Test method and system for active stabilizer bar
By building a test bench to simulate the front and rear axles of a vehicle, installing active stabilizer bars and simulating operating conditions, the problem of low efficiency in real vehicle testing was solved, and safe and efficient control logic verification was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-06
- Publication Date
- 2026-03-31
AI Technical Summary
In existing technologies, the control logic verification of active stabilizer bars relies on real vehicle testing, which is inefficient and poses safety risks.
A test bench was built to simulate the front and rear axles of a vehicle. Active stabilizer bars were installed according to the actual vehicle installation method. Their actions were verified through preset working conditions and control logic to simulate vehicle driving conditions and determine whether the working conditions and operating status meet the preset requirements.
It improves the testing efficiency of active stabilizer bars, ensures testing safety, and enables the verification of the effectiveness of control logic under different operating conditions.
Smart Images
Figure CN121762243A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of automobiles, specifically to a test method and system for an active stabilizer bar. Background Technology
[0002] Intelligent vehicles are a significant trend in the current automotive industry, with various systems gradually evolving towards intelligence. In the chassis field, this manifests as intelligent chassis. With the rise of intelligent chassis, the application of active stabilizer bars is becoming an industry trend. In terms of control strategy, active stabilizer bars typically determine whether to disengage by collecting vehicle signals such as steering wheel angle, vehicle speed, lateral acceleration, and yaw rate. However, relying on real-vehicle testing for every instance to verify whether the stabilizer bar's control logic matches the design or to test new control logic is not only labor-intensive but also poses certain safety risks. Summary of the Invention This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention provides a testing method and system for active stabilizer bars, applicable to various driving conditions. For different conditions, it verifies the control logic controlling the front and rear active stabilizer bars, improving testing efficiency and ensuring safety.
[0003] A testing method for an active stabilizer bar according to a first aspect of an embodiment of the present invention includes: A test bench is constructed, wherein the test bench is equipped with a front wheel simulation bench for simulating the front axle of a vehicle and a rear wheel simulation bench for simulating the rear axle of a vehicle; According to the actual vehicle installation connection method, the front active stabilizer bar and the rear active stabilizer bar to be tested were respectively installed on the front wheel simulation test bench and the rear wheel simulation test bench; The front wheel simulation test bench and the rear wheel simulation test bench are controlled to perform actions according to the preset working condition control logic; The real-time operating conditions of the test bench are verified to determine whether the real-time operating conditions meet the preset operating conditions. When the real-time operating conditions meet the preset operating conditions, the front active stabilizer bar and the rear active stabilizer bar are controlled to operate according to the preset stability control logic; The real-time operating status of the front active stabilizer and the rear active stabilizer is verified to determine whether the real-time operating status meets the preset operating status.
[0004] The test method for the active stabilizer bar according to embodiments of the present invention has at least the following beneficial effects: This invention constructs a test environment for active stabilizer bars using a test bench. The front and rear active stabilizer bars to be tested are then installed on a front-wheel simulation bench and a rear-wheel simulation bench, respectively, according to a real-vehicle mounting method. The two benches are then controlled to perform corresponding actions based on preset operating condition control logic. During the test, real-time operating conditions are verified to determine if they meet the preset operating condition requirements. If they do, the front and rear active stabilizer bars are controlled to move according to the preset stability control logic, and the real-time operating states of both are verified to meet the preset operating state requirements. This invention is applicable to various operating conditions during vehicle operation, and can verify the control effect of the stability control logic on the front and rear active stabilizer bars under different operating conditions, effectively improving testing efficiency and ensuring testing safety.
[0005] According to some embodiments of the present invention, it further includes: When the real-time working state does not meet the preset working state, the preset stability control logic is modified, and then the front active stabilizer and the rear active stabilizer are controlled to operate according to the modified preset stability control logic.
