Vehicle control method, device and equipment and storage medium

Abstract

The invention provides a vehicle control method and device, equipment and a storage medium, and relates to the technical field of rail transit. The method comprises the steps that the current first position weight of each wheel position in a vehicle, the total position weight of each wheel position, the fixed distance corresponding to a bogie of the vehicle and the distance between tracks are obtained; the transverse gravity center and the longitudinal gravity center of the vehicle are determined according to the multiple first position weights, the total position weight, the fixed distance and the distance; according to the total position weight, the transverse gravity center, the longitudinal gravity center, the fixed distance and the distance, the second position weight of each position angle is determined, and the position angles are used for indicating the position of the vehicle; and according to the multiple first position weights and the second position weights of the position angles, the adjusting parameters of the air springs corresponding to the position angles are determined, and the efficiency of controlling the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of rail transit technology, and in particular to a vehicle control method, device, equipment and storage medium. Background Technology

[0002] In the rail transit industry, each wheel of a vehicle is subjected to loads from multiple components. To ensure the safe operation of the vehicle, it is necessary to weigh and measure its weight. In practical applications, the wheel weight difference of the vehicle is generally adjusted by weighing.

[0003] In related technologies, wheel weight difference is usually adjusted by adjusting the height of the air spring. Specifically, the staff needs to weigh each wheel of the vehicle and adjust the height of the air spring according to the weighing results until the wheel weight difference of the vehicle meets the requirements.

[0004] However, the above methods require manual weighing of the vehicle multiple times based on experience, as well as repeated adjustments to the height of the air springs, resulting in low efficiency in controlling the vehicle. Summary of the Invention

[0005] This application provides a vehicle control method, apparatus, device, and storage medium to solve the problem of low efficiency in controlling vehicles.

[0006] In a first aspect, this application provides a vehicle control method, comprising:

[0007] Obtain the current first weight and total weight of each wheel position in the vehicle, the fixed distance of the vehicle's bogie, and the track spacing.

[0008] The lateral and longitudinal centers of gravity of the vehicle are determined based on multiple primary weights, total weights, fixed distances, and spacings.

[0009] The second position of each azimuth angle is determined based on the total position weight, lateral center of gravity, longitudinal center of gravity, fixed distance, and spacing. The azimuth angle is used to indicate the position of the vehicle.

[0010] Based on the first weight and the second weight of each angle, the adjustment parameters of the air spring corresponding to each angle are determined.

[0011] In one possible implementation, the lateral and longitudinal centers of gravity of the vehicle are determined based on multiple primary weights, total weights, fixed distances, and spacings, including:

[0012] Based on multiple first weights, determine the third weight of the left wheel position, the fourth weight of the right wheel position, the fifth weight of the first end bogie, and the sixth weight of the second end bogie.

[0013] Determine the lateral and longitudinal center of gravity based on the third, fourth, fifth, and sixth weights, the total weight, the fixed distance, and the spacing.

[0014] In one possible implementation, the lateral center of gravity and the longitudinal center of gravity are determined based on the third weight, the fourth weight, the fifth weight, the sixth weight, the total weight, the fixed distance, and the spacing, including:

[0015] Determine the lateral center of gravity based on the third weight, fourth weight, total weight, and spacing;

[0016] Determine the longitudinal center of gravity based on the fifth weight, sixth weight, total weight, and fixed distance.

[0017] In one possible implementation, determining the second weight of each angular position based on the total weight, lateral center of gravity, longitudinal center of gravity, fixed distance, and spacing includes:

[0018] Based on the total weight, longitudinal center of gravity, fixed distance, and spacing, determine the first target weight of the first end bogie and the second target weight of the second end bogie;

[0019] Determine the second weight of each angle based on the lateral center of gravity, fixed distance, spacing, first target weight, and second target weight.

[0020] In one possible implementation, determining the second weight of each angle based on the lateral center of gravity, distance, spacing, first target weight, and second target weight includes:

[0021] Based on the lateral center of gravity, fixed distance, spacing, and the first target position weight, determine the position weight of the first angle and the position weight of the second angle;

[0022] Based on the lateral center of gravity, fixed distance, spacing, and the second target position weight, determine the position weights of the three angular and four angular positions.

[0023] In one possible implementation, for any given position angle, the adjustment parameters of the air spring corresponding to each position angle are determined based on a plurality of first weights and second weights for each position angle, including:

[0024] Determine the stiffness of the air spring corresponding to the azimuth angle;

[0025] The actual position weight of the azimuth angle is determined based on multiple first weights;

[0026] The adjustment parameters are determined based on the second weight, the actual weight, and the stiffness.

[0027] In one possible implementation, the adjustment parameter is the height adjustment amount of the air spring; the adjustment parameter is determined based on the second load, the actual load, and the stiffness, including:

[0028] Determine the difference between the second weight and the actual weight;

[0029] The ratio of the difference to the stiffness is determined as the height adjustment amount of the air spring.

[0030] Secondly, this application provides a vehicle control device, comprising: an acquisition module, a first determination module, a second determination module, and a third determination module, wherein:

[0031] The acquisition module is used to acquire the current first weight and total weight of each wheel position in the vehicle, the fixed distance corresponding to the vehicle's bogie, and the track spacing.

[0032] The first determining module is used to determine the lateral center of gravity and longitudinal center of gravity of the vehicle based on multiple primary weights, total weights, fixed distances, and spacings.

[0033] The second determining module is used to determine the second position of each azimuth angle based on the total position weight, lateral center of gravity, longitudinal center of gravity, fixed distance, and spacing. The azimuth angle is used to indicate the position of the vehicle.

[0034] The third determining module is used to determine the adjustment parameters of the air springs corresponding to each angle based on the multiple first weights and the second weights of each angle.

[0035] In one possible implementation, the first determining module is specifically used for:

[0036] Based on multiple first weights, determine the third weight of the left wheel position, the fourth weight of the right wheel position, the fifth weight of the first end bogie, and the sixth weight of the second end bogie.

