among them, F1 represents the vehicle driving force, T represents the real-time torque of the vehicle tire, and R represents the effective radius of the vehicle tire.

[0082] In the embodiment of the present invention, the vehicle driving force when the vehicle is simulated to operate in each driving condition is determined according to the real-time torque and the effective radius of the vehicle tire obtained in real time, so as to realize the determination of the real-time vehicle driving force of the vehicle when the vehicle is simulated to operate in each driving condition.

[0083] Step 330: Determine the road driving force according to the vehicle driving force and the marked slip rate of the vehicle tire.

[0084] In one embodiment, step 330 may specifically include:

[0085] Determine the normal force of the vehicle tires based on the current simulated driving condition, the parameter information of the vehicle, and the driving force of the vehicle; substitute the normal force of the vehicle tires and the marked slip ratio into the tire model to obtain the road driving force.

[0086] Specifically, first, the road parameters can be determined according to the current simulated driving condition. The road parameters here can include road gradient, road roughness, road surface material, and turning radius. Secondly, the parameter information of the vehicle required to determine the normal force of the vehicle tires can be obtained, that is, the vehicle mass, the position of the center of mass, the tire stiffness, the suspension system parameters, the vehicle speed, and the vehicle acceleration can be obtained. Furthermore, the normal force of the vehicle tires when the vehicle is simulated to operate under various driving conditions can be determined based on the foregoing road parameters, the parameter information of the vehicle, and the driving force of the vehicle when it is simulated to operate under various driving conditions. For example, when the current simulated driving condition is uniform driving, the normal force of the front wheels can be determined The normal force of the rear wheels where l1 represents the distance from the center of mass to the front axle, l2 represents the distance from the center of mass to the rear axle, l1 + l2 = L, and L represents the wheelbase of the vehicle. When the current simulated driving condition is straight-line acceleration or deceleration, for a rear-wheel drive vehicle, the increased normal force of the rear wheels The decreased normal force of the front wheels where h represents the height of the center of mass. Therefore, the normal force of the rear wheels can be determined The normal force of the front wheels can be determined When the current simulated driving condition is straight-line acceleration or deceleration, for a front-wheel drive vehicle, the increased normal force of the front wheels The decreased normal force of the rear wheels Therefore, the normal force of the rear wheels can be determined The normal force of the front wheels can be determined When the current simulated driving condition is turning, the centrifugal force can be determined where r represents the turning radius, the increased normal force of the outer tires The decreased normal force of the inner tires is -ΔF N , so the normal force of the left front wheel of the vehicle turning left can be determined The normal force of the left rear wheel The normal force of the right front wheel The normal force of the right rear wheel When the current simulated driving condition is slope driving, the normal force of the front wheels can be determined The normal force of the rear wheels where θ represents the slope angle and h represents the slope height.

[0087] In practical applications, when the vehicle operates under other more complex driving conditions, the corresponding normal forces of the front wheels and rear wheels can be determined according to the foregoing steps, which will not be elaborated here.

[0088] After determining the normal force of the vehicle tires when the vehicle is simulated to run in each driving condition, the road driving force when the vehicle is simulated to run in each driving condition can be determined according to the normal force of the vehicle tires when the vehicle is simulated to run in each driving condition and the marked slip ratio of the vehicle tires under each driving condition. Specifically, by substituting the normal force of the vehicle tires when the vehicle is simulated to run in each driving condition and the marked slip ratio of the vehicle tires under each driving condition into the tire model, the road driving force when the vehicle is simulated to run in each driving condition can be obtained. For example, when the tire model is the Magic Formula tire model, the maximum driving force that the vehicle tires can generate is usually proportional to the normal force, and the proportionality coefficient is related to the tire characteristics. Therefore, the maximum driving force that the vehicle tires can generate can be determined according to the normal force and the proportionality coefficient determined by the tire characteristics. By substituting the maximum driving force and the marked slip ratio into Formula 2 corresponding to the Magic Formula tire model, the road driving force can be obtained.

