Wheel dynamic unbalance detection method and device, vehicle, equipment and medium

Abstract

The embodiment of the invention provides a wheel dynamic unbalance detection method and device, a vehicle, equipment and a medium. The method comprises the steps of obtaining a first chassis signal of a vehicle; filtering the first chassis signal to obtain a second chassis signal corresponding to the first chassis signal; acquiring a third chassis signal corresponding to the first vehicle speed of the vehicle at the time corresponding to the first chassis signal, wherein the third chassis signal is obtained by filtering a standard chassis signal corresponding to the first vehicle speed; and according to the second chassis signal and the third chassis signal, detecting whether the wheel dynamic unbalance of the vehicle occurs. According to the embodiment of the invention, the existing signal of the vehicle can be utilized to detect whether the wheel dynamic unbalance of the vehicle occurs; compared with the arrangement of a specific sensor, the embodiment of the invention can detect whether the wheel dynamic unbalance of the vehicle occurs or not in a low-cost manner.

Description

Technical Field

[0001] This invention relates to the technical field of vehicle inspection, and in particular to a method for detecting wheel imbalance, a device for detecting wheel imbalance, a vehicle, an electronic device, and a computer-readable storage medium. Background Technology

[0002] Due to manufacturing or other reasons, car wheels may have uneven mass distribution, which can lead to wheel imbalance when the wheel rotates at high speed. Wheel imbalance may cause problems such as wheel vibration and steering wheel vibration during vehicle operation. If it continues for too long, it may also cause abnormal wheel steering, suspension wear, and increased fuel consumption.

[0003] To detect wheel imbalance in a vehicle, a sensor capable of measuring the distance from the wheel arch to the top of the tire crown can be installed in the vehicle; however, such a sensor is difficult to install and is costly. Summary of the Invention

[0004] In view of the above problems, a method for detecting wheel imbalance, a device for detecting wheel imbalance, a vehicle, an electronic device, and a computer-readable storage medium are proposed to overcome or at least partially solve the above problems, comprising:

[0005] A method for detecting wheel imbalance, the method comprising:

[0006] Obtain the vehicle's first chassis signal;

[0007] The first chassis signal is filtered to obtain the second chassis signal corresponding to the first chassis signal;

[0008] Obtain a third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal. The third chassis signal is obtained by filtering the standard chassis signal corresponding to the first vehicle speed.

[0009] Based on the second chassis signal and the third chassis signal, it is detected whether the vehicle has wheel imbalance.

[0010] Optionally, filtering the first chassis signal to obtain the second chassis signal corresponding to the first chassis signal includes:

[0011] Determine the filtering parameters based on the first vehicle speed;

[0012] The first chassis signal is filtered according to the filtering parameters to obtain the second chassis signal.

[0013] Optionally, detecting whether the vehicle has wheel imbalance based on the second chassis signal and the third chassis signal includes:

[0014] Store the second chassis signal into the target array;

[0015] When the vehicle is in an effective dynamic balance estimation state at the time corresponding to the first chassis signal of the second chassis signal in the target window of the target array, the vehicle is detected to have wheel imbalance based on the third chassis signal corresponding to the first vehicle speed of the vehicle at the time corresponding to the second chassis signal of the target window and the first chassis signal of the second chassis signal of the target window.

[0016] Optionally, the step of detecting whether the vehicle has wheel imbalance based on the second chassis signal within the target window and the third chassis signal corresponding to the first chassis signal at the time corresponding to the second chassis signal within the target window, and the first vehicle speed of the vehicle at the time corresponding to the second chassis signal within the target window, includes:

[0017] Based on the second chassis signal within the target window, determine at least one first amplitude of the target window;

[0018] Calculate at least one second amplitude value based on the third chassis signal corresponding to the first vehicle speed of the vehicle at the time corresponding to the second chassis signal in the target window;

[0019] Based on the at least one first amplitude value and the at least one second amplitude value, it is detected whether the vehicle has wheel imbalance.

[0020] Optionally, detecting whether the vehicle has wheel imbalance based on the at least one first amplitude value and the at least one second amplitude value includes:

[0021] Calculate the average value of the first amplitude corresponding to the target window based on the at least one first amplitude;

[0022] Calculate the average value of the second amplitude based on the at least one second amplitude value;

[0023] Calculate the difference between the average value of the first amplitude and the average value of the second amplitude;

[0024] Based on the relationship between the difference and the first threshold, it is determined whether the vehicle has wheel imbalance.

[0025] Optionally, the first chassis signal includes multiple chassis signals, each chassis signal corresponding to a first threshold; the step of detecting whether the vehicle has wheel imbalance based on the relationship between the difference and the first threshold includes:

[0026] Determine the relationship between the difference between each chassis signal and the first threshold corresponding to each chassis signal;

[0027] Based on the size relationships, the system detects whether the vehicle experiences wheel imbalance.

[0028] Optionally, the first chassis signal is a chassis signal for the first wheel of the vehicle, and the step of detecting whether the vehicle has wheel imbalance based on the relationship between the difference and a first threshold includes:

[0029] When the difference is greater than the first threshold, it is detected whether wheel imbalance occurs between the diagonal wheel and the wheel on the same side corresponding to the first wheel;

[0030] When neither the diagonal wheel nor the wheel on the same side corresponding to the first wheel has wheel imbalance, it is determined that the first wheel has wheel imbalance.

[0031] Optionally, after determining that the first wheel has wheel imbalance based on the diagonal wheels and the wheels on the same side, the method further includes:

[0032] Based on whether the first wheel experiences wheel imbalance, the first imbalance index corresponding to the first wheel is increased or decreased.

[0033] When the first dynamic imbalance index is not less than the second threshold, a wheel dynamic imbalance warning is issued for the first wheel.