[0037] Determine the lateral and longitudinal center of gravity based on the third, fourth, fifth, and sixth weights, the total weight, the fixed distance, and the spacing.

[0038] In one possible implementation, the first determining module is specifically used for:

[0039] Determine the lateral center of gravity based on the third weight, fourth weight, total weight, and spacing;

[0040] Determine the longitudinal center of gravity based on the fifth weight, sixth weight, total weight, and fixed distance.

[0041] In one possible implementation, the second determining module is specifically used for:

[0042] Based on the total weight, longitudinal center of gravity, fixed distance, and spacing, determine the first target weight of the first end bogie and the second target weight of the second end bogie;

[0043] Determine the second weight of each angle based on the lateral center of gravity, fixed distance, spacing, first target weight, and second target weight.

[0044] In one possible implementation, the second determining module is specifically used for:

[0045] Based on the lateral center of gravity, fixed distance, spacing, and the first target position weight, determine the position weight of the first angle and the position weight of the second angle;

[0046] Based on the lateral center of gravity, fixed distance, spacing, and the second target position weight, determine the position weights of the three angular and four angular positions.

[0047] In one possible implementation, the third determining module is specifically used for:

[0048] Determine the stiffness of the air spring corresponding to the azimuth angle;

[0049] The actual position weight of the azimuth angle is determined based on multiple first weights;

[0050] The adjustment parameters are determined based on the second weight, the actual weight, and the stiffness.

[0051] In one possible implementation, the third determining module is specifically used for:

[0052] Determine the difference between the second weight and the actual weight;

[0053] The ratio of the difference to the stiffness is determined as the height adjustment amount of the air spring.

[0054] Thirdly, embodiments of this application provide an electronic device, including: at least one processor and a memory; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, causing the at least one processor to perform the vehicle control method as described in the first aspect above and any one of the first aspects.

[0055] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the vehicle control method described in the first aspect above and any of the first aspects.

[0056] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the vehicle control method as described in the first aspect above and any of the first aspects that may be involved.

[0057] The vehicle control method, device, equipment, and storage medium provided in this application, when it is necessary to control the wheel weight difference of a vehicle, obtains the current first weight and total weight of each wheel position, the fixed distance corresponding to the vehicle's bogie, and the track spacing; determines the vehicle's lateral center of gravity and longitudinal center of gravity based on multiple first weights, total weights, fixed distances, and track spacing; determines the second weight of each azimuth angle based on the total weight, lateral center of gravity, longitudinal center of gravity, fixed distance, and track spacing, with the azimuth angle indicating the vehicle's position; and determines the adjustment parameters of the air springs corresponding to each azimuth angle based on multiple first weights and the second weights of each azimuth angle. In the above method, the electronic equipment can accurately calculate the adjustment parameters of the air springs based on the weight distribution of each azimuth angle of the vehicle, enabling precise control of the wheel weight difference even when there are deviations in the vehicle's weight distribution. This eliminates the need for repeated manual adjustments based on experience, effectively reducing the workload of repeated weighing and air spring height adjustment, ensuring the safety and reliability of vehicle operation. In this case, this method improves both the efficiency and accuracy of wheel weight difference control. Attached Figure Description

[0058] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0059] Figure 1 This is a schematic diagram illustrating an application scenario provided in the embodiments of this application;

[0060] Figure 2 A schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0061] Figure 3 A schematic diagram of the vehicle wheel arrangement provided in an embodiment of this application;

[0062] Figure 4 A schematic diagram illustrating the process of determining the lateral and longitudinal center of gravity as provided in the embodiments of this application;

[0063] Figure 5 A schematic diagram of the vehicle's center of gravity provided in an embodiment of this application;

[0064] Figure 6 A schematic diagram illustrating the process of determining the second weight provided in an embodiment of this application;

[0065] Figure 7 This is a schematic diagram of another vehicle control method provided in an embodiment of this application;

[0066] Figure 8 A schematic diagram of a possible user computing interface provided in an embodiment of this application;

[0067] Figure 9 A schematic diagram of a possible user processing interface provided in an embodiment of this application;

[0068] Figure 10 A schematic diagram of a possible user storage interface provided in an embodiment of this application;

[0069] Figure 11 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0070] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0071] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0072] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0073] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of related data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0074] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used the solution.

[0075] To facilitate understanding, the following will be combined with... Figure 1 The application scenarios applicable to the embodiments of this application will be described.

[0076] Figure 1 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application. Please refer to [link / reference]. Figure 1It includes electronic equipment 101 and vehicle 102. Electronic equipment 101 can be terminal equipment, server, etc.

[0077] The electronic device 101 can control the vehicle 102. Specifically, the electronic device 101 can acquire the weighing data of the vehicle 102 and process the weighing data. After obtaining the processing result, the electronic device 101 can control the wheel weight difference of the vehicle accordingly based on the processing result.

[0078] In related technologies, wheel weight difference is typically adjusted by regulating the height of air springs. Specifically, operators need to weigh each wheel of the vehicle and adjust the air spring height based on the weighing results until the wheel weight difference meets the requirements. However, this method requires manual weighing of the vehicle multiple times based on experience and repeated adjustments of the air spring height, resulting in low efficiency in vehicle control.