[0006] According to some embodiments of the present invention, it further includes: If the real-time operating conditions do not meet the preset operating conditions, the preset operating condition control logic is modified, and then the front wheel simulation test bench and the rear wheel simulation test bench are controlled to operate according to the modified preset operating condition control logic.
[0007] According to some embodiments of the present invention, the front wheel simulation test bench includes a left front wheel assembly and a right front wheel assembly, and the rear wheel simulation test bench includes a left rear wheel assembly and a right rear wheel assembly; The step of installing the front and rear active stabilizer bars to be tested onto the front wheel simulation test bench and the rear wheel simulation test bench respectively, according to the actual vehicle installation connection method, includes: The control system installs the front active stabilizer bar between the left front wheel assembly and the right front wheel assembly; The control system installs the rear active stabilizer bar between the left rear wheel assembly and the right rear wheel assembly.
[0008] According to some embodiments of the present invention, controlling the front wheel simulation test bench and the rear wheel simulation test bench to perform actions according to preset working condition control logic includes: The left front wheel assembly, the right front wheel assembly, the left rear wheel assembly, and the right rear wheel assembly are controlled to change height using pneumatic methods.
[0009] According to some embodiments of the present invention, the step of installing the front active stabilizer bar and the rear active stabilizer bar to be tested onto the front wheel simulation test bench and the rear wheel simulation test bench respectively according to the actual vehicle installation connection method includes: The left front wheel assembly, the right front wheel assembly, the left rear wheel assembly, and the right rear wheel assembly are controlled to rotate according to a preset vehicle speed.
[0010] According to some embodiments of the present invention, verifying the real-time operating conditions of the test bench to determine whether the real-time operating conditions meet preset operating conditions includes: Real-time simulation parameters of the front wheel simulation test bench and the rear wheel simulation test bench are collected; If the real-time simulation parameters meet the preset simulation requirements, then the real-time operating condition is determined to meet the preset operating condition; otherwise, the real-time operating condition does not meet the preset operating condition.
[0011] According to some embodiments of the present invention, verifying the real-time operating status of the front active stabilizer and the rear active stabilizer of the test bench to determine whether the real-time operating status meets the preset operating status includes: Real-time stability parameters of the front wheel simulation test bench and the rear wheel simulation test bench after the front active stabilizer bar and the rear active stabilizer bar have been activated and stabilized. If the real-time stability parameter meets the preset stability requirement, then the real-time working state is determined to meet the preset working state; otherwise, the real-time working state does not meet the preset working state.
[0012] According to a second aspect of the present invention, a test system for an active stabilizer bar includes: The test bench includes a front wheel simulation bench and a rear wheel simulation bench, wherein the front wheel simulation bench and the rear wheel simulation bench are respectively configured to install the front active stabilizer bar and the rear active stabilizer bar to be tested according to the actual vehicle installation connection method; The control verification unit is used to control the front wheel simulation test bench and the rear wheel simulation test bench to perform actions according to preset working condition control logic; to verify the real-time working condition of the test bench to determine whether the real-time working condition meets the preset working condition; when the real-time working condition meets the preset working condition, to control the front active stabilizer bar and the rear active stabilizer bar to perform actions according to preset stability control logic; and to verify the real-time working state of the front active stabilizer bar and the rear active stabilizer bar to determine whether the real-time working state meets the preset working state.
[0013] According to some embodiments of the present invention, the front wheel simulation test bench includes a left front wheel assembly and a right front wheel assembly, and the rear wheel simulation test bench includes a left rear wheel assembly and a right rear wheel assembly; The control verification unit includes a front controller, a rear controller, a control host, a pneumatic module, and a signal module. The front controller is connected to the front active stabilizer bar and is used to control the front active stabilizer bar to move. The rear controller is connected to the rear active stabilizer bar and is used to control the rear active stabilizer bar to move. The control host is connected to both the pneumatic module and the signal module. The pneumatic module is used to control the left front wheel assembly, the right front wheel assembly, the left rear wheel assembly, and the right rear wheel assembly to change height via pneumatic means. The signal module is used to collect real-time simulation parameters and real-time stability parameters of the left front wheel assembly, the right front wheel assembly, the left rear wheel assembly, and the right rear wheel assembly.