[0089] F2 = y(x) = Dsin{Carctan[Bx - E(Bx - arctan(Bx))]} Formula 2

[0090] Among them, F2 and y(x) represent the road driving force, x represents the marked slip ratio, and B, C, D, and E represent model parameters, and their specific values are calibrated according to the specific characteristics of the vehicle tires and experimental data.

[0091] In the embodiment of the present invention, by substituting the maximum driving force corresponding to the normal force of the vehicle tires determined by the vehicle driving force when the vehicle is simulated to run in each driving condition and the marked slip ratio of the vehicle tires under each driving condition into the tire formula, the accurate road driving force when the vehicle is simulated to run in each driving condition is determined.

[0092] Step 340: Calculate the angular acceleration of the vehicle tires according to the vehicle driving force, the road driving force, and the rotational inertia of the vehicle tires.

[0093] In one implementation, step 340 may specifically include:

[0094] Determine a first torque according to the vehicle driving force, and determine a second torque according to the road driving force; determine the angular acceleration of the vehicle tires according to the ratio of the torque difference between the first torque and the second torque to the rotational inertia of the vehicle tires.

[0095] Specifically, when the vehicle driving force drives the vehicle tires, a first torque that causes the vehicle tires to rotate is generated. Therefore, the first torque can be determined based on the vehicle driving force, that is, M1 = F1 × R can be determined. When the road driving force drives the vehicle tires, a second torque that causes the vehicle tires to rotate is generated. Therefore, the second torque can be determined based on the road driving force, that is, M2 = F2 × R can be determined. Furthermore, the resultant torque M of the vehicle tire rotation can be determined based on the first torque and the second torque, M = M1 - M2 = (F1 - F2) × R.

[0096] The moment of inertia of the vehicle tires is a physical quantity that describes the magnitude of the rotational inertia of the vehicle tires. There is a relationship of Formula 3 between the resultant torque of the vehicle tire rotation and the moment of inertia.

[0097] M = Iα Formula 3

[0098] Where, M represents the resultant torque of the vehicle tire rotation, I represents the rotational inertia of the vehicle tires, and α represents the angular acceleration of the vehicle tires.

[0099] Therefore, when the resultant torque of the vehicle tire rotation is determined and the moment of inertia of the vehicle tires is known, the angular acceleration of the vehicle tires can be determined.

[0100] In the embodiments of the present invention, the angular acceleration of the vehicle tires when the vehicle is simulated to operate under various driving conditions is calculated based on the vehicle driving force, the road driving force, and the rotational inertia of the vehicle tires when the vehicle is simulated to operate under various driving conditions. By combining the resultant torque corresponding to the resultant force of the vehicle driving force and the road driving force on the vehicle tires when the vehicle is simulated to operate under various driving conditions and the rotational inertia of the vehicle tires, the accurate angular acceleration of the vehicle tires when the vehicle is simulated to operate under various driving conditions is determined.

[0101] Step 350: Determine the slip speed of the vehicle tires based on the angular acceleration of the vehicle tires.

[0102] In one implementation, step 350 may specifically include:

[0103] By performing an integral operation on the angular acceleration of the vehicle tires, the angular velocity of the vehicle tires is determined; the angular velocity of the vehicle tires is substituted into the rotational speed formula to obtain the slip speed of the vehicle tires.

[0104] Specifically, within the time interval [t0 - t], the angular acceleration α is a function of time t, α(t), Where, represents the angular velocity at the initial time t0. By performing an integral operation on the function α(t), the angular velocity of the vehicle tires at any time t can be determined.

[0105] The relationship between the angular velocity and rotational speed of the vehicle tire is shown in Formula 4.

[0106]

[0107] Among them, n represents the rotational speed of the vehicle tire.

