A method, apparatus, device, and storage medium for simulating vehicle tire slippage.

Abstract

This invention discloses a method, apparatus, device, and storage medium for simulating vehicle tire slippage, relating to the field of vehicle testing technology. The method includes: acquiring the real-time torque and real-time speed of the vehicle tires when the vehicle is operating under simulated driving conditions using a vehicle tire slippage simulation system; determining the slippage speed of the vehicle tires based on the real-time torque and the labeled slip ratio; and simulating tire slippage by adjusting the next speed corresponding to the real-time speed to the slippage speed. The above technical solution determines the slippage speed of the vehicle tires under various driving conditions based on the real-time torque and the labeled slip ratio under each driving condition, and adjusts the next speed corresponding to the real-time speed under each driving condition to the corresponding slippage speed, so that the vehicle tire slips at the next moment corresponding to the next speed, thus simulating vehicle tire slippage.

Description

Technical Field

[0001] This invention relates to the field of vehicle testing technology, and in particular to a method, apparatus, device, and storage medium for simulating tire slippage in vehicles. Background Technology

[0002] Vehicles must undergo testing before leaving the factory. For example, the performance and safety of the vehicle tires need to be tested. The performance and safety of the vehicle tires are reflected by the slip ratio of the vehicle tires under various working conditions. Therefore, it is necessary to simulate the slip of the vehicle tires under various working conditions to determine the slip ratio of the vehicle tires under various working conditions.

[0003] Existing technologies struggle to simulate tire slippage under complex operating conditions, making it difficult to effectively test tire slippage. Therefore, there is an urgent need for a tire slippage simulation method to simulate tire slippage under various operating conditions. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for simulating vehicle tire slippage, so as to simulate vehicle tire slippage under various driving conditions provided by the test equipment.

[0005] In a first aspect, embodiments of the present invention provide a method for simulating tire slippage in a vehicle, comprising:

[0006] The vehicle tire slippage simulation system acquires the real-time torque and real-time speed of the vehicle tires when the vehicle is operating under the driving conditions.

[0007] The slip speed of the vehicle tires is determined based on the real-time torque and the marked slip ratio of the vehicle tires;

[0008] By adjusting the next rotational speed corresponding to the real-time rotational speed to the slippage speed, the vehicle tires are simulated to slip.

[0009] The technical solution of this invention provides a method for simulating vehicle tire slippage, comprising: acquiring the real-time torque and real-time speed of the vehicle tires when the vehicle is operating under simulated driving conditions in a vehicle tire slippage simulation system; determining the slippage speed of the vehicle tires based on the real-time torque and the labeled slip ratio of the vehicle tires; and simulating vehicle tire slippage by adjusting the next speed corresponding to the real-time speed to the slippage speed. The above technical solution acquires the real-time torque and real-time speed of the vehicle tires when the vehicle is operating under simulated driving conditions in a vehicle tire slippage simulation system, determines the slippage speed of the vehicle tires under simulated driving conditions based on the acquired real-time torque and the labeled slip ratio under various driving conditions, thereby achieving the determination of the slippage speed of the vehicle tires under simulated driving conditions. Furthermore, the next speed corresponding to the real-time speed of the vehicle tires under simulated driving conditions can be adjusted to the slippage speed, so that the vehicle tire slips at the next moment corresponding to the next speed, thus achieving the simulation of vehicle tire slippage under simulated driving conditions.

[0010] Further, determining the slip speed of the vehicle tire based on the real-time torque and the labeled slip ratio of the vehicle tire includes:

[0011] The vehicle driving force is determined based on the real-time torque of the vehicle tires, and the road driving force is determined based on the vehicle driving force and the labeled slip ratio of the vehicle tires.

[0012] The angular acceleration of the vehicle tires is calculated based on the vehicle driving force, the road driving force, and the rotational inertia of the vehicle tires, and the slippage speed of the vehicle tires is determined based on the angular acceleration of the vehicle tires.

[0013] Further, determining the vehicle driving force based on the real-time torque of the vehicle tires, and determining the road driving force based on the vehicle driving force and the labeled slip ratio of the vehicle tires, includes:

[0014] The vehicle driving force is determined based on the ratio of the real-time torque to the effective radius of the vehicle tires;

[0015] The normal force of the vehicle tires is determined based on the current simulated driving conditions, the vehicle's parameter information, and the vehicle's driving force.