[0014] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description
[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a structural block diagram of the test system for the active stabilizing bar of the present invention; Figure 2 This is a schematic diagram of the test method steps for the active stabilizer bar of the present invention; Figure 3 This is a flowchart illustrating the actions of the front wheel simulation test platform and the rear wheel simulation test platform according to the present invention. Figure 4 This is a flowchart of the test method for the active stabilizer bar of the present invention. Detailed Implementation
[0016] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.
[0017] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.
[0018] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.
[0019] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.
[0020] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of the present invention, not all embodiments.
[0021] The intelligentization of automobiles is a clear development direction for the industry, with various systems gradually becoming intelligent. Among these, the intelligentization of the chassis system is manifested as an intelligent chassis. Under this trend, active stabilizer bars, as key components, are gradually becoming a focus of industry development.
[0022] Active stabilizer bars are typically controlled using vehicle signals such as steering wheel angle, vehicle speed, lateral acceleration, and yaw rate to determine their connection or disconnection status. Relying solely on real-vehicle testing to verify whether the control logic meets design expectations or to test new logic is not only inefficient and labor-intensive, but also poses safety hazards.
[0023] In contrast, testing the active stabilizer bar control logic by simulating the motion environment of a real vehicle on a test bench has multiple advantages such as being intuitive, efficient, and safe. The system and method proposed in this invention are based on this idea and can significantly improve testing efficiency while ensuring safety.
[0024] like Figure 1 As shown, the present invention proposes a test system for an active stabilizer bar, which includes a test bench and a control verification unit.
[0025] The test bench includes a front wheel simulation bench and a rear wheel simulation bench. The front wheel simulation bench and the rear wheel simulation bench are respectively configured to install the front active stabilizer bar and the rear active stabilizer bar to be tested according to the actual vehicle installation connection method.
[0026] Specifically, the front wheel simulation test bench of the present invention includes a left front wheel assembly and a right front wheel assembly, and the rear wheel simulation test bench includes a left rear wheel assembly and a right rear wheel assembly. A front active stabilizer bar is connected between the left front wheel assembly and the right front wheel assembly, and a rear active stabilizer bar is connected between the left rear wheel assembly and the right rear wheel assembly.
[0027] The control verification unit of the present invention is used to control the front wheel simulation test bench and the rear wheel simulation test bench to perform actions according to the preset working condition control logic; to verify the real-time working condition of the test bench to determine whether the real-time working condition meets the preset working condition; when the real-time working condition meets the preset working condition, to control the front active stabilizer bar and the rear active stabilizer bar to perform actions according to the preset stability control logic; and to verify the real-time working state of the front active stabilizer bar and the rear active stabilizer bar to determine whether the real-time working state meets the preset working state.
[0028] Specifically, the control verification unit of this embodiment includes a front controller, a rear controller, a control host, a pneumatic module, and a signal module. The front controller is connected to the front active stabilizer bar and is used to control the front active stabilizer bar to perform actions. The rear controller is connected to the rear active stabilizer bar and is used to control the rear active stabilizer bar to perform actions. The control host is connected to the pneumatic module and the signal module respectively. The pneumatic module is used to control the left front wheel assembly, right front wheel assembly, left rear wheel assembly, and right rear wheel assembly to perform height changes through pneumatic means, simulating the operation of four tires.
[0029] The signal module in this embodiment of the invention is used to acquire real-time simulation parameters and real-time stability parameters of the left front wheel assembly, right front wheel assembly, left rear wheel assembly, and right rear wheel assembly. The real-time simulation parameters include the height change signals and height change frequency signals of the tires at various positions under real-time operating conditions. The real-time stability parameters include the height change signals and height change frequency signals of the tires at various positions when the front and rear active stabilizer bars are in real-time operating states. This invention derives the operating state of the active stabilizer bars using the height change signals and height change frequency signals of the tires at various positions to verify the real-time operating state of the front and rear active stabilizer bars.