[0108] Therefore, after determining the angular velocity of the vehicle tire when the vehicle is simulated to run in each driving condition, by substituting the rotational speed of the vehicle tire when the vehicle is simulated to run in each driving condition into Formula 4, the rotational speed of the vehicle tire when the vehicle is simulated to run in each driving condition can be determined, that is, the rotational speed of the vehicle tire when the vehicle is simulated to run in each driving condition can be determined.

[0109] In the embodiment of the present invention, the angular velocity of the vehicle tire determined by integrating the angular acceleration of the vehicle tire when the vehicle is simulated to run in each driving condition is substituted into the rotational speed formula to determine the slip rotational speed of the vehicle tire when the vehicle is simulated to run in each driving condition, so as to realize the determination of the rotational speed when the vehicle tire slips when the vehicle is simulated to run in each driving condition.

[0110] Step 360: Simulate the slip of the vehicle tire by adjusting the next rotational speed corresponding to the real-time rotational speed to the slip rotational speed.

[0111] As described in the previous embodiment, by adjusting the next rotational speed corresponding to the real-time rotational speed of the vehicle tire when the vehicle is simulated to run in each driving condition to the slip rotational speed, the vehicle tire slips at the next moment corresponding to the next rotational speed, so as to realize the slip simulation of the vehicle tire.

[0112] Step 370: Determine the actual slip slip ratio of the vehicle tire according to the real-time speed of the vehicle and the real-time rotational speed of the vehicle tire.

[0113] In one implementation manner, step 370 may specifically include:

[0114] Determine the real-time linear speed of the vehicle tire according to the real-time rotational speed and effective radius of the vehicle tire; determine the speed difference according to the real-time speed of the vehicle and the real-time linear speed of the vehicle tire, and determine the actual slip slip ratio of the vehicle tire according to the ratio of the difference value to the real-time speed of the vehicle.

[0115] Among them, the vehicle further includes a speed sensor for obtaining the real-time speed of the vehicle.

[0116] Specifically, the real-time slip ratio of a vehicle tire can be determined based on the real-time speed of the vehicle and the theoretical linear speed when the vehicle tire does not slip. The linear speed of the vehicle tire can be determined based on the angular speed and the effective radius of the vehicle tire. The effective radius of the vehicle tire is a known quantity and the angular speed of the vehicle tire can be determined based on the rotational speed of the vehicle tire. Therefore, in order to determine the actual slip ratio of the vehicle tire, first, the real-time angular speed of the vehicle tire can be determined according to the slip rotational speed of the vehicle tire, and then the linear speed of the vehicle tire when rotating based on the real-time rotational speed can be determined according to the real-time angular speed and the effective radius of the vehicle tire. And this linear speed is the theoretical linear speed when the vehicle tire slips. Furthermore, the speed difference can be determined based on the real-time speed of the vehicle and the theoretical linear speed when the vehicle tire slips, and the actual slip ratio of the vehicle tire can be determined according to the ratio of the speed difference to the real-time speed of the vehicle.

[0117] Certainly, the marked slip ratio can be updated based on the actual slip ratio of the vehicle tire to achieve precise processing of the slip ratio of the vehicle tire. The precisely processed slip ratio can be used for more accurate performance and safety evaluations of the vehicle tire, providing a more accurate slip ratio for studying the handling and stability of the vehicle under slip conditions, that is, providing a more accurate data basis.

[0118] In the embodiment of the present invention, the actual slip ratio of the vehicle tire is determined according to the real-time speed of the vehicle and the slip rotational speed of the vehicle tire, realizing precise calculation of the actual slip ratio of the vehicle tire.