[0016] The road driving force is obtained by substituting the normal force of the vehicle tire and the labeled slip ratio into the tire model.

[0017] Further, the angular acceleration of the vehicle tires is calculated based on the vehicle driving force, the road driving force, and the rotational inertia of the vehicle tires, including:

[0018] A first torque is determined based on the vehicle driving force, and a second torque is determined based on the road driving force;

[0019] The angular acceleration of the vehicle tire is determined based on 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 slippage speed of the vehicle tire based on the angular acceleration of the vehicle tire includes:

[0021] The angular velocity of the vehicle tire is determined by integrating the angular acceleration of the vehicle tire.

[0022] Substituting the angular velocity of the vehicle tire into the rotational speed formula, the slippage speed of the vehicle tire is obtained.

[0023] Furthermore, it also includes:

[0024] The actual slip ratio of the vehicle tires is determined based on the real-time speed of the vehicle and the real-time rotational speed of the vehicle tires.

[0025] Further, determining the actual slip ratio of the vehicle tires based on the real-time speed of the vehicle and the real-time rotational speed of the vehicle tires includes:

[0026] The real-time linear velocity of the vehicle tire is determined based on the real-time rotational speed and effective radius of the vehicle tire.

[0027] The speed difference is determined based on the real-time speed of the vehicle and the real-time linear velocity of the vehicle tires, and the actual slip ratio of the vehicle tires is determined based on the ratio of the difference to the real-time speed of the vehicle.

[0028] Secondly, embodiments of the present invention also provide a vehicle tire slippage simulation device, comprising:

[0029] The acquisition module is used to acquire the real-time torque and real-time speed of the vehicle tires when the vehicle is operating under the driving conditions in the vehicle tire slippage simulation system.

[0030] The determination module is used to determine the slip speed of the vehicle tire based on the real-time torque and the marked slip ratio of the vehicle tire;

[0031] The simulation module is used to simulate tire slippage of the vehicle by adjusting the next rotational speed corresponding to the real-time rotational speed to the slippage speed.

[0032] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising:

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

[0034] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform a vehicle tire slippage simulation method as described in any of the first aspects.

[0035] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, characterized in that the computer-executable instructions, when executed by a computer processor, are used to perform a vehicle tire slippage simulation method as described in any of the first aspects.

[0036] Fifthly, this application provides a computer program product including computer instructions that, when executed on a computer, cause the computer to perform the vehicle tire slippage simulation method as provided in the first aspect.

[0037] It should be noted that the aforementioned computer instructions may be stored, in whole or in part, on a computer-readable storage medium. This computer-readable storage medium may be packaged together with the processor of the vehicle tire slippage simulation device, or it may be packaged separately from the processor of the vehicle tire slippage simulation device; this application does not impose any limitations on this.

[0038] The descriptions of the second, third, fourth, and fifth aspects in this application can be referred to the detailed description of the first aspect; and the beneficial effects of the descriptions of the second, third, fourth, and fifth aspects can be referred to the analysis of the beneficial effects of the first aspect, which will not be repeated here.

[0039] In this application, the name of the aforementioned vehicle tire slippage simulation device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear under other names. As long as the function of each device or functional module is similar to that of this application, it falls within the scope of the claims of this application and its equivalents.

[0040] These or other aspects of this application will become more readily apparent in the following description. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A flowchart illustrating a method for simulating tire slippage in a vehicle, as provided in an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of a vehicle tire slippage simulation system provided in an embodiment of the present invention;

[0044] Figure 3 A flowchart of another method for simulating tire slippage in a vehicle according to an embodiment of the present invention;

[0045] Figure 4 A schematic diagram of a vehicle tire slippage simulation device provided in an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0048] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

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

[0050] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[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 these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc. Moreover, embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0052] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0053] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0054] Figure 1 This is a flowchart illustrating a method for simulating tire slippage in a vehicle, provided by an embodiment of the present invention. This embodiment is applicable to situations requiring tire slippage simulation, and the method can be executed by a tire slippage simulation device, such as... Figure 1 As shown, the specific steps include the following:

[0055] Step 110: When the vehicle tires are running under the simulated driving conditions in the vehicle tire slippage simulation system, obtain the real-time torque and real-time speed of the vehicle tires.