[0079] To address the aforementioned issues, in this embodiment of the application, when it is necessary to control the wheel weight difference of a vehicle, the lateral and longitudinal center of gravity of the vehicle are determined by acquiring the first weight of each wheel position and the total weight of each wheel position, the fixed distance corresponding to the vehicle's bogie, and the track spacing. Then, the second weight of each wheel position is determined, and the adjustment parameters of the air springs corresponding to each wheel position are determined based on the second weight and the first weight of each wheel position. In the above method, the electronic equipment determines the vehicle's center of gravity position based on the weight of each wheel and the vehicle's structural parameters, and derives the weight distribution at each angle of the vehicle. This allows for precise calculation of the air spring adjustment parameters, enabling accurate control of wheel weight difference even when there are deviations in the vehicle's weight distribution. This effectively avoids wheel weight imbalance caused by vehicle body twisting or center of gravity shift, significantly improving adjustment accuracy. Furthermore, this method automatically outputs adjustment parameters by constructing a theoretical model, ensuring that a single adjustment meets the standard requirements for wheel weight difference. This greatly reduces the workload of the vehicle weighing process, ensuring the safety and reliability of vehicle operation. Moreover, this method is adaptable to various vehicle models with different structural parameters and meets the business needs of various rail transit scenarios, improving both the efficiency and accuracy of wheel weight difference control.

[0080] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0081] Figure 2 This is a schematic flowchart illustrating a vehicle control method provided in an embodiment of this application. Please refer to [link / reference]. Figure 2As shown, the method may include the following steps:

[0082] S201. Obtain the current first weight and total weight of each wheel position in the vehicle, the fixed distance of the vehicle's bogie, and the track spacing.

[0083] The execution subject of this application embodiment can be an electronic device or a vehicle control device installed in an electronic device. The vehicle control device can be implemented by software or by a combination of software and hardware.

[0084] The first weight can refer to the weight of the vehicle's wheels.

[0085] In some embodiments, the number of wheel positions of a vehicle can be determined according to the bogie structure of the vehicle. For example, if the vehicle is a two-bogie type, with each bogie corresponding to 2 axles and each axle corresponding to 2 wheels, then the number of wheel positions of the vehicle is 8.

[0086] Below, in conjunction with Figure 3 The wheel positions of a vehicle are explained through specific examples.

[0087] Figure 3 For a schematic diagram of the vehicle wheel positions provided in the embodiments of this application, please refer to [link / reference]. Figure 3 The vehicle is a two-bogie type, with one end and two ends respectively. The one end includes four wheel positions, with corresponding first weights of W1, W2, W3 and W4. The two ends also include four wheel positions, with corresponding first weights of W5, W6, W7 and W8. Each wheel position is represented by a rectangle.

[0088] In some embodiments, before the electronic device acquires vehicle data, it is necessary to set the vehicle as a rigid body with consistent wheel dimensions, free from deformation and torsion, and to set the bogie structure as a completely symmetrical structure with its resultant force located at its center. Furthermore, the initial height of the air springs is adjusted to a standard value.

[0089] In some embodiments, before the electronic device weighs a vehicle, the height valve of the air spring needs to be tested to ensure that the height valve is in good condition. Specifically, the sealing performance and control accuracy of the height valve can be verified by using a height valve sealing test fixture. This allows the height valve to achieve precise control of the vehicle wheel weight difference by adjusting the height of the air spring. This avoids inaccurate weighing data caused by manufacturing defects of the height valve, which would lead to repeated up-and-down movements of the weighing instrument, affecting production efficiency and ensuring that the height valve can be used normally after installation.

[0090] Gross weight can refer to the sum of the weights of all wheels of a vehicle, such as... Figure 3 As shown, the total weight can be the sum of the weights of the first weights of the eight wheel positions, that is, the total weight G can be expressed as (Formula 1):

[0091]

[0092] The fixed distance is the distance between the centers of the front and rear bogies of the vehicle.

[0093] The spacing is the distance between the tracks on both sides of the vehicle.

[0094] In some embodiments, a vehicle parameter database can be set up to store data associated with the vehicle structure. Specifically, electronic devices can obtain the vehicle's fixed distance and spacing from the vehicle parameter database based on information such as the vehicle number and cargo compartment.

[0095] S202. Determine the lateral and longitudinal center of gravity of the vehicle based on multiple primary weights, total weights, fixed distances, and spacings.

[0096] The lateral center of gravity refers to the position of the vehicle's center of gravity in the left-right direction. In other words, the lateral center of gravity is used to indicate the degree of weight distribution offset on the left and right sides of the vehicle.

[0097] The longitudinal center of gravity refers to the position of the vehicle's center of gravity in the front-to-back direction. In other words, the longitudinal center of gravity is used to indicate the degree of weight distribution offset of the vehicle on both the front and rear sides.

[0098] In some embodiments, since the lateral center of gravity is associated with the left and right sides of the vehicle, the electronic device can determine the lateral center of gravity based on the first weight, total weight, and spacing of the left and right sides of the vehicle.

[0099] In some embodiments, since the longitudinal center of gravity is associated with the front and rear sides of the vehicle, the electronic device can determine the longitudinal center of gravity based on the first weight, total weight, and distance of the front and rear sides of the wheel.

[0100] In some embodiments, a three-dimensional vehicle model can be pre-set. Specifically, the electronic device can acquire data on various vehicle types over a historical period, including the overall appearance and size of the vehicle, the structure and position of vehicle components, and structural parameters associated with the vehicle and its components (e.g., the mass of the components). Based on this data, a three-dimensional vehicle model indicating the distribution of vehicle components can be established. Furthermore, based on the mass distribution of the three-dimensional vehicle model, the electronic device can determine, under ideal conditions, the first weight of each wheel position and the lateral and longitudinal centers of gravity of the vehicle.

[0101] In this case, the electronic device can verify whether the actual measured and calculated lateral and longitudinal center of gravity deviates from the data of the three-dimensional vehicle model. If the deviation is within the preset range, it indicates that the center of gravity of the actual vehicle has not shifted. If the deviation exceeds the preset range, it indicates that the center of gravity of the actual vehicle has shifted. The electronic device can adjust the structural distribution of the actual vehicle according to the mass distribution of the three-dimensional vehicle model to ensure the safety and reliability of vehicle operation, thereby improving the accuracy of the center of gravity calculation.

[0102] S203. Determine the second weight of each angle based on the total weight, lateral center of gravity, longitudinal center of gravity, fixed distance, and spacing.