[0119] The method for simulating tire skidding provided by the embodiments of the present invention includes: obtaining the real-time torque and real-time rotational speed of a vehicle tire when the vehicle is operating under the driving conditions simulated by the tire skidding simulation system of the vehicle; determining the vehicle driving force according to the real-time torque of the vehicle tire; determining the road driving force according to the vehicle driving force and the marked skidding slip ratio of the vehicle tire; calculating the angular acceleration of the vehicle tire according to the vehicle driving force, the road driving force, and the rotational inertia of the vehicle tire; determining the skidding rotational speed of the vehicle tire according to the angular acceleration of the vehicle tire; simulating skidding of the vehicle tire by adjusting the next rotational speed corresponding to the real-time rotational speed to the skidding rotational speed; and determining the actual skidding slip ratio of the vehicle tire according to the real-time speed of the vehicle and the real-time rotational speed of the vehicle tire. In the above technical solution, when the tire skidding simulation system of the vehicle simulates the driving conditions of the vehicle, the real-time torque and real-time rotational speed of the vehicle tire under various driving conditions of the vehicle are obtained. The vehicle driving force when the vehicle is simulated to travel under various driving conditions is determined according to the obtained real-time torque and effective radius of the vehicle tire, so as to realize the determination of the real-time driving force when the vehicle is simulated to travel under various driving conditions. After determining the normal force of the vehicle tire when the vehicle is simulated to travel under various driving conditions according to the vehicle driving force when the vehicle is simulated to travel under various driving conditions, the maximum driving force that the vehicle tire can generate when the vehicle is simulated to travel under various driving conditions is determined according to the normal force of the vehicle tire, and the road driving force is determined by substituting the maximum driving force and the standard skidding slip ratio of the vehicle tire into the tire formula, so as to realize the determination of the accurate road driving force when the vehicle is simulated to travel under various driving conditions. The angular acceleration of the vehicle tire is calculated according to the vehicle driving force, the road driving force, and the rotational inertia of the vehicle tire when the vehicle is simulated to travel under various driving conditions. The accurate angular acceleration of the vehicle tire is determined by combining the resultant torque corresponding to the resultant force of the vehicle driving force and the road driving force on the vehicle tire and the rotational inertia of the vehicle tire. The angular velocity of the vehicle tire determined by integrating the angular acceleration of the vehicle tire is substituted into the rotational speed formula to determine the skidding rotational speed of the vehicle tire, so as to realize the determination of the rotational speed when the vehicle tire skids when the vehicle is simulated to travel under various driving conditions. Furthermore, the next rotational speed corresponding to the real-time rotational speed when the vehicle is simulated to travel under various driving conditions can be adjusted to the corresponding skidding rotational speed, so that the vehicle tire skids at the next moment corresponding to the next rotational speed, realizing the simulation of tire skidding of the vehicle tire.

[0120] Moreover, the actual skidding slip ratio of the vehicle tire when the vehicle is traveling under various driving conditions is determined according to the real-time speed of the vehicle and the skidding rotational speed of the vehicle tire when the vehicle is simulated to travel under various driving conditions, realizing the accurate calculation of the actual skidding slip ratio of the vehicle tire.

[0121] Figure 4The figure is a schematic structural diagram of a skid simulation device for vehicle tires provided by an embodiment of the present invention. This device can be applicable to situations where skid simulation of vehicle tires is required. The device can be implemented through software and / or hardware and is generally integrated in an electronic device, such as a skid simulation system for vehicle tires.

[0122] As Figure 4 shown, the device includes:

[0123] An acquisition module 410, configured to acquire the real-time torque and real-time rotational speed of a vehicle tire when the vehicle is operating under the driving conditions simulated by the skid simulation system of the vehicle tire;

[0124] A determination module 420, configured to determine the skid rotational speed of the vehicle tire according to the real-time torque of the vehicle tire and the marked skid slip ratio;

[0125] A simulation module 430, configured to simulate skidding of the vehicle tire by adjusting the next rotational speed corresponding to the real-time rotational speed to the skid rotational speed.