[0056] Figure 2 This is a schematic diagram of a vehicle tire slippage simulation system provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the system includes a simulation plane, dynamometers installed on one side of each tire of the vehicle under test, and a controller. The simulation plane is used to simulate various driving conditions. Each dynamometer includes a torque sensor, which is used to obtain the half-shaft torque of the wheel tire. The controller is communicatively connected to each dynamometer.

[0057] The vehicle tire slippage simulation system can simulate various driving conditions based on a simulation plane, providing driving conditions for vehicle tire slippage simulation.

[0058] The vehicle includes speed sensors located near each tire, which are used to obtain the real-time speed of the tires.

[0059] Specifically, the vehicle tire slippage simulation system simulates various driving conditions on a simulated plane by placing the vehicle on the simulated plane and simulating the vehicle's driving under various conditions. When the vehicle is simulating driving under any driving condition, the system acquires the real-time torque and real-time speed of the vehicle's tires. Specifically, the real-time torque of each tire can be acquired using torque sensors located on one side of each tire, and the real-time speed of each tire can be acquired using speed sensors located near each tire inside the vehicle.

[0060] It should be noted that this application can simulate skidding on the vehicle under test, or on a semi-finished vehicle consisting of vehicle tires and a power system.

[0061] In this embodiment of the invention, the real-time torque and real-time speed of the vehicle tires are obtained when the vehicle is simulated to operate under various driving conditions, thereby realizing the real-time acquisition of vehicle tire-related data when the vehicle is simulated to operate under various driving conditions.

[0062] Step 120: Determine the slip speed of the vehicle tire based on the real-time torque and the marked slip ratio of the vehicle tire.

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

[0064] The labeled slip ratio of a vehicle tire can be understood as the slip ratio at which the vehicle tire theoretically slips. Therefore, when a vehicle tire rotates based on the slip speed corresponding to the labeled slip ratio at which slip occurs, it will slip. By adjusting the rotation speed of the vehicle tire to the slip speed corresponding to the labeled slip ratio, the slip of the vehicle tire can be simulated.

[0065] Specifically, firstly, the vehicle driving force under each simulated driving condition can be determined based on the real-time torque of the vehicle tires. Secondly, the road driving force under each simulated driving condition can be determined based on the vehicle driving force and the labeled slip ratio of the vehicle tires under each driving condition. Then, the angular acceleration of the vehicle tires under each simulated driving condition can be calculated based on the vehicle driving force, the road driving force, and the rotational inertia of the vehicle tires. Finally, the slip rotation speed of the vehicle tires under each simulated driving condition can be determined based on the angular acceleration of the vehicle tires.

[0066] In this embodiment of the invention, the slippage speed of the vehicle tires is determined based on the real-time torque and labeled slippage rate of the vehicle tires under various driving conditions, thereby realizing the data preparation for simulating vehicle tire slippage.

[0067] Step 130: Simulate tire slippage of the vehicle by adjusting the next rotational speed corresponding to the real-time rotational speed to the slippage speed.

[0068] Specifically, by adjusting the next speed corresponding to the real-time rotational speed of the vehicle tires when the vehicle is simulating operation under various driving conditions to the slippage speed, the vehicle tires slip at the next moment corresponding to the next rotational speed, thereby simulating the slippage of the vehicle tires when the vehicle is simulating operation under various driving conditions.

[0069] In this embodiment of the invention, the vehicle tire slippage under various driving conditions is simulated by adjusting the vehicle tire rotation speed.

[0070] The vehicle tire slippage simulation method provided in this invention includes: acquiring the real-time torque and real-time speed of the vehicle tires when the vehicle is operating under simulated driving conditions in a vehicle tire slippage simulation system; determining the slippage speed of the vehicle tires based on the real-time torque and the labeled slip ratio of the vehicle tires; and simulating vehicle tire slippage by adjusting the next speed corresponding to the real-time speed to the slippage speed. The above technical solution acquires the real-time torque and real-time speed of the vehicle tires when the vehicle is operating under simulated driving conditions in a vehicle tire slippage simulation system, determines the slippage speed of the vehicle tires under simulated driving conditions based on the acquired real-time torque and the labeled slip ratio under various driving conditions, thereby achieving the determination of the slippage speed of the vehicle tires under simulated driving conditions. Furthermore, the next speed corresponding to the real-time speed of the vehicle tires under simulated driving conditions can be adjusted to the slippage speed, so that the vehicle tire slips at the next moment corresponding to the next speed, thus achieving the simulation of vehicle tire slippage under simulated driving conditions.