[0103] Among them, the azimuth angle is used to indicate the position of the vehicle.

[0104] The second weight can refer to the ideal weight distribution for each position. For example, for the second weight of a position, the second weight can be the weight of each wheel position corresponding to that position.

[0105] In some embodiments, the apex angle can be determined based on the vehicle type, such as... Figure 3 As shown, if the vehicle is a two-bogie type, it includes four position angles: position one, position two, position three, and position four. Position one can refer to the position of the right wheel at position one (W1 and W3), position two can refer to the position of the left wheel at position one (W2 and W4), position three can refer to the position of the right wheel at position two (W5 and W7), and position four can refer to the position of the right wheel at position two (W6 and W8).

[0106] S204. Based on the multiple first weights and the second weights of each angle, determine the adjustment parameters of the air springs corresponding to each angle.

[0107] The adjustment parameter can refer to the height of the height valve corresponding to the air spring. For example, if the adjustment parameter of a single-angle air spring is positive, the height valve needs to be adjusted to raise the air spring height. If the adjustment parameter of a single-angle air spring is negative, the height valve needs to be adjusted to lower the air spring height.

[0108] In some embodiments, after the electronic device determines the adjustment parameters of the air spring, the electronic device can determine the weight difference of each angle based on multiple first weights and second weights of each angle, and obtain the ideal weight distribution of each wheel position based on the weight difference, thereby determining the wheel weight difference.

[0109] In this embodiment of the application, when it is necessary to control the wheel weight difference of the vehicle, the lateral center of gravity and longitudinal center of gravity of the vehicle are determined by obtaining the first weight of each wheel position and the total weight of each wheel position, the fixed distance of the vehicle's bogie and the spacing of the track. Then, the second weight of each corner is determined, and the adjustment parameters of the air springs corresponding to each corner are determined based on the second weight and the first weight of each corner. In the above method, the electronic equipment determines the vehicle's center of gravity position based on the weight of each wheel and the vehicle's structural parameters, and derives the weight distribution at each angle of the vehicle. This allows for precise calculation of the air spring adjustment parameters, enabling accurate control of wheel weight difference even when there are deviations in the vehicle's weight distribution. This effectively avoids wheel weight imbalance caused by vehicle body twisting or center of gravity shift, significantly improving adjustment accuracy. Furthermore, this method automatically outputs adjustment parameters by constructing a theoretical model, ensuring that a single adjustment meets the standard requirements for wheel weight difference. This greatly reduces the workload of the vehicle weighing process, ensuring the safety and reliability of vehicle operation. Moreover, this method is adaptable to various vehicle models with different structural parameters and meets the business needs of various rail transit scenarios, improving both the efficiency and accuracy of wheel weight difference control.

[0110] Based on any of the above embodiments, the following, in conjunction with Figure 4 Methods for determining the lateral and longitudinal centers of gravity ( Figure 2 The embodiment of S202 will be described in detail.

[0111] Figure 4 This is a schematic diagram illustrating the process of determining the lateral and longitudinal centers of gravity provided in the embodiments of this application. Please refer to... Figure 4 The method may include:

[0112] S401. Based on multiple first weights, determine the third weight of the left wheel position, the fourth weight of the right wheel position, the fifth weight of the first-end bogie, and the sixth weight of the second-end bogie.

[0113] The third weight can refer to the sum of the weights of the first weights of all wheels on the left side of the vehicle.

[0114] The fourth weight can refer to the sum of the weights of the first weights of all wheels on the right side of the vehicle.

[0115] The fifth weight can refer to the sum of the weights of the first weights of all wheels at one end of the vehicle.

[0116] The sixth weight can refer to the sum of the weights of the first weights of each wheel position at both ends of the vehicle.

[0117] For example, taking a vehicle with two bogies as an example, such as Figure 3 As shown, the third heavy W L This can be expressed as (Formula 2):

[0118]

[0119] Fourth place heavy W R This can be expressed as (Formula 3):

[0120]

[0121] The fifth key G1 can be expressed as (Formula 4):

[0122]

[0123] The sixth heavy G2 can be expressed as (Formula 5):

[0124]

[0125] S402. Determine the lateral center of gravity and longitudinal center of gravity based on the third, fourth, fifth, and sixth weights, the total weight, the fixed distance, and the spacing.

[0126] In some embodiments, the lateral centroid Yc is related to the track spacing D, and the longitudinal centroid Xc is related to the fixed distance L.

[0127] Electronic devices can determine their lateral and longitudinal centers of gravity based on the following implementation: the lateral center of gravity is determined according to the third weight, the fourth weight, the total weight, and the spacing; the longitudinal center of gravity is determined according to the fifth weight, the sixth weight, the total weight, and the fixed distance.

[0128] like Figure 3 As shown, the electronic device can determine its lateral center of gravity according to Formula 1, Formula 2, and Formula 3. Therefore, the lateral center of gravity Yc can be expressed as (Formula 6):

[0129]

[0130] Electronic devices can determine their longitudinal center of gravity using Formulas 1, 4, and 5. Therefore, the longitudinal center of gravity Xc can be expressed as (Formula 7):

[0131]

[0132] Below, in conjunction with Figure 5 The vehicle's center of gravity is explained through specific examples.

[0133] Figure 5 For a schematic diagram of the vehicle's center of gravity provided in the embodiments of this application, please refer to [link / reference]. Figure 5This includes the longitudinal centerline (y-axis) of the vehicle body in the left-right direction, the lateral centerline (x-axis) of the vehicle body in the front-back direction, the total weight G, the fifth weight G1, the sixth weight G2, the lateral center of gravity Yc, the longitudinal center of gravity Xc, the fixed distance L, and the spacing D. Among them, the longitudinal center of gravity Xc can represent the offset distance of the vehicle's center of gravity based on the longitudinal centerline of the vehicle body, and the lateral center of gravity Yc can represent the offset distance of the vehicle's center of gravity based on the lateral centerline of the vehicle body.