[0034] When the first dynamic imbalance index is less than the second threshold, if it is detected that a wheel imbalance warning is being issued for the first wheel, the wheel imbalance warning for the first wheel will be stopped.

[0035] Optionally, the first chassis signal includes at least one of the following signals:

[0036] Wheel speed signal, wheel acceleration signal, suspension height sensor signal, suspension wheel vertical acceleration signal, steering system rack force signal, and steering motor current signal.

[0037] This invention also provides a device for detecting wheel imbalance, the device comprising:

[0038] The first acquisition module is used to acquire the first chassis signal of the vehicle;

[0039] The filtering module is used to filter the first chassis signal to obtain the second chassis signal corresponding to the first chassis signal;

[0040] The second acquisition module is used to acquire a third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal. The third chassis signal is obtained by filtering the standard chassis signal corresponding to the first vehicle speed.

[0041] The detection module is used to detect whether the vehicle has wheel imbalance based on the second chassis signal and the third chassis signal.

[0042] Optionally, the filtering module is used to determine filtering parameters based on the first vehicle speed; and to filter the first chassis signal based on the filtering parameters to obtain the second chassis signal.

[0043] Optionally, the detection module is used to store the second chassis signal in a target array; when the vehicle is in an effective dynamic balance estimation state at the time corresponding to the first chassis signal corresponding to the second chassis signal in the target window in the target array, the module detects whether the vehicle has wheel imbalance based on the second chassis signal in the target window and the third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal corresponding to the second chassis signal in the target window.

[0044] Optionally, the detection module is configured to calculate at least one first amplitude of the target window based on the second chassis signal within the target window; calculate at least one second amplitude based on the third chassis signal corresponding to the first vehicle speed at the time corresponding to the second chassis signal within the target window; and detect whether the vehicle has wheel imbalance based on the at least one first amplitude and the at least one second amplitude.

[0045] Optionally, the detection module is configured to determine a first average amplitude corresponding to the target window based on the at least one first amplitude; calculate a second average amplitude based on the at least one second amplitude; calculate the difference between the first average amplitude and the second average amplitude; and detect whether the vehicle has wheel imbalance based on the relationship between the difference and a first threshold.

[0046] Optionally, the first chassis signal includes multiple chassis signals, each chassis signal corresponding to a first threshold; the detection module is used to determine the relationship between the difference corresponding to each chassis signal and the first threshold corresponding to each chassis signal; and based on the relationship, detect whether the vehicle has wheel imbalance.

[0047] Optionally, the first chassis signal is a chassis signal for the first wheel of the vehicle. The detection module is used to detect whether wheel imbalance occurs in the diagonal wheel and the same-side wheel corresponding to the first wheel when the difference is greater than the first threshold; and to determine that wheel imbalance occurs in the first wheel when neither the diagonal wheel nor the same-side wheel corresponding to the first wheel has wheel imbalance.

[0048] Optionally, the device further includes:

[0049] The prompting module is used to, after determining that the first wheel has wheel imbalance based on the diagonal wheels and the same-side wheels, increment or decrement the first imbalance index corresponding to the first wheel according to whether the first wheel has wheel imbalance; when the first imbalance index is not less than a second threshold, a wheel imbalance prompt is given for the first wheel; when the first imbalance index is less than the second threshold, if a wheel imbalance prompt is detected for the first wheel, the wheel imbalance prompt for the first wheel is stopped.

[0050] Optionally, the first chassis signal includes at least one of the following signals:

[0051] Wheel speed signal, wheel acceleration signal, suspension height sensor signal, suspension wheel vertical acceleration signal, steering system rack force signal, and steering motor current signal.

[0052] This invention also provides a vehicle in which the device described above is deployed.

[0053] This invention also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the above-described method for detecting wheel imbalance.

[0054] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described method for detecting wheel imbalance.

[0055] The embodiments of the present invention have the following advantages:

[0056] In this embodiment of the invention, a first chassis signal of the vehicle is acquired; the first chassis signal is filtered to obtain a second chassis signal corresponding to the first chassis signal; a third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal is acquired, the third chassis signal being obtained by filtering the standard chassis signal corresponding to the first vehicle speed; and wheel imbalance of the vehicle is detected based on the second and third chassis signals. Through this embodiment of the invention, existing vehicle signals can be used to detect whether wheel imbalance of the vehicle has occurred; compared to setting specific sensors, this embodiment of the invention can detect whether wheel imbalance of the vehicle has occurred in a low-cost manner. Attached Figure Description

[0057] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1a This is a flowchart illustrating the steps of a wheel imbalance detection method according to an embodiment of the present invention;

[0059] Figure 1b This is a schematic diagram of a Bode plot according to an embodiment of the present invention;

[0060] Figure 2 This is a flowchart illustrating the steps of another wheel imbalance detection method according to an embodiment of the present invention;

[0061] Figure 3 This is a schematic diagram of a window according to an embodiment of the present invention;

[0062] Figure 4 This is a schematic diagram of a wheel according to an embodiment of the present invention;

[0063] Figure 5 This is a flowchart of the steps of a detection method according to an embodiment of the present invention;

[0064] Figure 6 This is a flowchart of a determination process according to an embodiment of the present invention;

[0065] Figure 7 This is a flowchart of another determination process according to an embodiment of the present invention;

[0066] Figure 8 This is a flowchart of another detection method according to an embodiment of the present invention;

[0067] Figure 9 This is a schematic diagram of data before filtering according to an embodiment of the present invention;

[0068] Figure 10 This is a schematic diagram of filtered data according to an embodiment of the present invention;

[0069] Figure 11 This is a structural block diagram of a wheel imbalance detection device according to an embodiment of the present invention. Detailed Implementation

[0070] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0071] To achieve low-cost detection of vehicle wheel imbalance, this invention proposes a method for wheel imbalance detection. This method can detect vehicle wheel imbalance based on signals output from existing vehicle sensors; for details, please refer to... Figure 1a ; Figure 1a A flowchart illustrating the steps of a wheel imbalance detection method according to an embodiment of the present invention is shown.