[0071] Figure 3 This is a flowchart illustrating another method for simulating vehicle tire slippage according to an embodiment of the present invention. This embodiment is a specific modification based on the above embodiments. Figure 3 As shown, in this embodiment, the method may further include:

[0072] Step 310: When the vehicle tires are running under the simulated driving conditions in the vehicle tire slippage simulation system, obtain the real-time torque and real-time speed of the vehicle tires.

[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 located 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 sensor near each vehicle tire inside the vehicle. This enables the acquisition of real-time torque and rotational speed of the vehicle tires when the vehicle is simulating various driving conditions, and achieves real-time acquisition of vehicle tire-related data when the vehicle is simulating driving conditions.

[0074] Step 320: Determine the vehicle driving force based on the real-time torque of the vehicle tires.

[0075] The vehicle's driving force can be determined by the real-time torque and effective radius of the vehicle's tires. Therefore, the vehicle's driving force can be determined based on the real-time torque and effective radius of the vehicle's tires.

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

[0077] The vehicle driving force is determined based on the ratio of the real-time torque to the effective radius of the vehicle tires.

[0078] Specifically, the effective radius of a vehicle tire can be determined based on the tire model information. After obtaining the real-time torque of the vehicle tire when the vehicle is simulating various driving conditions, the ratio of the real-time torque to the effective radius of the vehicle tire when the vehicle is simulating various driving conditions can be determined. This ratio can then be used as the driving force of the vehicle when it is simulating various driving conditions.

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

[0080]

[0081] Where F1 represents the vehicle's driving force, T represents the real-time torque of the vehicle's tires, and R represents the effective radius of the vehicle's tires.

[0082] In this embodiment of the invention, the vehicle driving force is determined based on the real-time torque and effective radius of the vehicle tires when the vehicle is simulated to operate under various driving conditions, thereby realizing the determination of the real-time vehicle driving force when the vehicle is simulated to operate under various driving conditions.

[0083] Step 330: Determine the road driving force based on the vehicle driving force and the marked slip ratio of the vehicle tires.

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

[0085] The normal force of the vehicle tires is determined based on the current simulated driving conditions, the vehicle's parameter information, and the vehicle's driving force; the road driving force is obtained by substituting the normal force of the vehicle tires and the labeled slip ratio into the tire model.

[0086] Specifically, firstly, road parameters can be determined based on the current simulated driving conditions. These parameters may include road gradient, road roughness, pavement material, and curve radius. Secondly, vehicle parameter information needed to determine the normal force of the vehicle tires can be obtained, such as vehicle mass, center of gravity position, tire stiffness, suspension system parameters, vehicle speed, and vehicle acceleration. Then, based on the aforementioned road parameters, vehicle parameter information, and the vehicle's driving force under each simulated driving condition, the normal force of the vehicle tires under each simulated driving condition can be determined. For example, when the current simulated driving condition is constant speed driving, the normal force of the front wheels can be determined. Rear wheel normal force 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, and l1 + l2 = L, where L represents the vehicle's wheelbase. In the current simulated driving condition of linear acceleration or deceleration, for a rear-wheel-drive vehicle, the increased normal force on the rear wheels... Reduced normal force on the front wheels Where h represents the height of the center of mass, therefore, the normal force of the rear wheel can be determined. The normal force of the front wheels can be determined. The current simulated driving condition is linear acceleration or deceleration. For a front-wheel-drive vehicle, the increased normal force on the front wheels is... Reduced normal force on the rear wheels Therefore, the normal force of the rear wheel can be determined. The normal force of the front wheels can be determined. The current simulated driving condition is turning, and the centrifugal force can be determined. Where r represents the turning radius and the normal force added by the outer tire. The reduction in normal force on the inner tire is -ΔF N Therefore, the normal force of the left front wheel of a vehicle turning left can be determined. left rear wheel normal force Right front wheel normal force Right rear wheel normal force The current simulated driving condition is driving on a slope, which allows us to determine the normal force on the front wheels. Rear wheel normal force Where θ represents the slope angle and h represents the slope height.