[0030] Therefore, the signal module includes: A height sensor is used to acquire height change signals of the tires at four positions; An accelerometer is used to acquire frequency signals of tire height changes at four positions.
[0031] In some other embodiments, a display module and a communication station are also included for displaying and controlling the control computer of the test bench, and for communicating with the front controller and the rear controller to monitor the working status of the front and rear active stabilizer bars in real time. The communication station provides power and signal input to the front and rear controllers and communicates with the control host to transmit the working status of the active stabilizer bars in real time.
[0032] The left front wheel assembly, right front wheel assembly, left rear wheel assembly, and right rear wheel assembly can control the wheels to rotate at a preset speed according to the test requirements, so as to simulate the wheel speed of the vehicle.
[0033] like Figure 2 As shown, the testing method for the active stabilizer bar of the present invention includes the following steps: Step S100: Construct a test bench, wherein the test bench is equipped with a front wheel simulation bench for simulating the front axle of a vehicle and a rear wheel simulation bench for simulating the rear axle of a vehicle; Step S200: Install the front active stabilizer bar and the rear active stabilizer bar to be tested onto the front wheel simulation test bench and the rear wheel simulation test bench respectively, according to the actual vehicle installation connection method; Step S300: Control the front wheel simulation test bench and the rear wheel simulation test bench to perform actions according to the preset working condition control logic; Step S400: Verify the real-time operating conditions of the test bench to determine whether the real-time operating conditions meet the preset operating conditions; Step S500: When the real-time operating conditions meet the preset operating conditions, control the front active stabilizer and the rear active stabilizer to perform actions according to the preset stability control logic; Step S600: Verify the real-time operating status of the front active stabilizer bar and the rear active stabilizer bar to determine whether the real-time operating status meets the preset operating status.
[0034] This invention mounts the front and rear active stabilizer bars to be tested onto a front-wheel simulation bench and a rear-wheel simulation bench, respectively, in a manner consistent with actual vehicle mounting, simulating the connection between the front and rear axles of a vehicle. Based on preset operating condition control logic, the two benches are controlled to perform corresponding actions to simulate different road conditions encountered by the vehicle during driving. During the test, the real-time operating conditions of the test benches are verified to determine whether they meet the preset operating condition requirements. If they do, the front and rear active stabilizer bars are controlled to operate according to the preset stability control logic, and their real-time operating states are verified to meet the preset operating state requirements.
[0035] This invention is applicable to various operating conditions during vehicle operation and can verify the control effect of the stability control logic on the front and rear active stabilizer bars under different operating conditions, effectively improving testing efficiency and ensuring testing safety.
[0036] In step S100, the front wheel simulation test bench and the rear wheel simulation test bench are built to prepare the positions for the fixed installation of the front stabilizer bar and the rear stabilizer bar, and the power supply and communication of the controller are set up.
[0037] In step S200, the front active stabilizer bar is installed between the left front wheel assembly and the right front wheel assembly, and the rear active stabilizer bar is installed between the left rear wheel assembly and the right rear wheel assembly.
[0038] like Figure 3 The flowchart of the present invention for controlling the front wheel simulation test bench and the rear wheel simulation test bench to perform actions, step S300 further includes: Step S310: The left front wheel assembly, right front wheel assembly, left rear wheel assembly and right rear wheel assembly are controlled to change height by pneumatic means respectively; Step S320: Control the rotation of the wheels in the left front wheel assembly, right front wheel assembly, left rear wheel assembly and right rear wheel assembly according to the preset vehicle speed.
[0039] With a preset vehicle speed of 0-120km / h, this invention simulates road conditions such as potholes, speed bumps, or turns by adjusting the height of the left front wheel assembly, right front wheel assembly, left rear wheel assembly, and right rear wheel assembly, in order to verify the logical implementation of the front and rear active stabilizer bars.