[0072] like Figure 1a As shown, the method may include the following steps:

[0073] Step 101: Obtain the vehicle's first chassis signal.

[0074] The first chassis signal can be obtained from the vehicle's existing sensors; for example, the sensors can be suspension height sensors, wheel speed sensors, wheel acceleration sensors, suspension wheel vertical acceleration sensors, etc.; the first chassis signal can be a signal related to the vehicle's dynamic balance, such as: wheel speed signal, wheel acceleration signal, suspension height sensor signal, or suspension wheel vertical acceleration signal.

[0075] The first chassis signal can also be obtained through estimation by a software module; for example, the first chassis signal may also include a steering system rack force signal, which can be estimated by calculation. This embodiment of the invention does not limit the specific method of obtaining the first chassis signal.

[0076] When a vehicle's wheels become unbalanced, as the wheels rotate at high speed, some signals that can detect wheel dynamic balance, such as wheel speed / wheel acceleration signals, suspension height signals, wheel vertical acceleration signals, and steering system rack force signals, will exhibit corresponding behavior in the frequency range near the wheel's rotation.

[0077] When the vehicle is in motion, the wheel rotation frequency (10Hz–910Hz) is determined based on the vehicle speed signal. Peak filtering is then applied to the wheel dynamic balance-related signals near this frequency. The Bode plot of this filter is shown below. Figure 1b As shown, there is a very narrow passband near the cutoff frequency (410Hz), where signals in other frequency bands are suppressed.

[0078] By utilizing this characteristic of peak filters, signals near the wheel rotation frequency can be accurately filtered out. By accumulating signal data points of a certain window length, the signal can be used for feature analysis and compared with the characteristics of the filtered signal when the wheel is in normal balance. If a large difference is found, it can be determined that wheel imbalance has occurred.

[0079] The method of this invention can be deployed in the ECU (Electronic Control Unit) of the vehicle; it should be noted that the ECU can receive relevant sensor signals through vehicle communication methods such as CAN (Controller Area Network) and Ethernet.

[0080] Step 102: Filter the first chassis signal to obtain the second chassis signal corresponding to the first chassis signal.

[0081] After obtaining the first chassis signal, the first chassis signal can be filtered to obtain the second chassis signal corresponding to the first chassis signal.

[0082] For example, the first chassis signal can be filtered by a peak filter to obtain the second chassis signal; the filtering process can be performed in real time, that is, once a first chassis signal is obtained; or it can be performed at intervals, that is, after multiple first chassis signals are obtained. The embodiments of the present invention do not limit this.

[0083] Step 103: Obtain the third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal. The third chassis signal is obtained by filtering the standard chassis signal corresponding to the first vehicle speed.

[0084] In practical applications, one first chassis signal corresponds to one second chassis signal; the time corresponding to the second chassis signal is the same as the time corresponding to the first chassis signal.

[0085] After obtaining the first chassis signal, the vehicle's first speed at the time corresponding to the first chassis signal can be acquired, i.e., the vehicle's first speed at the time the first chassis signal is detected. After obtaining the first speed, a third chassis signal pre-set for the first speed can be acquired; this third chassis signal can be obtained by filtering the standard chassis signal corresponding to the first speed; the standard chassis signal can refer to the chassis signal collected when the vehicle is controlled to travel at the first speed, under conditions where there is no wheel imbalance, and this chassis signal does not contain signal characteristics caused by wheel imbalance.

[0086] Step 104: Based on the second chassis signal and the third chassis signal, detect whether the vehicle has wheel imbalance.

[0087] After obtaining the second and third chassis signals, it can be determined whether the vehicle has wheel imbalance by comparing the second and third chassis signals. For example, when the signal characteristics in the second chassis signal match the signal characteristics in the third chassis signal, it can be determined that the vehicle has no wheel imbalance; conversely, when the signal characteristics in the second chassis signal do not match the signal characteristics in the third chassis signal, it can be determined that the vehicle has wheel imbalance.

[0088] In this embodiment of the invention, a first chassis signal of the vehicle is acquired; the first chassis signal is filtered to obtain a second chassis signal corresponding to the first chassis signal; a third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal is acquired, the third chassis signal being obtained by filtering the standard chassis signal corresponding to the first vehicle speed; and wheel imbalance of the vehicle is detected based on the second and third chassis signals. Through this embodiment of the invention, existing vehicle signals can be used to detect whether wheel imbalance of the vehicle has occurred; compared to setting specific sensors, this embodiment of the invention can detect whether wheel imbalance of the vehicle has occurred in a low-cost manner.

[0089] Reference Figure 2 The diagram illustrates a flowchart of another method for detecting wheel imbalance according to an embodiment of the present invention, which may include the following steps:

[0090] Step 201: Obtain the first chassis signal of the vehicle.

[0091] In some feasible embodiments, the vehicle's first chassis signal can be acquired while the vehicle is in motion.

[0092] Step 202: Determine the filtering parameters based on the first vehicle speed.

[0093] After obtaining the first chassis signal, the first chassis signal can be filtered to obtain the second chassis signal corresponding to the first chassis signal.

[0094] For example, in order to improve the robustness of the detection results, when filtering the first chassis signal, the filtering parameters can be determined based on the vehicle's first speed.

[0095] Specifically, the filter can be implemented using the following discrete transfer function:

[0096]

[0097] in, Δw=2πΔf / f s Δf is the bandwidth of the filter. In this embodiment of the invention, the bandwidth can be 1Hz. The bandwidth can also be adjusted according to the vehicle speed, decreasing appropriately when the vehicle speed is low and increasing appropriately when the vehicle speed is high. s This is the sampling frequency of the chassis signal, which is also the software running cycle. According to the Nyquist sampling theorem, this value generally needs to be greater than 50Hz. In this embodiment of the invention, the value can be 100Hz.

