A method, apparatus, medium and device for testing steering of a new driving unit

Abstract

The application provides a steering test method, device, medium and equipment of a new driving unit, time domain parameters of a whole vehicle model are generated based on a target working condition, and the whole vehicle model is run to obtain simulation results; wheel parameters on each wheel are calculated based on the simulation results; the wheel parameters are input into a steering test bench of the new driving unit to obtain test data; the test data and simulation data of the new driving unit are compared; if the data error meets preset requirements, evaluation indexes of the new driving unit are calculated, and a test result is determined; the evaluation indexes of the new driving unit are calculated after the simulation results and the steering test bench of the new driving unit are mutually corrected, so that the accuracy and adaptability of the steering test of the new driving unit are improved.

Description

Technical Field

[0001] This application relates to the field of testing technology for novel driving units, specifically to a steering test method, apparatus, medium, and equipment for a novel driving unit. Background Technology

[0002] The new driving unit is a highly integrated vehicle chassis technology that integrates functional components such as drive, steering, braking, and suspension into modular assemblies near the wheels, achieving high integration and intelligence. Its core technology lies in the collaborative and independent control of multiple systems, improving overall vehicle energy efficiency and dynamic performance, and providing key technical support for future urban transportation and autonomous driving. Among these, the steering system is one of the core systems of the new driving unit. Compared to traditional steering systems that use a fixed transmission ratio and cannot balance low-speed agility and high-speed stability, steer-by-wire and active steering technologies can optimize handling characteristics at different speeds by dynamically adjusting the steering transmission ratio. Their performance affects the vehicle's safety, economy, handling, and comfort.

[0003] Currently, there is still a lack of performance testing schemes for new driving unit steering systems in the industry. Therefore, it is necessary to develop a performance testing scheme for new driving unit steering systems to help upgrade the technology of my country's new energy vehicle industry. Summary of the Invention

[0004] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a novel steering test method, apparatus, medium, and device for a driving unit.

[0005] According to one aspect of this application, a novel steering test method for a driving unit is provided, comprising: constructing a whole vehicle model of the target vehicle based on the whole vehicle parameters of the target vehicle; generating time-domain parameters of the whole vehicle model based on a target operating condition; running the whole vehicle model based on the time-domain parameters to obtain simulation results of the whole vehicle model; calculating wheel parameters on each wheel of the target vehicle based on the simulation results; inputting the wheel parameters into a steering test bench of the novel driving unit, running the steering test bench of the novel driving unit to obtain test data of the novel driving unit; comparing the test data and the simulation data of the novel driving unit to obtain data error; if the data error meets a preset requirement, calculating an evaluation index of the novel driving unit; and determining the test result of the novel driving unit based on the evaluation index.

[0006] In one embodiment, the simulation data of the novel driving unit is obtained by inputting the time-domain parameters into the corner module test simulation software of the novel driving unit to obtain the simulation data of the novel driving unit.

[0007] In one embodiment, calculating the evaluation index of the novel driving unit includes: calculating multiple evaluation indexes of the novel driving unit under multiple target operating conditions.

[0008] In one embodiment, the target operating conditions include: a steering acceleration condition, a steering braking condition, and a steering and suspension control condition; wherein, calculating multiple evaluation indicators of the novel driving unit under multiple target operating conditions includes: calculating the drive torque distribution response time and drive force steering coupling efficiency of the novel driving unit under the steering acceleration condition; calculating the braking distance increment coefficient of the novel driving unit under the steering braking condition; and calculating the vehicle roll angle, suspension power dissipation rate, and steering wheel vibration acceleration of the novel driving unit under the steering and suspension control condition.

[0009] In one embodiment, calculating the drive torque distribution response time and drive force steering coupling efficiency of the novel driving unit under the steering acceleration condition includes: the drive torque distribution response time is calculated as follows: The calculation method for the driving force steering coupling efficiency is as follows: ;in, Allocate response time to drive torque. The time during which the actual change in driving torque is greater than or equal to 90% of the target change. The time when the drive command is issued. For driving force steering coupling efficiency, The actual longitudinal force of the tires in the new type of driving unit. For the speed of the new type of driving unit, The driving torque for the new type of driving unit, The tire angular velocity of the new type of driving unit.

