Tire mark parameter calculation method and device, storage medium and electronic device

Abstract

The application provides a tire mark parameter calculation method and device, a storage medium and an electronic device, and the method comprises the following steps: acquiring the radial acceleration of a tire in a rolling process collected by an acceleration sensor based on a sampling frequency, wherein the acceleration sensor is fixedly arranged at a target point of the tire; determining the ground contact time and the leaving ground time of the target point in the tire rolling process according to the radial acceleration; calculating the ground contact angle of the tire according to the ground contact time, the leaving ground time and the sampling frequency; and calculating the dynamic mark parameter of the tire in the rolling process according to the ground contact angle. Through the embodiment of the application, the technical problem that the dynamic mark parameter of the tire cannot be calculated in real time in the related art is solved, and the key parameters such as the load of the tire can be further acquired based on the dynamic mark parameter.

Description

Technical Field

[0001] This invention relates to the field of tire technology, and more specifically, to a method and apparatus for calculating tire imprint parameters, a storage medium, and an electronic device. Background Technology

[0002] In related technologies, with the increasing intelligence of automobiles, tires, as the only component of a car in contact with the ground, are receiving increasing attention for their safety and intelligence during driving. Tires not only bear the weight of the entire vehicle and mitigate road impacts, but also generate driving and braking forces through the adhesion between the tire and the road surface; their status information directly affects vehicle performance and driving safety. In the trend of vehicle electrification, intelligence, and connectivity, tires are evolving from traditional tires towards intelligent tire systems.

[0003] The mechanical properties and performance of tires on a vehicle are directly or indirectly derived from the loads they bear. For example, deformation caused by load affects rolling resistance, thus impacting fuel consumption and driving range; load directly relates to tire lateral characteristics and vehicle handling stability; and load is also a determining factor in tire grip, braking force, and driving force. Therefore, accurately obtaining the loads on the tires is crucial for the high-performance and efficient operation of a vehicle.

[0004] In related technologies, numerical fitting is used to obtain the relationship of the transformation results, but the accuracy and efficiency are low and it lacks universality.

[0005] No efficient and accurate solution has yet been found to address the aforementioned issues in the relevant technologies. Summary of the Invention

[0006] This invention provides a method and apparatus for calculating tire imprint parameters, a storage medium, and an electronic device to solve technical problems in related technologies.

[0007] According to an embodiment of the present invention, a method for calculating tire imprint parameters is provided, comprising: acquiring the radial acceleration of the tire during rolling process based on a sampling frequency collected by an accelerometer, wherein the accelerometer is fixedly embedded in a target point on the tire; determining the contact moment and lift-off moment of the target point during the tire rolling process based on the radial acceleration; calculating the contact angle of the tire based on the contact moment, the lift-off moment, and the sampling frequency; and calculating the dynamic imprint parameters of the tire during rolling process based on the contact angle.

[0008] Optionally, determining the contact and lift-off times of the target point during tire rolling based on the radial acceleration includes: retrieving the rigid-flexible coupling kinematic model of the tire, wherein the rigid-flexible coupling kinematic model is a mathematical model of the interaction between the ground and the tire; fitting multiple radial acceleration values ​​of the tire during rolling based on the rigid-flexible coupling kinematic model to generate a radial acceleration waveform; and selecting the contact and lift-off times from the acceleration waveform.

[0009] Optionally, selecting the ground contact time and the ground lift time in the acceleration waveform includes: locating a first inflection point and a second inflection point within one cycle of the acceleration waveform, wherein the cycle corresponds to the time it takes for the tire to roll one revolution; and determining the corresponding times of the first inflection point and the second inflection point in the acceleration waveform as the ground contact time and the ground lift time, respectively.

[0010] Optionally, calculating the tire's ground contact angle based on the ground contact time, the ground lift time, and the sampling frequency includes: determining the rolling area of ​​the tire between the ground contact time and the ground lift time as the ground contact area; counting the first number of samples collected by the accelerometer in the ground contact area and the second number of samples collected by the accelerometer during one revolution of the tire based on the sampling frequency; and calculating the tire's ground contact angle based on the first number of samples and the second number of samples.

[0011] Optionally, calculating the tire's ground contact angle based on the first sample number and the second sample number includes: calculating the ratio between the first sample number and the second sample number, and determining the ratio as the ground contact ratio; multiplying the ground contact ratio by the circumferential angle to obtain the tire's ground contact angle.