[0098] w0=2πf0 / f s f0 is the center frequency of the peak filter, which is determined by the first vehicle speed v. x,wheel The circumference of the wheel is determined by the following formula: f0 represents the rotation frequency of the wheels at the first vehicle speed. The first vehicle speed can be a reference wheel speed or a reference vehicle speed. The reference vehicle speed or reference wheel speed can be calculated based on the wheel speed of each wheel of the vehicle, the vehicle weight, the force on the wheel, etc. The embodiments of the present invention do not limit the specific calculation method.

[0099] Based on the initial vehicle speed, a set of filtering parameters can be determined and substituted into the discrete transfer function described above for subsequent filtering of the initial chassis signal. It should be noted that when a new initial chassis signal is acquired, the filtering parameters will also change as the vehicle speed changes.

[0100] Step 203: Filter the first chassis signal according to the filtering parameters to obtain the second chassis signal.

[0101] Based on the first vehicle speed, a set of filtering parameters can be determined and substituted into the discrete transfer function as described above. Then, based on this discrete transfer function, the first chassis signal can be filtered to obtain the second chassis signal.

[0102] Step 204: Obtain the third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal.

[0103] After obtaining the first chassis signal, a third chassis signal pre-set for the first vehicle speed can be acquired, so as to analyze the second chassis signal based on the chassis signal in which no wheel imbalance has occurred.

[0104] Step 205: Store the second chassis signal into the target array.

[0105] In some feasible embodiments, detection can be based on multiple second chassis signals; specifically, after obtaining a second chassis signal, the second chassis signal can be stored in a target array. For example, when the first chassis signal includes multiple types, a target array can be set for each type of chassis signal; then, the second chassis signal can be stored in the target array corresponding to its corresponding chassis signal.

[0106] Step 206: When the vehicle is in an effective dynamic balance estimation state at the time corresponding to the first chassis signal corresponding to the second chassis signal in the target window of the target array, detect whether the vehicle has wheel imbalance based on the second chassis signal in the target window and the third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal corresponding to the second chassis signal in the target window.

[0107] In some feasible embodiments, when the vehicle is in an effective dynamic balance estimation state, the filtered signal is purer and more robust; therefore, analysis can be performed based solely on the second chassis signal when the vehicle is in an effective dynamic balance estimation state.

[0108] Specifically, when the wheels are rotating at high speed and the vehicle is driving relatively stably, it can be determined that the vehicle is in an effective dynamic balance estimation state. For example, the vehicle can be determined to be in an effective dynamic balance estimation state when it meets at least one of the following conditions:

[0109] If the vehicle speed exceeds a certain threshold, this embodiment of the invention can set it to 75 kph.

[0110] The absolute value of the longitudinal acceleration is less than a certain threshold, which can be set to 0.08g in this embodiment of the invention;

[0111] The absolute value of the longitudinal acceleration is less than a certain threshold, which can be set to 0.08 g / s in this embodiment of the invention;

[0112] The absolute value of the lateral acceleration is less than a certain threshold, which can be set to 0.05g in this embodiment of the invention;

[0113] If the steering wheel angle is less than a certain threshold, this embodiment of the invention can set it to 10°.

[0114] If the yaw rate is less than a certain threshold, this embodiment of the invention can be set to 1.5° / s.

[0115] In practical applications, a target window can be set; the number of signals contained in the target window can be calculated based on the window duration and the sampling frequency; for example, the number of signals contained in the target window = window duration * sampling frequency.

[0116] In some feasible embodiments, when all vehicles at the corresponding time of the second chassis signals within the target window are in an effective dynamic balance estimation state, the vehicle wheel imbalance can be detected based on the second chassis signals within the target window and the third chassis signal corresponding to the vehicle's first speed at the corresponding time of the second chassis signals within the target window.

[0117] For example, such as Figure 3 As shown, a dot represents a second chassis signal, and the second chassis signals are arranged in the array in chronological order; the box represents the target window; when the vehicles in the target window are all in the effective dynamic balance estimation state at the time corresponding to the second chassis signal, the vehicle wheel imbalance is detected based on the target window.

[0118] like Figure 3 As shown, ○ indicates that the vehicle is in an effective dynamic balance estimation state at that time. This indicates that the vehicle is not in an effective dynamic balance estimation state at this time; therefore, windows 1 and 3 can be used as target windows to detect whether the vehicle has wheel imbalance, and window 2 needs to be discarded.

[0119] When a vehicle is not in an effective dynamic balance estimation state at a time corresponding to a second chassis signal, the target window containing that second chassis signal is discarded, and the second chassis signal at the next corresponding time when the vehicle is in an effective dynamic balance estimation state is used as the first data in the target window. The overlap length between adjacent windows can be 0, or it can be set according to actual conditions; this embodiment of the invention does not impose any restrictions on this.

[0120] In some feasible embodiments, the window duration can also be determined based on vehicle speed; for example, the higher the vehicle speed, the shorter the window duration; the lower the vehicle speed, the longer the window duration. This embodiment of the invention does not impose any restrictions on this.

[0121] In one embodiment of the present invention, step 206 can be implemented by the following sub-steps:

[0122] Sub-step 11: Determine at least one first amplitude of the target window based on the second chassis signal within the target window.

[0123] In some feasible embodiments, for a target window in which the vehicles are in an effective dynamic balance estimation state at the time corresponding to the second chassis signal within the window, at least one first amplitude within the target window can be determined based on the second chassis signal within the target window.