[0010] In one embodiment, calculating the braking distance increment coefficient of the novel driving unit under the steering braking condition includes: the braking distance increment coefficient is calculated as follows: ;in, This is the braking distance increment coefficient. This refers to the braking distance on a straight road. This refers to the braking distance under dual-track lane conditions.

[0011] In one embodiment, calculating the vehicle roll angle, suspension power dissipation rate, and steering wheel vibration acceleration of the novel driving unit under the steering and suspension control conditions includes: the suspension power dissipation rate is calculated as follows: The calculation method for the steering wheel vibration acceleration is as follows: ;in, The power dissipation rate of the suspension. For test duration, This is the suspension damping coefficient. The relative speed of the suspension. The acceleration due to steering wheel vibration. The vibration frequency, The power spectral density of steering wheel vibration acceleration. The power spectral density is the road surface roughness.

[0012] According to another aspect of this application, a novel steering test device for a driving unit is provided, comprising: a vehicle model construction module for constructing a vehicle model of a target vehicle based on vehicle parameters of the target vehicle; a time-domain parameter generation module for generating time-domain parameters of the vehicle model based on a target operating condition; a simulation result generation module for running the vehicle model based on the time-domain parameters to obtain simulation results of the vehicle model; a wheel parameter calculation module for calculating wheel parameters on each wheel of the target vehicle based on the simulation results; a test data generation module for inputting the wheel parameters into a steering test bench of the novel driving unit, running the steering test bench of the novel driving unit, and obtaining test data of the novel driving unit; a data error comparison module for comparing the test data and the simulation data of the novel driving unit to obtain data error; an average index calculation module for calculating an evaluation index of the novel driving unit if the data error meets a preset requirement; and a test result determination module for determining the test result of the novel driving unit based on the evaluation index.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the storage medium storing a computer program for performing any of the methods described above.

[0014] According to another aspect of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to perform any of the methods described above.

[0015] This application provides a novel steering test method, apparatus, medium, and equipment for a driving unit. The method involves: constructing a complete vehicle model based on the overall vehicle parameters; generating time-domain parameters of the complete vehicle model based on target operating conditions; running the complete vehicle model based on the time-domain parameters to obtain simulation results; calculating wheel parameters for each wheel of the target vehicle based on the simulation results; inputting the wheel parameters into a steering test bench for the novel driving unit; running the steering test bench to obtain test data for the novel driving unit; comparing the test data with the simulation data of the novel driving unit to obtain the data error; and determining if the data error meets the pre-defined parameters. Given the requirements, the evaluation index of the new driving unit is calculated; based on the evaluation index, the test results of the new driving unit are determined; that is, time-domain parameters are generated based on the target working condition, the whole vehicle model is run based on the time-domain parameters to obtain simulation results, and the wheel parameters are calculated based on the simulation results and then input into the steering test bench of the new driving unit to obtain test data. The test data and the policy data are compared, and the evaluation index is calculated when the error meets the requirements to determine the test results of the new driving unit. After mutual correction using the simulation results and the steering test bench of the new driving unit, the evaluation index is calculated for the new driving unit to improve the accuracy and adaptability of the steering test of the new driving unit. Attached Figure Description

[0016] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 This is a flowchart illustrating a steering test method for a novel driving unit provided in an exemplary embodiment of this application.

[0018] Figure 2 This is a schematic diagram of the structure of a steering test device for a novel driving unit provided in an exemplary embodiment of this application.

[0019] Figure 3 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0020] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0021] Figure 1This is a schematic flowchart of a steering test method for a novel driving unit provided in an exemplary embodiment of this application. Figure 1 As shown, the steering test method for this novel driving unit includes the following steps:

[0022] Step 110: Construct a complete vehicle model of the target vehicle based on the vehicle parameters.

[0023] This application establishes a corresponding whole vehicle model based on the target vehicle's size, mass, inertia, subsystem characteristics, suspension characteristics, and tire characteristics, and defines input / output software interfaces to build a suitable whole vehicle model for subsequent simulations.

[0024] Step 120: Based on the target operating conditions, generate the time-domain parameters of the whole vehicle model.