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

[0088] After determining the normal force of the vehicle tires under each simulated driving condition, the road driving force can be determined based on the normal force and the labeled slip ratio of the tires under each driving condition. Specifically, this can be achieved by substituting the normal force and the labeled slip ratio of the tires under each driving condition into the tire model. For example, when the tire model is a Magic Formula tire model, the maximum driving force that the 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 tires can generate can be determined based on the normal force and the proportionality coefficient determined by the tire characteristics. By substituting the maximum driving force and the labeled 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] Where F2 and y(x) represent the road driving force, x represents the labeled slip ratio, and B, C, D, and E represent model parameters, the specific values ​​of which are determined based on the specific characteristics of the vehicle tires and experimental data.

[0091] In this embodiment of the 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 under various driving conditions and the labeled slip ratio of the vehicle tires under various driving conditions into the tire formula, the accurate road driving force when the vehicle is simulated to run under various driving conditions can be determined.

[0092] Step 340: Calculate the angular acceleration of the vehicle tires based on 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] A first torque is determined based on the vehicle driving force, and a second torque is determined based on the road driving force; the angular acceleration of the vehicle tire is determined based on the ratio of the torque difference between the first torque and the second torque to the rotational inertia of the vehicle tire.

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

[0096] The moment of inertia of a vehicle tire is a physical quantity that describes the magnitude of the tire's rotational inertia. The resultant torque of the tire's rotation and the moment of inertia are related by Formula 3.

[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 tire, and α represents the angular acceleration of the vehicle tire.

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

[0100] In this embodiment of the invention, the angular acceleration of the vehicle tires is calculated based on the vehicle driving force, road driving force, and rotational inertia of the vehicle tires under each simulated driving condition. The precise angular acceleration of the vehicle tires under each simulated driving condition is determined by combining the resultant torque corresponding to the resultant force of the vehicle driving force and road driving force on the vehicle tires under each simulated driving condition, as well as the rotational inertia of the vehicle tires.

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

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

[0103] The angular velocity of the vehicle tire is determined by integrating the angular acceleration of the vehicle tire; the slippage speed of the vehicle tire is obtained by substituting the angular velocity of the vehicle tire into the rotational speed formula.

[0104] Specifically, within the time interval [t0-t], the angular acceleration α is a function of time t, α(t). in, Let α(t) represent the angular velocity at the initial time t0. By integrating the function α(t), the angular velocity of the vehicle's tires at any time t can be determined.

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

[0106]

[0107] Where n represents the rotational speed of the vehicle's tires.

[0108] Therefore, after determining the angular velocity of the vehicle tires under each simulated driving condition, the tire speed under each simulated driving condition can be determined by substituting the tire speed into Formula 4.

[0109] In this embodiment of the invention, the angular velocity of the vehicle tires, determined by integrating the angular acceleration of the vehicle tires under simulated driving conditions, is substituted into the rotational speed formula to determine the slippage speed of the vehicle tires under simulated driving conditions, thereby realizing the determination of the rotational speed at which the vehicle tires slip under simulated driving conditions.

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

[0111] As described in the previous embodiment, by adjusting the next speed corresponding to the real-time speed of the vehicle tires when the vehicle is simulated to the slippage speed, the vehicle tires slip at the next moment corresponding to the next speed, thereby simulating the slippage of the vehicle tires.

[0112] Step 370: Determine the actual slip ratio of the vehicle tires based on the real-time speed of the vehicle and the real-time rotational speed of the vehicle tires.

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

[0114] The real-time linear velocity of the vehicle tire is determined based on the real-time rotational speed and effective radius of the vehicle tire; the speed difference is determined based on the real-time speed of the vehicle and the real-time linear velocity of the vehicle tire; and the actual slip ratio of the vehicle tire is determined based on the ratio of the difference to the real-time speed of the vehicle.

[0115] The vehicle also includes a speed sensor to obtain the vehicle's real-time speed.

[0116] Specifically, the real-time slip ratio of a vehicle tire can be determined based on the vehicle's real-time speed and the theoretical linear velocity of the tire when it is not slipping. The linear velocity of the tire can be determined based on its angular velocity and effective radius. The effective radius of the tire is a known quantity, and the angular velocity can be determined based on the tire's rotational speed. Therefore, to determine the actual slip ratio of a vehicle tire, firstly, the real-time angular velocity of the tire can be determined based on its slip rotational speed. Then, the linear velocity of the tire rotating at its real-time rotational speed can be determined based on its real-time angular velocity and effective radius. This linear velocity is the theoretical linear velocity when the tire slips. Furthermore, the speed difference between the vehicle's real-time speed and the theoretical linear velocity when the tire slips can be determined, and the actual slip ratio of the tire can be determined based on the ratio of the speed difference to the vehicle's real-time speed.