[0124] For example, at least one amplitude can be calculated using adjacent maxima and minima. For instance, if the target window contains second chassis signal 1, second chassis signal 2, second chassis signal 3, and second chassis signal 4; where second chassis signal 1 and second chassis signal 3 are minima, and second chassis signal 2 and second chassis signal 4 are maxima; then the difference between second chassis signal 2 and second chassis signal 1 can be calculated as a first amplitude, and the difference between second chassis signal 4 and second chassis signal 3 can be calculated as another first amplitude. This embodiment of the invention does not limit this.

[0125] Sub-step 12: Calculate at least one second amplitude value based on the third chassis signal corresponding to the vehicle's first speed at the time corresponding to the second chassis signal in the target window.

[0126] In some feasible embodiments, after obtaining the third chassis signal corresponding to the vehicle's first speed at the time corresponding to the second chassis signal within the target window, at least one second amplitude value corresponding to the obtained multiple third chassis signals can be calculated.

[0127] For example, a corresponding third chassis signal can be obtained for each second chassis signal within the target window; then, the second amplitude can be calculated based on the third chassis signal, referring to the process of calculating the first amplitude based on the second chassis signal.

[0128] Among them, the third chassis signal corresponds one-to-one with the second chassis signal in the target window; therefore, it can be understood that when calculating at least one first amplitude corresponding to the second chassis signal in the target window, at least one second amplitude corresponding to multiple third chassis signals corresponding to the second chassis signal in the target window can also be calculated.

[0129] Sub-step 13: Detect whether the vehicle has wheel imbalance based on at least one first amplitude value and at least one second amplitude value.

[0130] After obtaining at least one first amplitude value and at least one second amplitude value, they can be compared, and the results of the comparison can be used to detect whether the vehicle has wheel imbalance.

[0131] In one embodiment of the present invention, sub-step 13 can be implemented in the following manner:

[0132] Calculate the average value of the first amplitude corresponding to the target window based on at least one first amplitude value; calculate the average value of the second amplitude based on at least one second amplitude value; calculate the difference between the average value of the first amplitude value and the average value of the second amplitude value; detect whether the vehicle has wheel imbalance based on the relationship between the difference and the first threshold.

[0133] In some feasible embodiments, the average value of the first amplitude corresponding to the target window can be calculated firstly based on at least one first amplitude value; for example, the average value of the first amplitude value can be calculated based on the value of each first amplitude value and the number of first amplitude values.

[0134] On the other hand, the average value of the second amplitude can also be calculated based on at least one second amplitude value; for example, the average value of the second amplitude value can be calculated based on the value of each second amplitude value and the number of second amplitude values, and the embodiments of the present invention do not limit this.

[0135] After obtaining the first average amplitude and the second average amplitude, the difference between the first average amplitude and the second average amplitude can be calculated.

[0136] Then, based on the relationship between the difference and the first threshold, it is possible to detect whether the vehicle has experienced wheel imbalance.

[0137] In one embodiment of the present invention, the first chassis signal includes multiple chassis signals, each chassis signal corresponding to a first threshold; sub-step 13 can be implemented in the following manner:

[0138] Determine the relationship between the difference between each chassis signal and the first threshold corresponding to each chassis signal; based on these relationships, detect whether the vehicle experiences wheel imbalance.

[0139] In some feasible embodiments, the first chassis signal may include a variety of different chassis signals, for example:

[0140] Wheel speed signal, wheel acceleration signal, suspension height sensor signal, suspension wheel vertical acceleration signal, steering system rack force signal, and steering motor current signal.

[0141] After determining the difference between the first average amplitude and the second average amplitude based on various chassis signals, the vehicle can detect whether wheel imbalance has occurred based on the relationship between the difference of each chassis signal and the first threshold corresponding to each chassis signal. For example, when the difference of each chassis signal is greater than the first threshold, it can be determined that the vehicle has wheel imbalance. The first threshold may include thresholds set for different chassis signals, and the specific settings are not limited in this embodiment of the invention.

[0142] The first threshold can be related to the average vehicle speed within the target window; specifically, different thresholds corresponding to different vehicle speeds can be preset; then, a table can be consulted to determine the threshold corresponding to the average vehicle speed within the target window, and this threshold can be used as the first threshold.

[0143] In one embodiment of the present invention, the first chassis signal is a chassis signal for the first wheel of the vehicle. Based on the relationship between the difference and a first threshold, the detection of whether the vehicle has wheel imbalance includes:

[0144] When the difference is greater than the first threshold, it is detected whether the diagonal wheel and the wheel on the same side corresponding to the first wheel have wheel imbalance; when neither the diagonal wheel nor the wheel on the same side corresponding to the first wheel has wheel imbalance, it is determined that the first wheel has wheel imbalance.

[0145] In some feasible embodiments, the vehicle may have multiple wheels; wherein, at least one of the multiple wheels is a first wheel, and the first chassis signal may be a chassis signal for the first wheel. When detecting whether the vehicle has wheel imbalance, specifically, it may detect whether the first wheel of the vehicle has wheel imbalance; furthermore, the first wheel may be the wheel among the multiple wheels that needs to be detected for wheel imbalance.

[0146] In practical applications, when the difference calculated for the first wheel is greater than the first threshold, it is possible to further detect whether the diagonal wheel and the wheel on the same side corresponding to the first wheel have wheel imbalance. The specific detection process can be the same as the process of detecting whether the first wheel has wheel imbalance, and will not be described in detail here.

[0147] When wheel imbalance is detected in both diagonal wheels and wheels on the same side, it can be assumed that the imbalance in the first wheel is caused by external environmental factors (e.g., the vehicle is driving on a bumpy road). In this case, it can be determined that the first wheel is not experiencing wheel imbalance.

[0148] Conversely, if wheel imbalance is detected in the first wheel, and the diagonal wheel and the wheel on the same side corresponding to the first wheel do not have wheel imbalance, the final conclusion can be output: the first wheel has wheel imbalance.