[0126] The skid simulation device for vehicle tires provided in this embodiment acquires the real-time torque and real-time rotational speed of the vehicle tire when the vehicle is operating under the driving conditions simulated by the skid simulation system of the vehicle tire; determines the skid rotational speed of the vehicle tire according to the real-time torque of the vehicle tire and the marked skid slip ratio; and simulates skidding of the vehicle tire by adjusting the next rotational speed corresponding to the real-time rotational speed to the skid rotational speed. According to the above technical solution, when the skid simulation system of the vehicle tire simulates the driving conditions of the vehicle, the real-time torque and real-time rotational speed of the vehicle tire when the vehicle is simulated to operate under various driving conditions are acquired, and the skid rotational speed of the vehicle tire when the vehicle is simulated to operate under various driving conditions is determined according to the acquired real-time torque and the marked skid slip ratio under various driving conditions, so as to determine the skid rotational speed of the vehicle tire when the vehicle is simulated to operate under various driving conditions. Furthermore, the next rotational speed corresponding to the real-time rotational speed of the vehicle tire when the vehicle is simulated to operate under various driving conditions can be adjusted to the skid rotational speed, so that the vehicle tire skids at the next moment corresponding to the next rotational speed, thereby realizing skid simulation of the vehicle tire when the vehicle is simulated to operate under various driving conditions.

[0127] Based on the above embodiment, the determination module 420 is specifically configured to:

[0128] Determine the vehicle driving force according to the real-time torque of the vehicle tire, and determine the road driving force according to the vehicle driving force and the marked skid slip ratio of the vehicle tire;

[0129] Calculate the angular acceleration of the vehicle tire based on the vehicle driving force, the road driving force, and the rotational inertia of the vehicle tire, and determine the slip speed of the vehicle tire based on the angular acceleration of the vehicle tire.

[0130] In one implementation, determine the vehicle driving force based on the real-time torque of the vehicle tire, and determine the road driving force based on the vehicle driving force and the marked slip slip ratio of the vehicle tire, including:

[0131] Determine the vehicle driving force according to the ratio of the real-time torque and the effective radius of the vehicle tire;

[0132] Determine the normal force of the vehicle tire according to the current simulated driving condition, the parameter information of the vehicle, and the vehicle driving force;

[0133] Substitute the normal force of the vehicle tire and the marked slip slip ratio into the tire model to obtain the road driving force.

[0134] In one implementation, calculate the angular acceleration of the vehicle tire based on the vehicle driving force, the road driving force, and the rotational inertia of the vehicle tire, and determine the slip speed of the vehicle tire based on the angular acceleration of the vehicle tire, including:

[0135] Determine a first torque according to the vehicle driving force, and determine a second torque according to the road driving force;

[0136] Determine the angular acceleration of the vehicle tire according to the ratio of the torque difference between the first torque and the second torque and the rotational inertia of the vehicle tire;

[0137] Determine the angular velocity of the vehicle tire by performing an integral operation on the angular acceleration of the vehicle tire;

[0138] Substitute the angular velocity of the vehicle tire into the rotational speed formula to obtain the slip speed of the vehicle tire.

[0139] Based on the above embodiments, the device further includes:

[0140] An execution module for determining the actual slip slip ratio of the vehicle tire according to the real-time speed of the vehicle and the real-time rotational speed of the vehicle tire

[0141] In one implementation, determine the actual slip slip ratio of the vehicle tire according to the real-time speed of the vehicle and the real-time rotational speed of the vehicle tire, including:

[0142] Determine the real-time linear speed of the vehicle tire according to the real-time rotational speed and the effective radius of the vehicle tire;

[0143] Determine the speed difference based on the real-time speed of the vehicle and the real-time linear speed of the vehicle tires, and determine the actual slip rate of the vehicle tires according to the ratio of the difference to the real-time speed of the vehicle.

[0144] The slip simulation device for vehicle tires provided by the embodiments of the present invention can execute the slip simulation method for vehicle tires provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the slip simulation method for vehicle tires.