[0117] Of course, the labeled slip ratio can be updated based on the actual slip ratio of the vehicle tires to achieve more precise processing of the vehicle tire slip ratio. The more precise slip ratio can be used to conduct more accurate performance and safety assessments of vehicle tires, and provide a more accurate slip ratio for studying the handling and stability of vehicles under slipping conditions, that is, to provide a more accurate data foundation.

[0118] In this embodiment of the invention, the actual slip ratio of the vehicle tires is determined based on the vehicle's real-time speed and the vehicle tire's slip rotation speed, thereby achieving accurate calculation of the actual slip ratio of the vehicle tires.

[0119] The vehicle tire slippage simulation method provided in this invention includes: acquiring the real-time torque and real-time rotational speed of the vehicle tires when the vehicle is operating under the driving conditions in a vehicle tire slippage simulation system; determining the vehicle driving force based on the real-time torque of the vehicle tires; determining the road driving force based on the vehicle driving force and the labeled slippage ratio of the vehicle tires; calculating the angular acceleration of the vehicle tires based on the vehicle driving force, the road driving force, and the rotational inertia of the vehicle tires; determining the slippage rotational speed of the vehicle tires based on the angular acceleration of the vehicle tires; simulating vehicle tire slippage by adjusting the next rotational speed corresponding to the real-time rotational speed to the slippage rotational speed; and determining the actual slippage ratio of the vehicle tires based on the real-time speed of the vehicle and the real-time rotational speed of the vehicle tires. The above technical solution acquires the real-time torque and speed of the vehicle tires under various driving conditions when the vehicle tire slippage simulation system simulates vehicle driving conditions. Based on the acquired real-time torque and effective radius of the vehicle tires, it determines the vehicle's driving force under each simulated driving condition, thus achieving the determination of the real-time driving force. After determining the normal force of the vehicle tires under each simulated driving condition based on the driving force, it determines the maximum driving force that the vehicle tires can generate under each simulated driving condition based on the normal force. Finally, it determines the road driving force by substituting the maximum driving force and the standard slip ratio of the vehicle tires into the tire formula, thus achieving precise determination of the driving force under each simulated driving condition. The accurate road driving force is determined by calculating the angular acceleration of the vehicle tires based on the vehicle driving force, road driving force, and the rotational inertia of the vehicle tires under various driving conditions. By combining the resultant torque corresponding to the combined force of the vehicle driving force and road driving force on the vehicle tires, as well as the rotational inertia of the vehicle tires, the precise angular acceleration of the vehicle tires is determined. The angular velocity of the vehicle tires, determined by integrating the angular acceleration, is substituted into the rotational speed formula to determine the slippage speed of the vehicle tires. This allows for the determination of the rotational speed at which the vehicle tires slip under various driving conditions. Furthermore, the next rotational speed corresponding to the real-time rotational speed under various driving conditions can be adjusted to the corresponding slippage speed, so that the vehicle tires slip at the next moment corresponding to the next rotational speed, thus simulating vehicle tire slippage.

[0120] Furthermore, based on the real-time speed of the vehicle and the slip rotation speed of the vehicle tires when the vehicle is simulated to drive under various driving conditions, the actual slip ratio of the vehicle tires under various driving conditions is determined, thereby achieving accurate calculation of the actual slip ratio of the vehicle tires.

[0121] Figure 4This is a schematic diagram of a vehicle tire slippage simulation device provided in an embodiment of the present invention. This device is applicable to situations requiring simulation of vehicle tire slippage. The device can be implemented through software and / or hardware and is generally integrated into electronic devices, such as vehicle tire slippage simulation systems.

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

[0123] The acquisition module 410 is used to acquire the real-time torque and real-time speed of the vehicle tires when the vehicle is running under the driving conditions in the vehicle tire slippage simulation system.

[0124] The determining module 420 is used to determine the slip speed of the vehicle tire based on the real-time torque and the marked slip ratio of the vehicle tire;

[0125] The simulation module 430 is used to simulate tire slippage of the vehicle by adjusting the next rotational speed corresponding to the real-time rotational speed to the slippage speed.