[0149] For example, such as Figure 4 As shown, it is possible to detect whether the diagonal wheel 5 and the same-side wheel 6 corresponding to the first wheel 4 are in wheel dynamic balance.

[0150] In some feasible embodiments, wheel imbalance can be detected only when the differences between all chassis signals corresponding to the first wheel are greater than a first threshold. Alternatively, other methods can be used to determine whether wheel imbalance is further detected between the diagonal and same-side wheels corresponding to the first wheel. For example, if more than a preset number of differences are greater than the first threshold, wheel imbalance can be detected between the diagonal and same-side wheels corresponding to the first wheel. Another example is setting weights for different chassis signals, and then determining whether to further detect wheel imbalance between the diagonal and same-side wheels corresponding to the first wheel based on the relationship between the weights and the differences between the chassis signals and the first threshold. This embodiment of the invention does not limit this approach.

[0151] For example, such as Figure 5 As shown, after obtaining the first average amplitude and the second average amplitude, the difference between the first average amplitude and the second average amplitude can be calculated. In addition, the difference threshold (i.e., the first threshold) can be obtained by looking up a table. By comparing the difference with the difference threshold, it can be determined whether the vehicle has wheel imbalance.

[0152] like Figure 6 As shown, the chassis signals of the first wheel can be filtered, and the wheel imbalance of the first wheel can be determined based on each chassis signal (chassis signal a, chassis signal b, chassis signal c...). If the wheel imbalance of the first wheel is determined based on each chassis signal, then the wheel imbalance of the first wheel is confirmed.

[0153] In one embodiment of the present invention, after determining that the first wheel has wheel imbalance based on the diagonal wheels and the same-side wheels, the above method may further include the following steps:

[0154] Based on whether the first wheel has wheel imbalance, the first imbalance index corresponding to the first wheel is increased or decreased; when the first imbalance index is not less than the second threshold, a wheel imbalance warning is issued for the first wheel; when the first imbalance index is less than the second threshold, if a wheel imbalance warning is detected for the first wheel, the wheel imbalance warning for the first wheel is stopped.

[0155] In some feasible embodiments, after determining whether the first wheel has a wheel imbalance point based on the diagonal wheels and the same-side wheels, the first dynamic imbalance index set for the first wheel can be increased or decreased. For example, the initial value of the first dynamic imbalance index can be 0. When it is determined that the first wheel has a wheel imbalance point based on the diagonal wheels and the same-side wheels, the first dynamic imbalance index set for the first wheel can be increased; when it is determined that the first wheel has not a wheel imbalance point based on the diagonal wheels and the same-side wheels, the first dynamic imbalance index set for the first wheel can be decreased. The increment or decrement step size can be set according to the actual situation.

[0156] For example, if you want to detect more sensitive data, the increment step size can be set to be greater than the decrement step size. For example, the increment step size can be +3 and the decrement step size can be -1. Conversely, if you want to detect less sensitive data, the increment step size can be +1 and the decrement step size can be -3. This embodiment of the invention does not impose any restrictions on this.

[0157] After increasing or decreasing the first dynamic imbalance index, the relationship between the first dynamic imbalance index and the second threshold can be detected; for example, the specific value of the second threshold can be set according to the actual situation, and the embodiments of the present invention do not limit this.

[0158] When the first dynamic imbalance index is not less than the second threshold, a wheel dynamic imbalance warning can be issued for the first wheel; for example, the warning can be issued on the central control screen inside the vehicle or through voice broadcast, and this embodiment of the invention does not limit this.

[0159] On the other hand, if the first dynamic imbalance index is less than the second threshold, and if there is still a wheel imbalance warning for the first wheel, the wheel imbalance warning for the first wheel can be stopped until the first dynamic imbalance index is not less than the second threshold, at which point the wheel imbalance warning for the first wheel can be resumed.

[0160] For example, such as Figure 7 As shown, the vehicle's electronic control unit 6 can be equipped with a vehicle state estimation module 7 and a wheel imbalance detection software 8 based on chassis signals. The vehicle state estimation module 7 can output the vehicle speed to the wheel imbalance detection software 8 based on chassis signals. In addition, the wheel imbalance detection software 8 based on chassis signals can also acquire signals such as wheel speed, wheel acceleration, suspension height sensor signal, suspension wheel vertical acceleration signal, steering system rack force signal, steering motor current signal, lateral acceleration, longitudinal acceleration, and angular velocity. Based on these signals, when it is determined that the vehicle has wheel imbalance, a prompt message is generated and displayed on the vehicle screen 9.

[0161] like Figure 8As shown, the first chassis signal can be filtered first, and the vehicle can be evaluated to determine whether it is in an effective dynamic balance estimation state at the time corresponding to the first chassis signal. If yes, the second chassis signal can be recorded; otherwise, the new first chassis signal can be filtered again.

[0162] When the recorded consecutive second chassis signals meet the analysis window length (i.e., equal to the preset target window length), the second chassis signals within the target window can be analyzed. Specifically, the analysis can be performed based on the corresponding second chassis signals of different types of first chassis signals, and then the analysis results can be statistically analyzed to determine whether the first wheel of the vehicle meets the imbalance index requirements, i.e., to determine whether the first wheel has wheel imbalance.

[0163] When it is determined that the first wheel is unbalanced, robustness cross-checks can be performed based on the diagonal wheel and the wheel on the same side corresponding to the first wheel.

[0164] If the robustness interaction verification passes, the first dynamic imbalance index of the first wheel can be increased; otherwise, it can be decreased. The corresponding operation is performed by comparing whether the first dynamic imbalance index is less than the first threshold.