[0040] In step S400, real-time simulation parameters of the front wheel simulation test bench and the rear wheel simulation test bench are collected. When the real-time simulation parameters meet the preset simulation requirements, it is determined that the real-time working condition meets the preset working condition. Otherwise, the real-time working condition does not meet the preset working condition. In this embodiment, the height sensor is used to collect the height change, and the acceleration sensor is used to collect the height change rate. Thus, the real-time simulation parameters include the height change and height change rate of each tire.
[0041] like Figure 4 As shown, when the real-time operating conditions do not meet the preset operating conditions, the preset operating condition control logic is modified, and then the front wheel simulation test bench and the rear wheel simulation test bench are controlled to perform actions according to the modified preset operating condition control logic. It can be understood that the test bench mode is still selected.
[0042] In step S500, the height of the left front wheel assembly, right front wheel assembly, left rear wheel assembly, and right rear wheel assembly is changed, and the front active stabilizer bar and rear active stabilizer bar are controlled to move according to the stability control logic in order to stabilize the front wheel simulation test bench and the rear wheel simulation test bench.
[0043] In step S600, the present invention collects real-time stability parameters of the front wheel simulation test bench and the rear wheel simulation test bench after they are stabilized by the front active stabilizer bar and the rear active stabilizer bar. When the real-time stability parameters meet the preset stability requirements, it is determined that the real-time working state meets the preset working state, that is, the preset stability control logic response is correct and the test ends. Otherwise, the real-time working state does not meet the preset working state.
[0044] like Figure 4 As shown, when the real-time working state does not meet the preset working state, the preset stabilization control logic is modified. Then, the front active stabilizer and the rear active stabilizer are controlled to move according to the modified preset stabilization control logic. It can be understood that the control logic of the front active stabilizer and the rear active stabilizer is modified, the software is updated, and then the test is carried out.
[0045] After the test, the control logic of the active stabilizer bar can be optimized and tested again; or the road surface simulation conditions of the test bench can be adjusted until the test requirements are met.
[0046] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0047] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.
Claims
1. A test method for an active stabilizer bar, characterized by, The method comprises the following steps: building a test bench, wherein the test bench is provided with a front wheel simulation bench for simulating a front axle of a vehicle and a rear wheel simulation bench for simulating a rear axle of the vehicle; installing a front active stabilizer bar and a rear active stabilizer bar to be tested on the front wheel simulation bench and the rear wheel simulation bench respectively in a real vehicle installation connection mode; controlling the front wheel simulation bench and the rear wheel simulation bench to act according to a preset working condition control logic; verifying a real-time working condition of the test bench to determine whether the real-time working condition meets a preset working condition; controlling the front active stabilizer bar and the rear active stabilizer bar to act according to a preset stabilizing control logic when the real-time working condition meets the preset working condition; verifying a real-time working state of the front active stabilizer bar and the rear active stabilizer bar to determine whether the real-time working state meets a preset working state.
2. The test method of an active stabilizer bar according to claim 1, characterized by, The method further comprises the following steps: modifying the preset stabilizing control logic when the real-time working state does not meet the preset working state, and then controlling the front active stabilizer bar and the rear active stabilizer bar to act according to the modified preset stabilizing control logic.
3. The test method of an active stabilizer bar according to claim 1, characterized by, The method further comprises the following steps: modifying the preset working condition control logic when the real-time working condition does not meet the preset working condition, and then controlling the front wheel simulation bench and the rear wheel simulation bench to act according to the modified preset working condition control logic.