[0134] In this embodiment, the third weight of the left wheel position, the fourth weight of the right wheel position, the fifth weight of the first-position bogie, and the sixth weight of the second-position bogie are determined by multiple first weights. Then, the lateral and longitudinal center of gravity are determined by combining the third, fourth, fifth, and sixth weights, the total weight, a fixed distance, and a spacing. Specifically, the lateral center of gravity is determined based on the third, fourth, total weight, and spacing, while the longitudinal center of gravity is determined based on the fifth, sixth, total weight, and a fixed distance. In this method, the electronic equipment can accurately locate the vehicle's center of gravity, effectively avoiding errors from manual calculations and improving the reliability of the calculation. It eliminates the need for complex processing of a large amount of dispersed wheel weight data, thus improving the efficiency of center of gravity calculation. Furthermore, this method is applicable to different vehicle types and operating conditions, significantly improving the stability and safety of vehicle operation and providing strong support for vehicle control. It improves the efficiency of vehicle center of gravity analysis while increasing the accuracy of center of gravity calculation.

[0135] Based on any of the above embodiments, the following, in conjunction with Figure 6 The method for determining the second weight ( Figure 2 The embodiment of S203 will be described in detail.

[0136] Figure 6 This is a schematic diagram illustrating the process of determining the second weight provided in an embodiment of this application. Please refer to... Figure 6 The method may include:

[0137] S601. Based on the total weight, longitudinal center of gravity, fixed distance, and spacing, determine the first target weight of the first end bogie and the second target weight of the second end bogie.

[0138] The first target bit weight can refer to the ideal bit weight allocation for a single bit.

[0139] The second target weight can refer to the ideal allocation weight of the two ends.

[0140] like Figure 3 As shown, the first target weight G3 can be expressed as (Formula 8):

[0141]

[0142] The second target weight G4 can be expressed as (Formula 9):

[0143]

[0144] S602. Determine the second weight of each angle based on the lateral center of gravity, fixed distance, spacing, first target weight, and second target weight.

[0145] In some embodiments, taking a vehicle with two bogies as an example, the positions of the first and second bogies are the first end, and the positions of the third and fourth bogies are the second end. Then, the second weight of the first and second bogies is related to the first target weight, and the second weight of the third and fourth bogies is related to the second target weight.

[0146] Electronic devices can determine the second weight of each angle based on the following implementation: determining the weight of the first angle and the weight of the second angle based on the lateral center of gravity, fixed distance, spacing and the first target weight; determining the weight of the third angle and the weight of the fourth angle based on the lateral center of gravity, fixed distance, spacing and the second target weight.

[0147] The position weight of angle (W1+W3) This can be expressed as (Formula 10):

[0148]

[0149] The positional weight of the two angles (W2+W4) This can be expressed as (Formula Eleven):

[0150]

[0151] Weight of the three angles (W5+W7) This can be expressed as (Formula Twelve):

[0152]

[0153] The positional weight of the four angles (W6+W8) This can be expressed as (Formula Thirteen):

[0154]

[0155] In some embodiments, after the electronic device determines the second weight of each wheel position, the height of the air spring can be adjusted, and the weight of each wheel position can be used as the target value so that the weight of each wheel position is adjusted to the target value to the greatest extent, at which point the vehicle is in a better state.

[0156] In this embodiment, the first target weight of the first-position bogie and the second target weight of the second-position bogie are determined by the total weight, longitudinal center of gravity, fixed distance, and wheel spacing. Combined with the lateral center of gravity, fixed distance, wheel spacing, and the first and second target weights, the weights of the first, second, third, and fourth wheel positions are determined, thus obtaining the second weight of each wheel position. In this method, the electronic equipment can accurately calculate the target weight of each wheel position based on key vehicle parameters (e.g., total weight, center of gravity, etc.), ensuring the rationality of the vehicle's weight distribution. Even with complex vehicle weight distribution, it can obtain the ideal weight distribution (second weight) for each wheel position, effectively avoiding the large errors caused by directly calculating the ideal weight of each wheel position. It eliminates the need for complex overall weight distribution deduction, improving the calculation efficiency of the second weight. Furthermore, this method is applicable to vehicles with different bogie structures and wheel position layouts, improving the efficiency of controlling vehicle wheel weight differences while increasing calculation accuracy.

[0157] In conjunction with any of the above embodiments, the following will be discussed... Figure 7 The process of vehicle control methods is explained in detail.

[0158] Figure 7 This is a schematic diagram illustrating another vehicle control method provided in an embodiment of this application. Please refer to... Figure 7 The method may include:

[0159] S701. Obtain the current first weight and total weight of each wheel position in the vehicle, the fixed distance of the vehicle's bogie, and the track spacing.

[0160] It should be noted that the execution process of S701 above can be found in S201, and will not be repeated here.

[0161] S702. Determine the lateral and longitudinal center of gravity of the vehicle based on multiple primary weights, total weights, fixed distances, and spacings.

[0162] It should be noted that the execution process of S702 above can be found in S401-S402, and will not be repeated here.

[0163] S703. Determine the second weight of each angle based on the total weight, lateral center of gravity, longitudinal center of gravity, fixed distance, and spacing.

[0164] Among them, the azimuth angle is used to indicate the position of the vehicle.

[0165] It should be noted that the execution process of S703 above can be found in S601-S602, and will not be repeated here.

[0166] S704. Determine the stiffness of the air spring corresponding to the azimuth angle.

[0167] In some embodiments, the air spring stiffness is non-linear, meaning it varies with various factors such as internal air pressure and the degree of deformation of the rubber stack. Therefore, the air spring stiffness differs under different conditions. If the air springs are of the same model for the same vehicle, their stiffness will be identical and can be set to the same value.

[0168] S705. Determine the actual position weight of the azimuth angle based on multiple first weights.

[0169] The actual position weight can be the sum of the first weights of each wheel position at that position angle.