[0165] Specifically, when the first dynamic imbalance index is not less than the second threshold, a wheel dynamic imbalance warning is issued for the first wheel; otherwise, if there is already a wheel dynamic imbalance warning for the first wheel, the warning is eliminated, and the new first chassis signal continues to be filtered.

[0166] For example, based on the aforementioned formula (1), the tire radius is taken as 0.3743m and the bandwidth as 0.5Hz; Table 1 shows the measured data, where the first chassis signal is the chassis signal output by the left front wheel suspension height sensor, and the second chassis signal is the filtered signal after filtering the chassis signal output by the left front wheel suspension height sensor:

[0167] Table 1:

[0168]

[0169]

[0170]

[0171]

[0172]

[0173]

[0174]

[0175]

[0176]

[0177] Based on Table 1, we can obtain Figure 9 and Figure 10 ;in, Figure 9 The horizontal axis represents the first chassis signal, and the vertical axis represents time; Figure 10 The horizontal axis represents the second chassis signal, and the vertical axis represents time.

[0178] In this embodiment of the invention, a first chassis signal of the vehicle is acquired; filtering parameters are determined based on a first vehicle speed; the first chassis signal is filtered according to the filtering parameters to obtain a second chassis signal; a third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal is acquired; the second chassis signal is stored in a target array; when the vehicle is in an effective dynamic balance estimation state at the time corresponding to the first chassis signal of the second chassis signal within the target window in the target array, the vehicle is detected to have wheel imbalance based on the second chassis signal within the target window and the third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal of the second chassis signal within the target window. Through this embodiment of the invention, existing vehicle signals can be used to detect whether a vehicle has wheel imbalance; compared to setting specific sensors, this embodiment of the invention can detect whether a vehicle has wheel imbalance in a low-cost manner. Furthermore, cross-verification of multiple chassis signals can improve the robustness of the verification process.

[0179] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0180] Reference Figure 11 The diagram shows a structural schematic of a wheel imbalance detection device according to an embodiment of the present invention, which may include the following modules:

[0181] The first acquisition module 1101 is used to acquire the first chassis signal of the vehicle;

[0182] Filtering module 1102 is used to filter the first chassis signal to obtain the second chassis signal corresponding to the first chassis signal;

[0183] The second acquisition module 1103 is used to acquire the third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal. The third chassis signal is obtained by filtering the standard chassis signal corresponding to the first vehicle speed.

[0184] The detection module 1104 is used to detect whether the vehicle has wheel imbalance based on the second chassis signal and the third chassis signal.

[0185] In an optional embodiment of the present invention, the filtering module 1102 is used to determine filtering parameters based on the first vehicle speed; and to filter the first chassis signal based on the filtering parameters to obtain the second chassis signal.

[0186] In an optional embodiment of the present invention, the detection module 1104 is used to store the second chassis signal in a target array; when the vehicle is in an effective dynamic balance estimation state at the time corresponding to the first chassis signal corresponding to the second chassis signal in the target window in the target array, the detection module 1104 is used to detect whether the vehicle has wheel imbalance based on the second chassis signal in the target window and the third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal corresponding to the second chassis signal in the target window.

[0187] In an optional embodiment of the present invention, the detection module 1104 is configured to calculate at least one first amplitude of the target window based on the second chassis signal within the target window; calculate at least one second amplitude based on the third chassis signal corresponding to the first vehicle speed at the time corresponding to the second chassis signal within the target window; and detect whether the vehicle has wheel imbalance based on the at least one first amplitude and the at least one second amplitude.

[0188] In an optional embodiment of the present invention, the detection module 1104 is configured to determine the average value of a first amplitude corresponding to a target window based on at least one first amplitude; calculate the average value of a second amplitude based on at least one second amplitude; calculate the difference between the average value of the first amplitude and the average value of the second amplitude; and detect whether the vehicle has wheel imbalance based on the relationship between the difference and a first threshold.

[0189] In an optional embodiment of the present invention, the first chassis signal includes multiple chassis signals, each chassis signal corresponding to a first threshold; the detection module 1104 is used to determine the relationship between the difference corresponding to each chassis signal and the first threshold corresponding to each chassis signal; and to detect whether the vehicle has wheel imbalance based on the relationship between the differences.

[0190] In an optional embodiment of the present invention, the first chassis signal is a chassis signal for the first wheel of the vehicle. The detection module 1104 is used to detect whether wheel imbalance occurs in the diagonal wheel and the same-side wheel corresponding to the first wheel when the difference is greater than a first threshold; and to determine that wheel imbalance occurs in the first wheel when neither the diagonal wheel nor the same-side wheel corresponding to the first wheel has wheel imbalance.

[0191] In an optional embodiment of the present invention, the apparatus further includes:

[0192] The prompting module is used to, after determining that the first wheel has wheel imbalance based on the diagonal wheels and the same-side wheels, increment or decrement the first imbalance index corresponding to the first wheel according to whether the first wheel has wheel imbalance; when the first imbalance index is not less than the second threshold, a wheel imbalance prompt is given for the first wheel; when the first imbalance index is less than the second threshold, if a wheel imbalance prompt is detected for the first wheel, the wheel imbalance prompt for the first wheel is stopped.

[0193] In an optional embodiment of the present invention, the first chassis signal includes at least one of the following signals:

[0194] Wheel speed signal, wheel acceleration signal, suspension height sensor signal, suspension wheel vertical acceleration signal, steering system rack force signal, and steering motor current signal.

[0195] In this embodiment of the invention, a first chassis signal of the vehicle is acquired; the first chassis signal is filtered to obtain a second chassis signal corresponding to the first chassis signal; a third chassis signal corresponding to the first vehicle speed at the time corresponding to the second chassis signal is acquired; the third chassis signal is obtained by filtering the standard chassis signal corresponding to the first vehicle speed; and wheel imbalance of the vehicle is detected based on the second chassis signal and the third chassis signal. Through this embodiment of the invention, existing vehicle signals can be used to detect whether wheel imbalance of the vehicle has occurred; compared to setting specific sensors, this embodiment of the invention can detect whether wheel imbalance of the vehicle has occurred in a low-cost manner.