4. The test method of the active stabilizer bar according to claim 1, wherein the front wheel simulation bench comprises a left front wheel assembly and a right front wheel assembly, and the rear wheel simulation bench comprises a left rear wheel assembly and a right rear wheel assembly; the step of installing the front active stabilizer bar and the rear active stabilizer bar to be tested on the front wheel simulation bench and the rear wheel simulation bench respectively in the real vehicle installation connection mode comprises the following steps: controlling the front active stabilizer bar to be installed between the left front wheel assembly and the right front wheel assembly; controlling the rear active stabilizer bar to be installed between the left rear wheel assembly and the right rear wheel assembly.
5. The test method of the active stabilizer bar according to claim 4, wherein the step of controlling the front wheel simulation bench and the rear wheel simulation bench to act according to the preset working condition control logic comprises the following step: controlling the left front wheel assembly, the right front wheel assembly, the left rear wheel assembly and the right rear wheel assembly to change in height respectively by a pneumatic method.
6. The test method of the active stabilizer bar according to claim 5, wherein the step of installing the front active stabilizer bar and the rear active stabilizer bar to be tested on the front wheel simulation bench and the rear wheel simulation bench respectively in the real vehicle installation connection mode comprises the following step: controlling wheels in the left front wheel assembly, the right front wheel assembly, the left rear wheel assembly and the right rear wheel assembly to rotate at a preset vehicle speed.
7. The test method of the active stabilizer bar according to claim 1, wherein the step of verifying the real-time working condition of the test bench to determine whether the real-time working condition meets the preset working condition comprises the following step: collecting real-time simulation parameters of the front wheel simulation bench and the rear wheel simulation bench. When the real-time simulation parameter meets preset simulation requirements, it is determined that the real-time working condition meets the preset working condition, otherwise, the real-time working condition does not meet the preset working condition.
8. The test method of the active stabilizer bar according to claim 1, characterized in that, the real-time working state of the front active stabilizer bar and the rear active stabilizer bar of the test bench is verified to determine whether the real-time working state meets preset working state, comprising: collecting real-time stabilizing parameters of the front wheel simulation bench and the rear wheel simulation bench after the front active stabilizer bar and the rear active stabilizer bar are actuated and stabilized; When the real-time stabilizing parameters meet preset stabilizing requirements, it is determined that the real-time working state meets the preset working state, otherwise, the real-time working state does not meet the preset working state.
9. A test system for an active stabilizer bar, characterized by comprising: a test bench comprising a front wheel simulation bench and a rear wheel simulation bench, the front wheel simulation bench and the rear wheel simulation bench are respectively configured to be installed according to the installation connection mode of the real vehicle to install the front active stabilizer bar and the rear active stabilizer bar to be tested; a control verification unit for controlling the front wheel simulation bench and the rear wheel simulation bench to act according to preset working condition control logic; verifying the real-time working condition of the test bench to determine whether the real-time working condition meets the preset working condition; When the real-time working condition meets the preset working condition, the front active stabilizer bar and the rear active stabilizer bar are controlled to act according to preset stabilizing control logic; verifying the real-time working state of the front active stabilizer bar and the rear active stabilizer bar to determine whether the real-time working state meets preset working state.
10. The test system of the active stabilizer bar according to claim 9, characterized in that, the front wheel simulation bench comprises a left front wheel assembly and a right front wheel assembly, and the rear wheel simulation bench comprises a left rear wheel assembly and a right rear wheel assembly; the control verification unit comprises a front controller, a rear controller, a control host, a pneumatic module and a signal module, the front controller is connected with the front active stabilizer bar, the front controller is used to control the front active stabilizer bar to act, the rear controller is connected with the rear active stabilizer bar, the rear controller is used to control the rear active stabilizer bar to act, the control host is connected with the pneumatic module and the signal module respectively, the pneumatic module is used to control the left front wheel assembly, the right front wheel assembly, the left rear wheel assembly and the right rear wheel assembly to change height through pneumatic mode respectively; the signal module is used to collect real-time simulation parameters and real-time stabilizing parameters of the left front wheel assembly, the right front wheel assembly, the left rear wheel assembly and the right rear wheel assembly.