[0170] S706. Determine the adjustment parameters based on the second load, the actual load, and the stiffness.

[0171] The electronic device can determine the adjustment parameters based on the following implementation method: determine the difference between the second weight and the actual weight; and determine the height adjustment amount of the air spring by the ratio of the difference to the stiffness.

[0172] The difference between the second weight and the actual weight can be expressed as (Formula Fourteen):

[0173]

[0174] in, This represents the actual position weight of the i-th and (i+2)-th positions corresponding to the position angle. This represents the ideal position weight of the i-th and (i+2)-th positions corresponding to the position angle. This represents the corresponding change in position weight, with i taking values ​​of 1, 2, 5, and 6 respectively.

[0175] The height adjustment amount of the air spring can be expressed as (Formula 15):

[0176]

[0177] in, This represents the height adjustment amount of the air spring corresponding to the i-th wheel position. This represents the stiffness of the air spring corresponding to the i-th gear position.

[0178] In some embodiments, it can be obtained according to Formula 15 that, if Greater than 0 indicates Greater than If the actual weight is less than the ideal weight, the height valve needs to be adjusted to raise the height of the air spring. Less than 0 indicates Less than If the actual weight is greater than the ideal weight, the height valve needs to be adjusted to lower the height of the air spring.

[0179] In some embodiments of this application, the height adjustment amount This refers only to the change in air spring volume when there is no inflation or deflation action (because the height valve has a blind zone, there will be no inflation or deflation action within a certain range of height variation, but there is indeed a corresponding change), which is the change in elasticity.

[0180] In practical applications, when adjusting a certain angle to a preset height, the air spring at that location will inevitably inflate or deflate (considered as forcibly adding or removing shims). In this case, Formula 15 above is not applicable for that angle because it introduces an objective displacement. However, after adjusting the height of the air spring at that angle, other angles will show an upward or downward trend and slight changes due to the change in the height of that angle. If other angles do not inflate or deflate, Formula 15 above is applicable; if other angles do inflate or deflate, it can be considered that additional shims have been added or removed for the corresponding angles.

[0181] For example, assuming the vehicle's lateral balance meets the 4% wheel weight difference requirement, and the vehicle is a two-bogie type, the first wheel weight Wi, the actual wheel weight and second wheel weight for each wheel position, the difference between the actual wheel weight and the second wheel weight, and the adjusted wheel weight for each wheel position can be shown in Table 1:

[0182] Table 1

[0183]

[0184]

[0185] In some embodiments, the electronic device can determine the wheel weight difference based on the following implementation: obtaining the first weight of the coaxial wheel position, and determining the average weight based on the first weight of the coaxial wheel position. That is, the ratio of the difference between the first weight of the coaxial wheel position and the average weight to the average weight is determined as the measured wheel weight difference at that position angle. It should be noted that the adjusted wheel weight difference can be used to perform the above operation through the adjusted weight.

[0186] For example, referring to Table 1, for coaxial wheel positions W1 and W2, the average wheel weight is (6950 + 6700) / 2 = 6825. The measured wheel weight difference can be expressed as: (6950 - 6825) / 6825 100% = 1.83%, the adjusted position weight can be expressed as: (7069 - 6825) / 6825 100% = 3.58%; therefore, the wheel weight difference for each corner can be obtained using the above method, as shown in Table 2:

[0187] Table 2

[0188]

[0189] According to Table 2, the average measured wheel weight difference at the first end is 0.62%, and the average measured wheel weight difference at the second end is 4.14%. After adjustment, the average wheel weight difference at both ends is 2.37% and 2.38%, respectively, indicating that the wheel positions at the first and second ends are in force balance.

[0190] In some embodiments, before the electronic device acquires the data, the electronic device may collect data related to vehicle weighing during a historical period, including the weight of each wheel position, axle weight, air spring height adjustment value before weighing, and the weight of each wheel position after weighing, and obtain the average weight of the same axle and the wheel weight difference based on the above data.

[0191] In this case, the electronic device uses a data analysis platform (e.g., an agile platform) to build a data analysis model based on the aforementioned data. Furthermore, the electronic device can use the data analysis model to summarize the rules governing the changes in the bogie's angular weight caused by the change in air spring height, and then perform screening analysis on different vehicle models or axles.

[0192] In some embodiments, if the rule is "diagonal positions increase or decrease in the same way, with the increase or decrease being the same," that is, after calculation according to the embodiments of this application, the optimal weight distribution (second weight) for each angle can be obtained. After comparison, it can be determined that the weight of the angle should be adjusted by a certain amount. Due to the uncertainty of the stiffness of the air spring, the adjustment height is not fixed, but it can be adjusted based on a determined target weight value. That is, it can be adjusted by determining that any angle has reached the target adjustment amount (because the change in weight of the four angles caused by the adjustment is the same).

[0193] Ideally, adjusting the height of any one corner is sufficient to achieve the target value. However, since there are limits to the deviation range of the four corner heights, if the height exceeds the allowable range, the corners can be adjusted simultaneously: lower the heavier corners or raise the lighter corners simultaneously to ensure that the final height of each corner is within the allowable range.

[0194] In this embodiment of the application, by obtaining the first weight of each wheel position and the total weight of each wheel position, the fixed distance corresponding to the bogie of the vehicle and the track spacing, the lateral center of gravity and longitudinal center of gravity of the vehicle are determined, and then the second weight of each corner is determined. Based on the second weight and the first weight of each corner, the adjustment parameters of the air springs corresponding to each corner are determined. In the above method, the electronic device can obtain the data distribution and the regularity of problems based on historical vehicle data and data analysis models, and realize the redistribution of vehicle loading weight to ensure the safety and reliability of vehicle operation. Furthermore, the electronic device can establish an idealized static model of the weight distribution after the vehicle is unloaded based on the vehicle's structural parameters and weighing data (e.g., fixed distance, track gauge, etc.), and simulate the weighing measurement results after the vehicle is unloaded using this model, thereby simulating and calculating the wheel weight difference data after the vehicle is unloaded. In addition, the electronic device conducts multiple sets of comparative wheel weight difference adjustment tests using various air spring combination adjustment methods during the vehicle weighing test, collects a large amount of experimental data, summarizes the rules, and combines on-site operation experience to solidify the collected data into theorems and formulas that conform to the real-world scenario. Furthermore, the electronic device establishes an online vehicle wheel weight difference adjustment platform based on big data and physical models through digital interface co-simulation, and establishes a wheel weight difference database after the vehicle is unloaded, providing a good reference for subsequent vehicle weighing tests.