[0025] This application converts the target operating conditions into corresponding time-domain parameters. The target operating conditions may include multiple conditions such as constant steering drive condition, steering braking condition, and steering and suspension control condition. Among them, the steering acceleration condition is: a dry asphalt pavement road surface, adhesion coefficient μ≥0.85, a constant circular curve with radius R=75m, a fixed steering angle, and a constant speed of v=50km / h when entering the curve. After the steering stabilizes, a step-by-step application of driving torque is performed, and the driving torque T is 50% of the peak torque. Dynamic response data from t=0 to 2s is recorded. The steering braking condition is: a low-adhesion road surface (adhesion coefficient μ=0.40±0.05), simulating a wet and slippery asphalt road surface, a straight-line-double lane change combination road, a straight-line acceleration at a speed of v=90km / h, a trigger steering angle δ=60°, and 80% of the maximum braking force is applied simultaneously with steering. The steering and suspension control conditions are as follows: random road surface (simulating gravel road), superimposed sinusoidal raised obstacles (height h=80mm, wavelength λ=1.2m), vehicle speed v=40km / h constant speed, input sinusoidal steering angle at t=1s, steering angle function is: δ=δ0×sin(2πft), where f=0.5Hz, δ0=30°.

[0026] Step 130: Based on the time-domain parameters, run the vehicle model to obtain the simulation results of the vehicle model.

[0027] After converting to obtain time-domain parameters, this application inputs the time-domain parameters into the vehicle model and runs the corner module in the vehicle model to obtain simulation results.

[0028] Step 140: Based on the simulation results, calculate the wheel parameters of each wheel of the target vehicle.

[0029] This application calculates the wheel parameters on each wheel based on the simulation results. Specifically, the simulation results are post-processed to extract the wheel parameters on each wheel of the vehicle. The wheel parameters may include load and tire characteristic time-domain curve data.

[0030] Step 150: Input the wheel parameters into the steering test bench of the new driving unit, run the steering test bench of the new driving unit, and obtain the test data of the new driving unit.

[0031] This application inputs wheel parameters into a steering test bench for a novel driving unit, runs the steering test bench for the novel driving unit, and obtains test data for the novel driving unit. The steering test bench for the novel driving unit is constructed as follows: a tooling fixture is designed and manufactured based on a vehicle rotary drum test bench. The novel driving unit is placed on one of the drums of the rotary drum bench, with the tire in contact with the drum surface. The suspension mounting points are connected to the tooling fixture. The compression of the suspension springs is changed by tightening bolts to simulate the application of corresponding wheel loads. The fixture space accommodates a tire steering angle range of -30° to 30°. The tooling fixture is fixed to the drum's iron base plate with bolts and connected to the four corners of the rotary drum bench with ropes. The novel driving unit is connected to a mobile battery simulator. Signals are input to the novel driving unit via a host computer, and a circulating cooling system is established based on an external water pump.

[0032] Step 160: Compare the test data with the simulation data of the new driving unit to obtain the data error.

[0033] This application calculates the data error between test data and policy data by comparing test data and simulation data of a novel driving unit.

[0034] Step 170: If the data error meets the preset requirements, calculate the evaluation index of the new driving unit.

[0035] If the calculated data error meets the preset requirements (e.g., less than the preset value), the evaluation index of the new driving unit is calculated to obtain the test results of the new driving unit. If it does not meet the preset requirements, the external force of the steering test bench of the new driving unit is replaced (the external force of the steering test bench of the new driving unit is adjusted), and the test is carried out again until the data error meets the preset requirements.

[0036] Step 180: Determine the test results of the new driving unit based on the evaluation indicators.

[0037] After calculating the evaluation indicators, the test results of the new driving unit are obtained based on the evaluation indicators.