[0012] Optionally, the dynamic imprint parameters include the dynamic imprint length. Calculating the dynamic imprint parameters of the tire during rolling based on the grounding angle includes: determining the tire diameter; and calculating the dynamic imprint length L of the tire during rolling on the plane using the following formula: L=d*sinθ1; where d is the tire diameter and θ1 is half of the grounding angle when the tire rolls on the plane.

[0013] Optionally, the dynamic imprint parameters include the dynamic imprint length. Calculating the dynamic imprint parameters of the tire during rolling based on the ground contact angle includes: determining the tire diameter; and calculating the dynamic imprint length L of the tire during rolling on the plane using the following formula: Where d is the tire diameter, and θ2 is half of the ground contact angle of the tire when it rolls on the rotary drum rolling machine.

[0014] Optionally, the dynamic imprint parameters include the dynamic maximum compression. Calculating the dynamic imprint parameters of the tire during rolling based on the ground contact angle includes: determining the tire diameter; and calculating the dynamic maximum compression h of the tire during rolling on a plane using the following formula: h = d / 2 - d / 2 * cosθ1; where d is the tire diameter and θ1 is half of the ground contact angle when the tire rolls on a plane.

[0015] Optionally, the dynamic imprint parameters include the dynamic maximum compression. Calculating the dynamic imprint parameters of the tire during rolling based on the ground contact angle includes: determining the tire diameter; and calculating the dynamic maximum compression h of the tire during rolling on a flat surface using the following formula: Where d is the tire diameter, and θ2 is half of the ground contact angle of the tire when it rolls on the rotary drum rolling machine.

[0016] Optionally, after calculating the dynamic imprint parameters of the tire during rolling based on the grounding angle, the method further includes: retrieving a preset parameter table, wherein the preset parameter table stores the mapping relationship between the tire's imprint parameters and the vertical force it bears; searching the preset parameter table for a target vertical force that matches the dynamic imprint parameters; and determining the target vertical force as the dynamic load borne by the tire.

[0017] According to another embodiment of the present invention, a device for calculating tire imprint parameters is provided, comprising: an acquisition module for acquiring radial acceleration of the tire during rolling, acquired by an acceleration sensor based on a sampling frequency, wherein the acceleration sensor is fixedly embedded in a target point on the tire; a first determination module for determining the contact moment and lift-off moment of the target point during tire rolling based on the radial acceleration; a first calculation module for calculating the contact angle of the tire based on the contact moment, the lift-off moment, and the sampling frequency; and a second calculation module for calculating dynamic imprint parameters of the tire during rolling based on the contact angle.

[0018] Optionally, the first determining module includes: a retrieval unit for retrieving the rigid-flexible coupling kinematic model of the tire, wherein the rigid-flexible coupling kinematic model is a mathematical model of the interaction between the ground and the tire; a generation unit for fitting the values ​​of multiple radial accelerations of the tire during the rolling process based on the rigid-flexible coupling kinematic model to generate a radial acceleration waveform; and a selection unit for selecting the ground contact time and the ground lift-off time in the acceleration waveform.

[0019] Optionally, the selection unit includes: a positioning subunit, used to locate a first inflection point and a second inflection point within one cycle of the acceleration waveform, wherein the cycle corresponds to the time for the tire to roll one revolution; and a determining subunit, used to determine the corresponding times of the first inflection point and the second inflection point in the acceleration waveform as the ground contact time and the ground lift-off time, respectively.

[0020] Optionally, the first calculation module includes: a determination unit, configured to determine the rolling area of ​​the tire between the ground contact time and the ground departure time as the ground contact area; a statistics unit, configured to count the first number of samples collected by the acceleration sensor in the ground contact area and the second number of samples collected by the acceleration sensor during one revolution of the tire based on the sampling frequency; and a calculation unit, configured to calculate the ground contact angle of the tire based on the first number of samples and the second number of samples.

[0021] Optionally, the calculation unit includes: a calculation subunit, used to calculate the ratio between the first sample number and the second sample number, and determine the ratio as the grounding ratio; and an operation subunit, used to multiply the grounding ratio by the circumferential angle to obtain the grounding angle of the tire.

[0022] Optionally, the dynamic imprint parameter includes the dynamic imprint length, and the second calculation module includes: a determining unit for determining the tire diameter; and a first calculation unit for calculating the dynamic imprint length L of the tire during its rolling process on a plane using the following formula: L=d*sinθ1; where d is the tire diameter and θ1 is half of the ground contact angle when the tire rolls on the plane.