[0145] It should be noted that in the embodiments of the above-mentioned slip simulation device for vehicle tires, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0146] Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Figure 5 Shows a block diagram of an exemplary electronic device 5 suitable for use in implementing the embodiments of the present invention. Figure 5 The electronic device 5 shown is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present invention.

[0147] As Figure 5 shown, the electronic device 5 is presented in the form of a general-purpose computing electronic device. The components of the electronic device 5 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0148] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the multiple bus structures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0149] The electronic device 5 typically includes a variety of computer system readable media. These media can be any available media accessible by the electronic device 5, including volatile and non-volatile media, removable and non-removable media.

[0150] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 5 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 can be used for reading and writing on non-removable, non-volatile magnetic media ( Figure 5 not shown, typically referred to as a "hard disk drive"). Although Figure 5 not shown in, a disk drive for reading and writing on removable non-volatile disks (such as a "floppy disk"), and an optical disk drive for reading and writing on removable non-volatile optical disks (such as a CD-ROM, DVD-ROM or other optical media) can be provided. In these cases, each drive can be connected to the bus 18 through one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0151] A program / utilities 40 having a set (at least one) of program modules 42 can be stored, for example, in system memory 28. Such program modules 42 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. Program modules 42 generally perform the functions and / or methods in the embodiments described in the present invention.

[0152] The electronic device 5 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 5, and / or communicate with any device that enables the electronic device 5 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface 22. Also, the electronic device 5 can 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 20. As Figure 5 shown, the network adapter 20 communicates with other modules of the electronic device 5 through the bus 18. It should be understood that although Figure 5 not shown in, other hardware and / or software modules can be used in conjunction with the electronic device 5, 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.

[0153] The processing unit 16 executes various functional applications and page displays by running the programs stored in the system memory 28, for example, implementing the vehicle tire skid simulation method provided by the embodiments of the present invention. The method includes:

[0154] When the vehicle tire skid simulation system simulates the driving condition, obtaining the real-time torque and real-time speed of the vehicle tire when the vehicle is running in the driving condition;

[0155] Determining the skid speed of the vehicle tire according to the real-time torque of the vehicle tire and the marked skid slip ratio;

[0156] Performing skid simulation on the vehicle tire by adjusting the next speed corresponding to the real-time speed to the skid speed.

[0157] Certainly, those skilled in the art can understand that the processor can also implement the technical solutions of the vehicle tire skid simulation method provided by any embodiment of the present invention.

[0158] The embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements, for example, the vehicle tire skid simulation method provided by the embodiments of the present invention. The method includes:

[0159] When the vehicle tire skid simulation system simulates the driving condition, obtaining the real-time torque and real-time speed of the vehicle tire when the vehicle is running in the driving condition;

[0160] Determining the skid speed of the vehicle tire according to the real-time torque of the vehicle tire and the marked skid slip ratio;

[0161] Performing skid simulation on the vehicle tire by adjusting the next speed corresponding to the real-time speed to the skid speed.

[0162] The computer storage medium of the embodiments of the present invention may adopt any combination of one or more computer-readable media. The computer-readable media may be computer-readable signal media or computer-readable storage media. The computer-readable storage media may 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 computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage media may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.

[0163] The computer-readable signal media may include data signals propagated in a baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal media may also be any computer-readable media other than the computer-readable storage media, and the computer-readable media may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0164] The program code contained on the computer-readable media may be transmitted by any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0165] The computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages - such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0166] Those of ordinary skill in the art should understand that the various modules or steps of the present invention described above can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Optionally, they can be implemented with program codes executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0167] In addition, in the technical solution of the present invention, the acquisition, storage, use, processing, etc. of data all comply with the relevant provisions of national laws and regulations.