[0038] This application provides a novel steering test method for a driving unit. The method involves: constructing a complete vehicle model based on the target vehicle's overall vehicle parameters; generating time-domain parameters of the vehicle model based on target operating conditions; running the vehicle model based on the time-domain parameters to obtain simulation results; calculating wheel parameters for each wheel of the target vehicle based on the simulation results; inputting the wheel parameters into a steering test bench for the novel driving unit; running the steering test bench to obtain test data for the novel driving unit; comparing the test data with the simulation data of the novel driving unit to obtain the data error; and if the data error meets preset requirements, then... The evaluation index of the new driving unit is calculated; based on the evaluation index, the test results of the new driving unit are determined; that is, time-domain parameters are generated based on the target working condition, the whole vehicle model is run based on the time-domain parameters to obtain simulation results, and the wheel parameters are calculated based on the simulation results and then input into the steering test bench of the new driving unit to obtain test data. The test data and policy data are compared, and the evaluation index is calculated when the error meets the requirements to determine the test results of the new driving unit. After mutual correction using the simulation results and the steering test bench of the new driving unit, the evaluation index is calculated for the new driving unit to improve the accuracy and adaptability of the steering test of the new driving unit.

[0039] In one embodiment, the simulation data of the novel driving unit can be obtained by inputting time-domain parameters into the corner module test simulation software of the novel driving unit to obtain the simulation data of the novel driving unit.

[0040] This application inputs time-domain parameters into the corner module test simulation software of the novel driving unit to obtain simulation data of the novel driving unit.

[0041] In one embodiment, step 170 can be implemented by calculating multiple evaluation indicators of the novel driving unit under multiple target operating conditions.

[0042] This application achieves a multi-dimensional evaluation of the novel driving unit by calculating multiple evaluation indicators of the novel driving unit under multiple target working conditions from multiple dimensions.

[0043] In one embodiment, the target operating conditions include: steering acceleration condition, steering braking condition, and steering and suspension control condition; wherein, the specific implementation of step 170 above may be: calculating the drive torque distribution response time and drive force steering coupling efficiency of the new driving unit under the steering acceleration condition; calculating the braking distance increment coefficient of the new driving unit under the steering braking condition; and calculating the vehicle roll angle, suspension power dissipation rate, and steering wheel vibration acceleration of the new driving unit under the steering and suspension control condition.

[0044] This application evaluates the new driving unit from multiple dimensions by calculating the driving torque distribution response time and driving force steering coupling efficiency under steering acceleration conditions, the braking distance increment coefficient under steering braking conditions, the body roll angle, suspension power dissipation rate, and steering wheel vibration acceleration under steering and suspension control conditions.

[0045] In one embodiment, step 170 can be specifically implemented as follows: the drive torque distribution response time is calculated as follows: The calculation method for the driving force steering coupling efficiency is as follows: ;in, Allocate response time to drive torque. The time during which the actual change in driving torque is greater than or equal to 90% of the target change. The time when the drive command is issued. For driving force steering coupling efficiency, The actual longitudinal force of the tires in the new type of driving unit. For the speed of the new type of driving unit, The driving torque for the new type of driving unit, The tire angular velocity of the new type of driving unit.

[0046] This application calculates the drive torque distribution response time and drive force steering coupling efficiency of the novel driving unit under steering acceleration conditions using the above formula, thereby enabling the evaluation of the drive torque distribution response time and drive force steering coupling efficiency of the novel driving unit under steering acceleration conditions.

[0047] In one embodiment, step 170 can be specifically implemented as follows: the braking distance increment coefficient is calculated as follows: ;in, This is the braking distance increment coefficient. This refers to the braking distance on a straight road. This refers to the braking distance under dual-track lane conditions.

[0048] This application calculates the braking distance increment coefficient of the novel driving unit under steering and braking conditions using the above formula, thereby enabling the evaluation of the braking distance increment coefficient of the novel driving unit under steering and braking conditions.

[0049] In one embodiment, step 170 can be specifically implemented as follows: the suspension power dissipation rate is calculated as follows: The method for calculating the acceleration of steering wheel vibration is as follows: ;in, The power dissipation rate of the suspension. For test duration, This is the suspension damping coefficient. The relative speed of the suspension. The acceleration due to steering wheel vibration. The vibration frequency, The power spectral density of steering wheel vibration acceleration. The power spectral density is the road surface roughness.