[0126] The vehicle tire slippage simulation device provided in this embodiment acquires the real-time torque and real-time speed of the vehicle tires when the vehicle is operating under simulated driving conditions in a vehicle tire slippage simulation system; determines the slippage speed of the vehicle tires based on the real-time torque and the labeled slip ratio; and simulates tire slippage by adjusting the next speed corresponding to the real-time speed to the slippage speed. The above technical solution acquires the real-time torque and real-time speed of the vehicle tires when the vehicle is operating under simulated driving conditions in a vehicle tire slippage simulation system. Based on the acquired real-time torque and the labeled slip ratio under various driving conditions, the slippage speed of the vehicle tires under simulated driving conditions is determined, thereby achieving the determination of the slippage speed of the vehicle tires under simulated driving conditions. Furthermore, the next speed corresponding to the real-time speed of the vehicle tires under simulated driving conditions can be adjusted to the slippage speed, causing the vehicle tires to slip at the next moment corresponding to the next speed, thus simulating tire slippage under simulated driving conditions.

[0127] Based on the above embodiments, module 420 is specifically used for:

[0128] The vehicle driving force is determined based on the real-time torque of the vehicle tires, and the road driving force is determined based on the vehicle driving force and the labeled slip ratio of the vehicle tires.

[0129] The angular acceleration of the vehicle tires is calculated based on the vehicle driving force, the road driving force, and the rotational inertia of the vehicle tires, and the slippage speed of the vehicle tires is determined based on the angular acceleration of the vehicle tires.

[0130] In one embodiment, determining the vehicle driving force based on the real-time torque of the vehicle tires, and determining the road driving force based on the vehicle driving force and the labeled slip ratio of the vehicle tires, includes:

[0131] The vehicle driving force is determined based on the ratio of the real-time torque to the effective radius of the vehicle tires;

[0132] The normal force of the vehicle tires is determined based on the current simulated driving conditions, the vehicle's parameter information, and the vehicle's driving force.

[0133] The road driving force is obtained by substituting the normal force of the vehicle tire and the labeled slip ratio into the tire model.

[0134] In one embodiment, 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, and determining the slippage speed of the vehicle tire based on the angular acceleration of the vehicle tire, includes:

[0135] A first torque is determined based on the vehicle driving force, and a second torque is determined based on the road driving force;

[0136] The angular acceleration of the vehicle tire is determined based on the ratio of the torque difference between the first torque and the second torque to the rotational inertia of the vehicle tire.

[0137] The angular velocity of the vehicle tire is determined by integrating the angular acceleration of the vehicle tire.

[0138] Substituting the angular velocity of the vehicle tire into the rotational speed formula, the slippage speed of the vehicle tire is obtained.

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

[0140] The execution module is used to determine the actual slip ratio of the vehicle tires based on the real-time speed of the vehicle and the real-time rotational speed of the vehicle tires.

[0141] In one embodiment, determining the actual slip ratio of the vehicle tires based on the real-time speed of the vehicle and the real-time rotational speed of the vehicle tires includes:

[0142] The real-time linear velocity of the vehicle tire is determined based on the real-time rotational speed and effective radius of the vehicle tire.

[0143] The speed difference is determined based on the real-time speed of the vehicle and the real-time linear velocity of the vehicle tires, and the actual slip ratio of the vehicle tires is determined based on the ratio of the difference to the real-time speed of the vehicle.

[0144] The vehicle tire slippage simulation device provided in this embodiment of the invention can execute the vehicle tire slippage simulation method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the vehicle tire slippage simulation method.

[0145] It is worth noting that in the embodiments of the above-mentioned vehicle tire slippage simulation device, 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 achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0146] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Figure 5 A block diagram of an exemplary electronic device 5 suitable for implementing embodiments of the present invention is shown. Figure 5 The electronic device 5 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

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

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

[0149] Electronic device 5 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by 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. 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 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 5 Not shown; usually referred to as a "hard drive"). Although Figure 5 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via 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 / utility 40 having a set (at least one) of program modules 42 may 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 typically perform the functions and / or methods described in the embodiments of the present invention.

[0152] Electronic device 5 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 5, and / or with any device that enables electronic device 5 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed through input / output (I / O) interface 22. Furthermore, electronic device 5 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 20. Figure 5 As shown, network adapter 20 communicates with other modules of electronic device 5 via bus 18. It should be understood that, although... Figure 5 As not shown, other hardware and / or software modules may be used in conjunction with 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.