[0168] Note that the above is only the preferred embodiment of the present invention and the applied technical principle. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for simulating skidding of a vehicle tire, characterized in that, Including: When the skid simulation system of the vehicle tire simulates the driving condition, obtaining the real-time torque and real-time rotational speed of the vehicle tire when the vehicle runs in the driving condition; Determining the skid rotational speed of the vehicle tire according to the real-time torque and the marked skid slip ratio of the vehicle tire; Simulating skidding of the vehicle tire by adjusting the next rotational speed corresponding to the real-time rotational speed to the skid rotational speed.

2. The method for simulating skidding of a vehicle tire according to claim 1, characterized in that, Determining the skid rotational speed of the vehicle tire according to the real-time torque and the marked skid slip ratio of the vehicle tire includes: Determining the vehicle driving force according to the real-time torque of the vehicle tire, and determining the road driving force according to the vehicle driving force and the marked skid slip ratio of the vehicle tire; Calculating the angular acceleration of the vehicle tire according to the vehicle driving force, the road driving force and the rotational inertia of the vehicle tire, and determining the skid rotational speed of the vehicle tire according to the angular acceleration of the vehicle tire.

3. The method for simulating skidding of a vehicle tire according to claim 2, wherein Determining the vehicle driving force according to the real-time torque of the vehicle tire, and determining the road driving force according to the vehicle driving force and the marked skid slip ratio of the vehicle tire includes: Determining the vehicle driving force according to the ratio of the real-time torque of the vehicle tire to the effective radius; Determining the normal force of the vehicle tire according to the current simulated driving condition, the parameter information of the vehicle and the vehicle driving force; Substituting the normal force of the vehicle tire and the marked skid slip ratio into the tire model to obtain the road driving force.

4. The method for simulating the skidding of a vehicle tire according to claim 2, characterized in that, Calculating the angular acceleration of the vehicle tire according to the vehicle driving force, the road driving force and the rotational inertia of the vehicle tire includes: Determining a first torque according to the vehicle driving force, and determining a second torque according to the road driving force; Determining the angular acceleration of the vehicle tire according to the ratio of the torque difference between the first torque and the second torque to the rotational inertia of the vehicle tire.

5. The method for simulating the skidding of a vehicle tire according to claim 2, characterized in that, Determining the skid rotational speed of the vehicle tire according to the angular acceleration of the vehicle tire includes: Determining the angular velocity of the vehicle tire by performing an integral operation on the angular acceleration of the vehicle tire; Substituting the angular velocity of the vehicle tire into the rotational speed formula to obtain the skid rotational speed of the vehicle tire.

6. The method for simulating skidding of a vehicle tire according to claim 1, characterized in that, Also including: Determining the actual skid slip ratio of the vehicle tire according to the real-time speed of the vehicle and the real-time rotational speed of the vehicle tire.

7. The method for simulating the skidding of a vehicle tire according to claim 6, characterized in that, Determining the actual skid slip ratio of the vehicle tire according to the real-time speed of the vehicle and the real-time rotational speed of the vehicle tire includes: Determining the real-time linear speed of the vehicle tire according to the real-time rotational speed and the effective radius of the vehicle tire; Determining the speed difference according to the real-time speed of the vehicle and the real-time linear speed of the vehicle tire, and determining the actual skid slip ratio of the vehicle tire according to the ratio of the difference to the real-time speed of the vehicle.

8. A skid simulation device for a vehicle tire, characterized in that, Including: An acquisition module for obtaining the real-time torque and real-time rotational speed of the vehicle tire when the vehicle runs in the driving condition when the skid simulation system of the vehicle tire simulates the driving condition; A determination module, configured to determine a slip rotation speed of the vehicle tire according to the real-time torque and the marked slip slip ratio of the vehicle tire; A simulation module, configured to perform slip simulation on the vehicle tire by adjusting the next rotation speed corresponding to the real-time rotation speed to the slip rotation speed.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the slip simulation method of the vehicle tire as described in any one of claims 1-7.

10. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to execute the slip simulation method of the vehicle tire as described in any one of claims 1-7.

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