[0023] Optionally, the dynamic imprint parameter includes the dynamic imprint length, and the second calculation module includes: a determining unit for determining the tire diameter; and a second calculation unit for calculating the dynamic imprint length L of the tire during its rolling process on a flat surface using the following formula: Where d is the tire diameter, and θ2 is half of the ground contact angle of the tire when it rolls on the rotary drum rolling machine.

[0024] Optionally, the dynamic imprint parameters include the dynamic maximum compression amount. The second calculation module includes: a determination unit for determining the tire diameter; and a third calculation unit for calculating the dynamic maximum compression amount h of the tire during its rolling process on a plane using the following formula: h = d / 2 - d / 2 * cosθ1; where d is the tire diameter and θ1 is half of the ground contact angle when the tire rolls on the plane.

[0025] Optionally, the dynamic imprint parameters include the dynamic maximum compression amount, and the second calculation module includes: a determining unit for determining the tire diameter; and a fourth calculation unit for calculating the dynamic maximum compression amount h of the tire during rolling on a flat surface using the following formula: Where d is the tire diameter, and θ2 is half of the ground contact angle of the tire when it rolls on the rotary drum rolling machine.

[0026] Optionally, the device further includes: a retrieval module, used to retrieve a preset parameter table after the second calculation module calculates the dynamic imprint parameters of the tire during rolling based on the grounding angle, wherein the preset parameter table stores the mapping relationship between the tire's imprint parameters and the vertical force it bears; a search module, used to search the preset parameter table for a target vertical force that matches the dynamic imprint parameters; and a second determination module, used to determine the target vertical force as the dynamic load borne by the tire.

[0027] According to another aspect of the embodiments of this application, a storage medium is also provided, the storage medium including a stored program that executes the above steps when the program is run.

[0028] According to another aspect of the embodiments of this application, an electronic device is also provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; wherein: the memory is used to store computer programs; and the processor is used to execute the steps in the above method by running the programs stored in the memory.

[0029] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps in the above-described method.

[0030] The beneficial effects of this invention are:

[0031] 1. By acquiring the radial acceleration of the tire during rolling through an accelerometer, dynamic imprint parameters of the tire during its movement can be obtained, which in turn can be used to obtain parameters such as tire load data, thus improving the efficiency of acquiring dynamic imprint parameters and load data of the tire.

[0032] 2. By indirectly calculating the dynamic imprint parameters of the tire moving on a flat surface through a rotary drum rolling machine, the rotary drum machine can simulate a flatbed machine or actual road surface, which can effectively reduce the cost of real vehicle testing and help solve the problem that some large-specification tires, such as engineering tires, cannot be tested on flatbed machines. Attached Figure Description

[0033] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0034] Figure 1 This is a hardware structure block diagram of a car according to an embodiment of the present invention;

[0035] Figure 2 This is a flowchart of a method for calculating tire imprint parameters according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of a tire in an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the embedded module of the tire in an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the radial acceleration waveform in an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the tire touching the ground in a plane in an embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of the imprint length of the rotary drum rolling machine and the flat rolling machine in the embodiments of the present invention;

[0041] Figure 8 This is a flowchart illustrating the calculation of the dynamic tire imprint length in an embodiment of the present invention.

[0042] Figure 9 This is a structural block diagram of a device for calculating tire imprint parameters according to an embodiment of the present invention. Detailed Implementation

[0043] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present application can be combined with each other.

[0044] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0045] Example 1

[0046] The method embodiment provided in Embodiment 1 of this application can be executed in an automobile, server, processor, vehicle controller, or similar processing device. Taking its operation in an automobile as an example, Figure 1 This is a hardware structure block diagram of a car according to an embodiment of the present invention. For example... Figure 1 As shown, a car may include one or more ( Figure 1 Only one is shown in the image. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. Optionally, the vehicle may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned automobile. For example, the automobile may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0047] The memory 104 can be used to store automotive programs, such as application software programs and modules, like the automotive program corresponding to a method for calculating tire imprint parameters in an embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the automotive program stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0048] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by a vehicle's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0049] This embodiment provides a method for calculating tire imprint parameters. Figure 2 This is a flowchart of a method for calculating tire imprint parameters according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0050] Step S202: Obtain the radial acceleration of the tire during the rolling process based on the sampling frequency collected by the acceleration sensor, wherein the acceleration sensor is fixedly built into the target position of the tire;

[0051] Optionally, the tire includes a rubber tire, an embedded module, and a rubber sleeve. The embedded module includes a data acquisition module, a transmission module, a battery, and a mounting module. The data acquisition module includes an ADXL module and an accelerometer for acquiring sensor data. The transmission module includes a Bluetooth / antenna module for transmitting the acquired data signals to a vehicle or terminal device, which can be a mobile phone or a computer. The battery is an automotive-grade button battery for powering the embedded module. The mounting module includes a housing, which comprises upper and lower shells for encapsulating the embedded module. The rubber sleeve primarily supports the hardware module and is attached to the inner surface of the tire using adhesive.