[0195] Below, in conjunction with Figure 8 , Figure 9 and Figure 10 The user interface will be explained using two bogies as an example.

[0196] Figure 8 This is a schematic diagram of a possible user computing interface provided in an embodiment of this application. Figure 9 This is a schematic diagram of a possible user processing interface provided in an embodiment of this application. Figure 10 This is a schematic diagram of a possible user storage interface provided in an embodiment of this application.

[0197] Please see Figure 8 The user calculation interface is the interface before the weighing data is adjusted. Users can access this interface through login or other operations. The interface includes a vehicle information module, a vehicle weighing data module, and a "Calculate" control. The vehicle information module includes the item number, column number, and car number. The vehicle weighing data module includes the left side of axle 1, the right side of axle 1, the left side of axle 2, the right side of axle 2, the left side of axle 3, the right side of axle 3, the left side of axle 4, and the right side of axle 4. After the vehicle is weighed, the user can enter the corresponding vehicle data in the input boxes of each module and click "Calculate".

[0198] Please see Figure 9After the user clicks the "Calculate" control, the electronic device can perform data processing based on the method of this application embodiment to obtain the height adjustment amount of the air springs at each angle, and display it through the user processing interface. The user processing interface includes an air spring adjustment module and a "Return" control. The module includes the height adjustment amount of the air springs at the first, second, third, and fourth angles.

[0199] Based on the data in the user processing interface, users can adjust the four height valves of the bogie sequentially and measure the air spring height value with a measuring tape to see if it meets the requirements. If it does, the vehicle is weighed, and the weight data of each wheel position after adjustment is recorded. The user can then determine whether the wheel weight difference after adjustment meets the requirements (less than or equal to 4%). The user can then click "Return" to go back to the previous user calculation interface to recalculate.

[0200] Please see Figure 10 The user storage interface is the interface after the weighing data is adjusted. This interface includes a vehicle information module, a vehicle weighing data module, and an "OK" control. The vehicle information module includes the item number, column number, and car number. The vehicle weighing data module includes the left side of axle 1, the right side of axle 1, the left side of axle 2, the right side of axle 2, the left side of axle 3, the right side of axle 3, the left side of axle 4, and the right side of axle 4. Users can enter the weighed vehicle data (meeting the wheel weight difference requirements) in the input boxes of each module and click "OK" to save the adjusted vehicle weighing data locally.

[0201] In some embodiments, a preset database can be set up. The electronic device can store the user-input weighing data before adjustment, the air spring height adjustment amount, and the weighing data after adjustment into the preset database according to the project number, column number, and vehicle number, so as to realize the unified management and storage of vehicle weighing data. Furthermore, based on the preset database, the staff can analyze the vehicle's loading weight to make the wheel weight difference more likely to be minimized and ensure better vehicle passability on small curves.

[0202] Figure 11 This is a schematic diagram of a vehicle control device provided in an embodiment of this application. Please refer to... Figure 11 The vehicle control device 10 includes: an acquisition module 11, a first determination module 12, a second determination module 13, and a third determination module 14, wherein:

[0203] The acquisition module 11 is used to acquire the current first weight of each wheel position and the total weight of each wheel position in the vehicle, the fixed distance corresponding to the bogie of the vehicle, and the track spacing.

[0204] The first determining module 12 is used to determine the lateral center of gravity and longitudinal center of gravity of the vehicle based on multiple primary weights, total weights, fixed distances, and spacings.

[0205] The second determining module 13 is used to determine the second position of each azimuth angle based on the total position weight, lateral center of gravity, longitudinal center of gravity, fixed distance and spacing. The azimuth angle is used to indicate the position of the vehicle.

[0206] The third determining module 14 is used to determine the adjustment parameters of the air springs corresponding to each angle based on the multiple first weights and the second weights of each angle.

[0207] The vehicle control device provided in this application embodiment can execute the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar, and will not be described again here.

[0208] In one possible implementation, the first determining module 12 is specifically used for:

[0209] Based on multiple first weights, determine the third weight of the left wheel position, the fourth weight of the right wheel position, the fifth weight of the first end bogie, and the sixth weight of the second end bogie.

[0210] Determine the lateral and longitudinal center of gravity based on the third, fourth, fifth, and sixth weights, the total weight, the fixed distance, and the spacing.

[0211] In one possible implementation, the first determining module 12 is specifically used for:

[0212] Determine the lateral center of gravity based on the third weight, fourth weight, total weight, and spacing;

[0213] Determine the longitudinal center of gravity based on the fifth weight, sixth weight, total weight, and fixed distance.

[0214] In one possible implementation, the second determining module 13 is specifically used for:

[0215] Based on the total weight, longitudinal center of gravity, fixed distance, and spacing, determine the first target weight of the first end bogie and the second target weight of the second end bogie;

[0216] Determine the second weight of each angle based on the lateral center of gravity, fixed distance, spacing, first target weight, and second target weight.

[0217] In one possible implementation, the second determining module 13 is specifically used for:

[0218] Based on the lateral center of gravity, fixed distance, spacing, and the first target position weight, determine the position weight of the first angle and the position weight of the second angle;

[0219] Based on the lateral center of gravity, fixed distance, spacing, and the second target position weight, determine the position weights of the three angular and four angular positions.