[0050] This application calculates the suspension power dissipation rate and steering wheel vibration acceleration of the novel driving unit under steering and suspension control conditions using the above formula. Furthermore, the vehicle body roll angle can be directly measured by the sensor, thereby enabling the evaluation of the vehicle body roll angle, suspension power dissipation rate, and steering wheel vibration acceleration of the novel driving unit under steering and suspension control conditions.

[0051] Figure 2 This is a schematic diagram of the structure of a steering test device for a novel driving unit provided in an exemplary embodiment of this application. Figure 2 As shown, the steering test device 20 of the novel driving unit includes: a vehicle model construction module 21, used to construct a vehicle model of the target vehicle based on the vehicle parameters of the target vehicle; a time-domain parameter generation module 22, used to generate time-domain parameters of the vehicle model based on the target operating conditions; a simulation result generation module 23, used to run the vehicle model based on the time-domain parameters to obtain the simulation results of the vehicle model; a wheel parameter calculation module 24, used to calculate the wheel parameters on each wheel of the target vehicle based on the simulation results; a test data generation module 25, used to input the wheel parameters into the steering test bench of the novel driving unit, run the steering test bench of the novel driving unit, and obtain the test data of the novel driving unit; a data error comparison module 26, used to compare the test data and the simulation data of the novel driving unit to obtain the data error; an average index calculation module 27, used to calculate the evaluation index of the novel driving unit if the data error meets the preset requirements; and a test result determination module 28, used to determine the test result of the novel driving unit based on the evaluation index.

[0052] This application provides a novel steering test device for a driving unit. The device comprises: a vehicle model construction module 21 constructing a vehicle model based on the target vehicle's parameters; a time-domain parameter generation module 22 generating time-domain parameters of the vehicle model based on the target operating conditions; a simulation result generation module 23 running the vehicle model based on the time-domain parameters to obtain simulation results; a wheel parameter calculation module 24 calculating the wheel parameters of each wheel of the target vehicle based on the simulation results; a test data generation module 25 inputting the wheel parameters into a steering test bench for the novel driving unit, running the test bench to obtain test data for the novel driving unit; and a data error comparison module 26 comparing the test data with the simulation data of the novel driving unit. The data error is obtained; if the data error meets the preset requirements, the average index calculation module 27 calculates the evaluation index of the new driving unit; the test result determination module 28 determines the test result of the new driving unit based on the evaluation index; that is, the time domain parameters are generated based on the target working condition, the whole vehicle model is run based on the time domain parameters to obtain the simulation results, and the wheel parameters are calculated according to the simulation results and then input into the steering test bench of the new driving unit to obtain the test data. The test data and the policy data are compared, and the evaluation index is calculated when the error meets the requirements to determine the test result of the new driving unit. The simulation results and the steering test bench of the new driving unit are mutually corrected to calculate the evaluation index for the new driving unit to improve the accuracy and adaptability of the steering test of the new driving unit.

[0053] In one embodiment, the steering test device 20 of the novel driving unit can be further configured to input time-domain parameters into the corner module test simulation software of the novel driving unit to obtain simulation data of the novel driving unit.

[0054] In one embodiment, the average index calculation module 27 described above can be further configured to calculate multiple evaluation indices of the novel driving unit under multiple target operating conditions.

[0055] In one embodiment, the target operating conditions include: steering acceleration condition, steering braking condition, and steering and suspension control condition; wherein, the aforementioned average index calculation module 27 may be further configured to: calculate the drive torque distribution response time and drive force steering coupling efficiency of the new driving unit under the steering acceleration condition; calculate the braking distance increment coefficient of the new driving unit under the steering braking condition; and calculate the vehicle roll angle, suspension power dissipation rate, and steering wheel vibration acceleration of the new driving unit under the steering and suspension control condition.

[0056] In one embodiment, the average index calculation module 27 can be further configured such that the drive torque distribution response time is calculated as follows: The calculation method for the driving force steering coupling efficiency is as follows: ;in, Allocate response time to drive torque. The time during which the actual change in driving torque is greater than or equal to 90% of the target change. The time when the drive command is issued. For driving force steering coupling efficiency, The actual longitudinal force of the tires in the new type of driving unit. For the speed of the new type of driving unit, The driving torque for the new type of driving unit, The tire angular velocity of the new type of driving unit.