[0196] This invention also provides a vehicle in which the above-described device is deployed.

[0197] This invention also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the above-described method for detecting wheel imbalance.

[0198] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described method for detecting wheel imbalance.

[0199] As the apparatus embodiment is basically similar to the method embodiment, it is described in a relatively simple manner. For relevant details, please refer to the description of the method embodiment.

[0200] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0201] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0202] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0203] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0204] These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable terminal equipment, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0205] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0206] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0207] The foregoing has provided a detailed description of a wheel imbalance detection method, a wheel imbalance detection device, a vehicle, an electronic device, and a computer-readable storage medium. Specific examples have been used to illustrate the principles and implementation methods of the invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of the invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the invention.

Claims

1. A method for detecting wheel imbalance, characterized in that, The method includes: Obtain the vehicle's first chassis signal; The first chassis signal is filtered to obtain the second chassis signal corresponding to the first chassis signal; Obtain a third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal. The third chassis signal is obtained by filtering the standard chassis signal corresponding to the first vehicle speed. Based on the second chassis signal and the third chassis signal, it is detected whether the vehicle has wheel imbalance.

2. The method according to claim 1, characterized in that, The step of filtering the first chassis signal to obtain the second chassis signal corresponding to the first chassis signal includes: Determine the filtering parameters based on the first vehicle speed; The first chassis signal is filtered according to the filtering parameters to obtain the second chassis signal.

3. The method according to claim 1, characterized in that, The step of detecting whether the vehicle has wheel imbalance based on the second chassis signal and the third chassis signal includes: Store the second chassis signal into the target array; When the vehicle is in an effective dynamic balance estimation state at the time corresponding to the first chassis signal of the second chassis signal in the target window of the target array, the vehicle is detected to have wheel imbalance based on the third chassis signal corresponding to the first vehicle speed of the vehicle at the time corresponding to the second chassis signal of the target window and the first chassis signal of the second chassis signal of the target window.

4. The method according to claim 3, characterized in that, The step of detecting whether the vehicle has wheel imbalance based on the second chassis signal within the target window and the third chassis signal corresponding to the first chassis signal at the time corresponding to the second chassis signal within the target window, and the first vehicle speed, includes: Based on the second chassis signal within the target window, determine at least one first amplitude of the target window; Calculate at least one second amplitude value based on the third chassis signal corresponding to the first vehicle speed of the vehicle at the time corresponding to the second chassis signal in the target window; Based on the at least one first amplitude value and the at least one second amplitude value, it is detected whether the vehicle has wheel imbalance.

5. The method according to claim 4, characterized in that, The step of detecting whether the vehicle has wheel imbalance based on the at least one first amplitude value and the at least one second amplitude value includes: Calculate the average value of the first amplitude corresponding to the target window based on the at least one first amplitude; Calculate the average value of the second amplitude based on the at least one second amplitude value; Calculate the difference between the average value of the first amplitude and the average value of the second amplitude; Based on the relationship between the difference and the first threshold, it is determined whether the vehicle has wheel imbalance.

6. The method according to claim 5, characterized in that, The first chassis signal includes multiple chassis signals, each chassis signal corresponding to a first threshold; the step of detecting whether the vehicle has wheel imbalance based on the relationship between the difference and the first threshold includes: Determine the relationship between the difference between each chassis signal and the first threshold corresponding to each chassis signal; Based on the size relationships, the system detects whether the vehicle experiences wheel imbalance.

7. The method according to claim 5, characterized in that, The first chassis signal is a chassis signal for the first wheel of the vehicle. The step of detecting whether the vehicle has wheel imbalance based on the relationship between the difference and a first threshold includes: When the difference is greater than the first threshold, it is detected whether wheel imbalance occurs between the diagonal wheel and the wheel on the same side corresponding to the first wheel; When neither the diagonal wheel nor the wheel on the same side corresponding to the first wheel has wheel imbalance, it is determined that the first wheel has wheel imbalance.

8. The method according to claim 7, characterized in that, After determining that the first wheel has wheel imbalance based on the diagonal wheels and the wheels on the same side, the method further includes: Based on whether the first wheel experiences wheel imbalance, the first imbalance index corresponding to the first wheel is increased or decreased. When the first dynamic imbalance index is not less than the second threshold, a wheel dynamic imbalance warning is issued for the first wheel. When the first dynamic imbalance index is less than the second threshold, if it is detected that a wheel imbalance warning is being issued for the first wheel, the wheel imbalance warning for the first wheel will be stopped.

9. The method according to claim 6, characterized in that, The first chassis signal includes at least one of the following signals: Wheel speed signal, wheel acceleration signal, suspension height sensor signal, suspension wheel vertical acceleration signal, steering system rack force signal, and steering motor current signal.

10. A device for detecting wheel imbalance, characterized in that, The device includes: The first acquisition module is used to acquire the first chassis signal of the vehicle; The filtering module is used to filter the first chassis signal to obtain the second chassis signal corresponding to the first chassis signal; The second acquisition module is used to acquire a third chassis signal corresponding to the first vehicle speed at the time corresponding to the first chassis signal. The third chassis signal is obtained by filtering the standard chassis signal corresponding to the first vehicle speed. The detection module is used to detect whether the vehicle has wheel imbalance based on the second chassis signal and the third chassis signal.

11. A vehicle, characterized in that, The vehicle is equipped with the device as described in claim 10.

12. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the wheel imbalance detection method as described in any one of claims 1 to 9.

13. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the wheel imbalance detection method as described in any one of claims 1 to 9.

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