[0220] In one possible implementation, the third determining module 14 is specifically used for:

[0221] Determine the stiffness of the air spring corresponding to the azimuth angle;

[0222] The actual position weight of the azimuth angle is determined based on multiple first weights;

[0223] The adjustment parameters are determined based on the second weight, the actual weight, and the stiffness.

[0224] In one possible implementation, the third determining module 14 is specifically used for:

[0225] Determine the difference between the second weight and the actual weight;

[0226] The ratio of the difference to the stiffness is determined as the height adjustment amount of the air spring.

[0227] The vehicle control device provided in this application embodiment can execute the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar, and will not be described again here.

[0228] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 12 As shown, the electronic device 20 may include: a transceiver 21, a processor 22, and a memory 23.

[0229] Processor 22 executes computer execution instructions stored in memory, causing processor 22 to perform the scheme in the above embodiments. Processor 22 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0230] The memory 23 is connected to the processor 22 via the system bus and completes communication between them. The memory 23 is used to store computer program instructions.

[0231] Transceiver 21 can be used to obtain the task to be run and the configuration information of the task to be run.

[0232] The system bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus. Transceivers are used to enable communication between database access devices and other computers (e.g., clients, read-write libraries, and read-only libraries). Memory may include random access memory (RAM) and may also include non-volatile memory.

[0233] The electronic device provided in this application embodiment can be the terminal device described in the above embodiments.

[0234] This application also provides a chip for executing instructions, which is used to execute the technical solution of the vehicle control method in the above embodiments.

[0235] This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the technical solution of the vehicle control method described above.

[0236] This application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium, and when the at least one processor executes the computer program, it can implement the technical solution of the vehicle control method in the above embodiments.

[0237] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0238] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0239] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0240] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this application.

[0241] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0242] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0243] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0244] The aforementioned storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0245] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. The processor and storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic control unit or main control device.

[0246] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0247] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle control method, characterized in that, include: Obtain the current first weight and total weight of each wheel position in the vehicle, the fixed distance corresponding to the bogie of the vehicle, and the track spacing. The lateral center of gravity and longitudinal center of gravity of the vehicle are determined based on multiple first-order weights, the total weight, the fixed distance, and the spacing. Based on the total position weight, the lateral center of gravity, the longitudinal center of gravity, the fixed distance, and the spacing, the second position weight of each azimuth angle is determined, and the azimuth angle is used to indicate the position of the vehicle; Based on the plurality of first weights and second weights of each angle, the adjustment parameters of the air springs corresponding to each angle are determined.

2. The method according to claim 1, characterized in that, The lateral and longitudinal centers of gravity of the vehicle are determined based on multiple primary weights, the total weight, the fixed distance, and the spacing, including: Based on multiple first weights, the third weight of the left wheel position, the fourth weight of the right wheel position, the fifth weight of the first end bogie, and the sixth weight of the second end bogie are determined. The lateral center of gravity and the longitudinal center of gravity are determined based on the third weight, the fourth weight, the fifth weight, the sixth weight, the total weight, the fixed distance, and the spacing.

3. The method according to claim 2, characterized in that, Determining the lateral center of gravity and the longitudinal center of gravity based on the third weight, the fourth weight, the fifth weight, the sixth weight, the total weight, the fixed distance, and the spacing includes: The lateral center of gravity is determined based on the third weight, the fourth weight, the total weight, and the spacing. The longitudinal center of gravity is determined based on the fifth weight, the sixth weight, the total weight, and the fixed distance.

4. The method according to any one of claims 1-3, characterized in that, Based on the total weight, the lateral centroid, the longitudinal centroid, the fixed distance, and the spacing, the second weight of each angular position is determined, including: Based on the total weight, the longitudinal center of gravity, the fixed distance, and the spacing, determine the first target weight of the first end bogie and the second target weight of the second end bogie; The second weight of each angle is determined based on the lateral center of gravity, the fixed distance, the spacing, the first target weight, and the second target weight.

5. The method according to claim 4, characterized in that, Based on the lateral centroid, the fixed distance, the spacing, the first target weight, and the second target weight, the second weight of each angle is determined, including: Based on the lateral center of gravity, the fixed distance, the spacing, and the first target position weight, determine the position weight of the first angle and the position weight of the second angle; The position weights of the three angular positions and the position weights of the four angular positions are determined based on the lateral center of gravity, the fixed distance, the spacing, and the second target position weight.

6. The method according to claim 5, characterized in that, For any given position angle; based on the plurality of first weights and the second weights of each position angle, determine the adjustment parameters of the air spring corresponding to each position angle, including: Determine the stiffness of the air spring corresponding to the specified position angle; The actual position weight of the azimuth angle is determined based on the plurality of first weights; The adjustment parameters are determined based on the second weight, the actual weight, and the stiffness.

7. The method according to claim 6, characterized in that, The adjustment parameter is the height adjustment amount of the air spring; the adjustment parameter is determined based on the second weight, the actual weight, and the stiffness, including: Determine the difference between the second weight and the actual weight; The ratio of the difference to the stiffness is determined as the height adjustment amount of the air spring.

8. A vehicle control device, characterized in that, include: The module comprises an acquisition module, a first determination module, a second determination module, and a third determination module, wherein: The acquisition module is used to acquire the current first weight of each wheel position and the total weight of each wheel position in the vehicle, the fixed distance corresponding to the bogie of the vehicle, and the track spacing. The first determining module is used to determine the lateral center of gravity and longitudinal center of gravity of the vehicle based on multiple first weights, the total weight, the fixed distance, and the spacing. The second determining module is used to determine the second position weight of each locating angle based on the total position weight, the lateral center of gravity, the longitudinal center of gravity, the fixed distance, and the spacing, wherein the locating angle is used to indicate the position of the vehicle; The third determining module is used to determine the adjustment parameters of the air springs corresponding to each angle based on the plurality of first weights and second weights of each angle.

9. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 7.

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