[0153] Processing unit 16 executes various functional applications and page displays by running programs stored in system memory 28, such as implementing the vehicle tire slippage simulation method provided in this embodiment of the invention, which includes:

[0154] The vehicle tire slippage simulation system acquires the real-time torque and real-time speed of the vehicle tires when the vehicle is operating under the driving conditions.

[0155] The slip speed of the vehicle tires is determined based on the real-time torque and the marked slip ratio of the vehicle tires;

[0156] By adjusting the next rotational speed corresponding to the real-time rotational speed to the slippage speed, the vehicle tires are simulated to slip.

[0157] Of course, those skilled in the art will understand that the processor can also implement the technical solution of the vehicle tire slippage simulation method provided in any embodiment of the present invention.

[0158] This invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements, for example, the vehicle tire slippage simulation method provided in this invention, the method comprising:

[0159] The vehicle tire slippage simulation system acquires the real-time torque and real-time speed of the vehicle tires when the vehicle is operating under the driving conditions.

[0160] The slip speed of the vehicle tires is determined based on the real-time torque and the marked slip ratio of the vehicle tires;

[0161] By adjusting the next rotational speed corresponding to the real-time rotational speed to the slippage speed, the vehicle tires are simulated to slip.

[0162] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0163] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying 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 thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0164] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0165] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0166] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

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

[0168] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method of simulating slip of a vehicle tire, characterized by, The method comprises the following steps: acquiring real-time torque and real-time rotation speed of a vehicle tire when a slip simulation system of the vehicle tire simulates a driving condition; determining vehicle driving force according to a ratio of the real-time torque of the vehicle tire to an effective radius, determining normal force of the vehicle tire according to a current simulated driving condition, parameter information of the vehicle and the vehicle driving force, obtaining road driving force by substituting the normal force of the vehicle tire and a labeled slip slip ratio into a tire model, determining first torque according to the vehicle driving force, determining second torque according to the road driving force, determining angular acceleration of the vehicle tire according to a ratio of a torque difference between the first torque and the second torque to a moment of inertia of the vehicle tire, determining angular speed of the vehicle tire by integrating the angular acceleration of the vehicle tire, and obtaining slip rotation speed of the vehicle tire by substituting the angular speed of the vehicle tire into a rotation speed formula; adjusting next rotation speed corresponding to the real-time rotation speed to the slip rotation speed, and simulating slip of the vehicle tire.

2. The method for simulating the slip of a vehicle tire according to claim 1, characterized in that, The method further comprises the following steps: determining actual slip slip ratio of the vehicle tire according to real-time speed of the vehicle and the real-time rotation speed of the vehicle tire.

3. The method for simulating the slip of a vehicle tire according to claim 2, characterized in that, The method of determining actual slip slip ratio of the vehicle tire according to real-time speed of the vehicle and the real-time rotation speed of the vehicle tire comprises the following steps: determining real-time linear speed of the vehicle tire according to the real-time rotation speed of the vehicle tire and an effective radius; determining a speed difference value 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 a ratio of the difference value to the real-time speed of the vehicle.

4. A slip simulation device for a vehicle tire, characterized by The method comprises the following steps: acquiring real-time torque and real-time rotation speed of a vehicle tire when a slip simulation system of the vehicle tire simulates a driving condition; determining vehicle driving force according to a ratio of the real-time torque of the vehicle tire to an effective radius, determining normal force of the vehicle tire according to a current simulated driving condition, parameter information of the vehicle and the vehicle driving force, obtaining road driving force by substituting the normal force of the vehicle tire and a labeled slip slip ratio into a tire model, determining first torque according to the vehicle driving force, determining second torque according to the road driving force, determining angular acceleration of the vehicle tire according to a ratio of a torque difference between the first torque and the second torque to a moment of inertia of the vehicle tire, determining angular speed of the vehicle tire by integrating the angular acceleration of the vehicle tire, and obtaining slip rotation speed of the vehicle tire by substituting the angular speed of the vehicle tire into a rotation speed formula; adjusting next rotation speed corresponding to the real-time rotation speed to the slip rotation speed, and simulating slip of the vehicle tire.

5. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method of simulating a slip of a vehicle tire according to any one of claims 1-3.

6. A storage medium containing computer-executable instructions, wherein: The computer executable instructions, when executed by the computer processor, perform the method of simulating a slip of a vehicle tire according to any one of claims 1-3.

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