[0057] In one embodiment, the average index calculation module 27 can be further configured such that the braking distance increment coefficient is calculated as follows: ;in, This is the braking distance increment coefficient. This refers to the braking distance on a straight road. This refers to the braking distance under dual-track lane conditions.

[0058] In one embodiment, the average index calculation module 27 described above can be further configured such that the suspension power dissipation rate is calculated as follows: The method for calculating the acceleration of steering wheel vibration is as follows: ;in, The power dissipation rate of the suspension. For test duration, This is the suspension damping coefficient. The relative speed of the suspension. The acceleration due to steering wheel vibration. The vibration frequency, The power spectral density of steering wheel vibration acceleration. The power spectral density is the road surface roughness.

[0059] Below, for reference Figure 3 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0060] Figure 3 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0061] like Figure 3 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0062] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0063] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0064] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0065] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0066] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0067] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0068] Of course, for the sake of simplicity, Figure 3 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0069] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0070] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0071] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0072] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable 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.

[0073] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0074] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0075] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0076] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0077] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A novel steering test method for a driving unit, characterized in that, include: Based on the vehicle parameters of the target vehicle, construct a vehicle model of the target vehicle; Based on the target operating conditions, the time-domain parameters of the vehicle model are generated; Based on the time-domain parameters, the vehicle model is run to obtain the simulation results of the vehicle model; Based on the simulation results, the wheel parameters of each wheel of the target vehicle were calculated; The wheel parameters are input into the steering test bench of the new driving unit, the steering test bench of the new driving unit is run, and the test data of the new driving unit is obtained. By comparing the test data with the simulation data of the novel driving unit, the data error is obtained; If the data error meets the preset requirements, then the evaluation index of the new driving unit is calculated; Based on the evaluation indicators, the test results of the new driving unit are determined; The evaluation indicators for calculating the novel driving unit include: Calculate multiple evaluation indicators of the novel driving unit under multiple target operating conditions; The target operating conditions include: steering acceleration, steering braking, and steering and suspension control. The steering acceleration condition is: a dry asphalt pavement, a constant circular curve with a friction coefficient μ ≥ 0.85 and a radius R = 75m, a fixed steering angle, maintaining a constant speed v = 50km / h when entering the curve, and applying a step-wise driving torque after steering stabilization, with the driving torque being 50% of the peak torque. The steering braking condition is: a low-friction pavement, a friction coefficient μ = 0.40 ± 0.05, simulating a wet asphalt pavement, a straight-line-double lane change combination road, and a speed v = 90km / h. The vehicle accelerates at a straight speed of km / h, triggering a steering angle δ=60°, and simultaneously applies 80% of the maximum braking force. The steering and suspension control conditions are as follows: simulating a gravel road with superimposed sinusoidal raised obstacles, obstacle height h=80mm, wavelength λ=1.2m, and constant speed v=40km / h. At t=1s, a sinusoidal steering angle is input, with the steering angle function: δ=δ0×sin(2πft), where f=0.5Hz, δ0=30°. The calculation of multiple evaluation indicators for the novel driving unit under various target conditions includes: Calculate the drive torque distribution response time and drive force steering coupling efficiency of the novel driving unit under the steering acceleration condition; Calculate the braking distance increment coefficient of the novel driving unit under the steering and braking conditions; Calculate the vehicle roll angle, suspension power dissipation rate, and steering wheel vibration acceleration of the novel driving unit under the steering and suspension control conditions; The calculation of the drive torque distribution response time and drive force steering coupling efficiency of the novel driving unit under the steering acceleration condition includes: The calculation method for the drive torque distribution response time is as follows: ； The calculation method for the driving force steering coupling efficiency is as follows: ； in, Allocate response time to drive torque. The time during which the actual change in driving torque is greater than or equal to 90% of the target change. The time when the drive command is issued. For driving force steering coupling efficiency, The actual longitudinal force of the tires in the new type of driving unit. For the speed of the new type of driving unit, The driving torque for the new type of driving unit, The tire angular velocity of the new type of driving unit.

2. The steering test method for the novel driving unit according to claim 1, characterized in that, The methods for obtaining simulation data for the novel driving unit include: The time-domain parameters are input into the corner module test simulation software of the new driving unit to obtain the simulation data of the new driving unit.

3. The steering test method for the novel driving unit according to claim 1, characterized in that, The calculation of the braking distance increment coefficient of the novel driving unit under the steering braking condition includes: The braking distance increment coefficient is calculated as follows: ； in, This is the braking distance increment coefficient. This refers to the braking distance on a straight road. This refers to the braking distance under dual-track lane conditions.

4. The steering test method for the novel driving unit according to claim 1, characterized in that, The calculation of the vehicle roll angle, suspension power dissipation rate, and steering wheel vibration acceleration of the novel driving unit under the steering and suspension control conditions includes: The suspension power dissipation rate is calculated as follows: ； The method for calculating the steering wheel vibration acceleration is as follows: ； in, The power dissipation rate of the suspension. For test duration, This is the suspension damping coefficient. The relative speed of the suspension. The acceleration due to steering wheel vibration. The vibration frequency, The power spectral density of steering wheel vibration acceleration. This represents the power spectral density of road surface roughness.

5. A novel steering test device for a driving unit, characterized in that, include: The vehicle model construction module is used to construct a vehicle model of the target vehicle based on the vehicle parameters of the target vehicle. The time-domain parameter generation module is used to generate the time-domain parameters of the vehicle model based on the target operating conditions. The simulation result generation module is used to run the vehicle model based on the time domain parameters to obtain the simulation results of the vehicle model; The wheel parameter calculation module is used to calculate the wheel parameters of each wheel of the target vehicle based on the simulation results. The test data generation module is used to input the wheel parameters into the steering test bench of the new driving unit, run the steering test bench of the new driving unit, and obtain the test data of the new driving unit. The data error comparison module is used to compare the test data and the simulation data of the new driving unit to obtain the data error. The average index calculation module is used to calculate the evaluation index of the new driving unit if the data error meets the preset requirements. The test result determination module is used to determine the test results of the new driving unit based on the evaluation indicators; The average index calculation module is further configured as follows: Calculate multiple evaluation indicators of the novel driving unit under multiple target operating conditions; The target operating conditions include: steering acceleration, steering braking, and steering and suspension control. The steering acceleration condition is: a dry asphalt pavement, a constant circular curve with a friction coefficient μ≥0.85 and a radius R=75m, a fixed steering angle, and a constant speed of v=50km / h when entering the curve. After the steering stabilizes, a step-applied driving torque of 50% of the peak torque is applied. The steering braking condition is: a low-friction pavement with a friction coefficient μ=0.40±0.05, simulating a wet asphalt pavement and a straight-line-double lane change combination road. The vehicle accelerates in a straight line at a speed of v=90km / h, triggering a steering angle δ=60°, and simultaneously applying 80% of the maximum braking force. The steering and suspension control conditions are as follows: simulating a gravel road with superimposed sinusoidal raised obstacles, the obstacle height h=80mm and wavelength λ=1.2m, the vehicle traveling at a constant speed of v=40km / h, and inputting a sinusoidal steering angle at t=1s. The steering angle function is: δ=δ0×sin(2πft), where f=0.5Hz and δ0=30°. The average index calculation module is further configured as follows: Calculate the drive torque distribution response time and drive force steering coupling efficiency of the novel driving unit under the steering acceleration condition; Calculate the braking distance increment coefficient of the novel driving unit under the steering and braking conditions; Calculate the vehicle roll angle, suspension power dissipation rate, and steering wheel vibration acceleration of the novel driving unit under the steering and suspension control conditions; The average index calculation module is further configured as follows: The calculation method for the drive torque distribution response time is as follows: ； The calculation method for the driving force steering coupling efficiency is as follows: ； in, Allocate response time to drive torque. The time during which the actual change in driving torque is greater than or equal to 90% of the target change. The time when the drive command is issued. For driving force steering coupling efficiency, The actual longitudinal force of the tires in the new type of driving unit. For the speed of the new type of driving unit, The driving torque for the new type of driving unit, The tire angular velocity of the new type of driving unit.

6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for performing the method described in any one of claims 1-4.

7. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is used to execute the method described in any one of claims 1-4.

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