[0052] Figure 3 This is a schematic diagram of a tire in an embodiment of the present invention, including a rubber sleeve 1, an embedded module 2, and a rubber tire 3. The rubber tire 3 can be a passenger car tire, a construction vehicle tire, or a radial tire and a bias-ply tire. The embedded module 2 is installed in the rubber sleeve 1, which mainly supports the hardware module 2 and is fixed to the inner surface of the rubber tire 3 with adhesive. The rubber sleeve has a certain degree of elasticity, which can wrap around the embedded module 2 to prevent it from detaching, and at the same time transmit vibrations between the tire and the road surface to the embedded module 2.

[0053] Figure 4 This is a schematic diagram of the embedded module of the tire in an embodiment of the present invention, corresponding to... Figure 3The embedded module 2 includes an upper housing 4, a circuit board 5, a battery 6, a lower housing 7, and a plastic sleeve 1. The circuit board 5 includes a data acquisition unit, a transmission unit, and a storage unit. The data acquisition unit includes an ADXL module and an accelerometer for acquiring sensor data. The transmission unit includes a Bluetooth / antenna module for transmitting the acquired data to a terminal device, which can be a mobile phone or a computer. The storage unit stores and runs the algorithms and models of this invention. The battery 6 is an automotive-grade button battery used to power the embedded module. The upper housing 4 and the lower housing 7 form a fixing module for encapsulating the embedded module 2.

[0054] Step S204: Determine the contact moment and lift-off moment of the target point during the tire rolling process based on the radial acceleration;

[0055] In this embodiment, the tire rotates at a fixed speed. Each time the tire rotates once, the fixed point of the tire will touch the ground and lift off the ground once. The corresponding times are the time of touching the ground and the time of lifting off the ground.

[0056] Step S206: Calculate the tire's ground contact angle based on the ground contact time, the ground contact time, and the sampling frequency;

[0057] Step S208: Calculate the dynamic imprint parameters of the tire during the rolling process based on the grounding angle.

[0058] Optional parameters for dynamic tire imprint include the length of the dynamic tire imprint on the contact surface and the maximum dynamic compression. The contact surface can be the ground, a rotary drum roller, a flat roller, etc.

[0059] The solution in this embodiment can be applied in real-world environments, such as acquiring dynamic tire imprint parameters when a vehicle tire travels on a road surface or rotating plane, thereby evaluating tire pressure, stability, and safety. It can also be applied in laboratory testing environments. Tire testing equipment, specifically a tire rolling mill, is a testing device that can drive a tire to roll under set air pressure and load. The tire rolling mill can simulate real-vehicle operating conditions during tire rolling, applying a certain load, speed, and air pressure to the tire to drive it in steady-state rolling. The tire rolling mill includes flat-plate rolling mills and drum-type rolling mills. Flat-plate rolling mills include MTS Flat-Trac, and drum-type rolling mills include durability testing machines.

[0060] Through the above steps, the radial acceleration of the tire during rolling is obtained by an accelerometer based on the sampling frequency. The accelerometer is fixedly embedded at a target point on the tire. The contact point and lift-off time of the target point during tire rolling are determined based on the radial acceleration. The contact angle of the tire is calculated based on the contact point, lift-off time, and sampling frequency. The dynamic imprint parameters of the tire during rolling are calculated based on the contact angle. By acquiring the radial acceleration of the tire during rolling and calculating the contact angle, a real-time calculation method for the dynamic imprint parameters of the tire is achieved. This solves the technical problem in related technologies that cannot calculate the dynamic imprint parameters of the tire in real time, and allows for further acquisition of key parameters such as tire load based on the dynamic imprint parameters.

[0061] Optionally, determining the contact and lift-off times of the target point during tire rolling based on the radial acceleration includes: retrieving the rigid-flexible coupling kinematic model of the tire, wherein the rigid-flexible coupling kinematic model is a mathematical model of the interaction between the ground and the tire; fitting the values ​​of multiple radial accelerations of the tire during rolling based on the rigid-flexible coupling kinematic model to generate a radial acceleration waveform; and selecting the contact and lift-off times from the acceleration waveform.

[0062] During tire rolling, the sensors attached inside the tire rotate with the tire's movement. The attachment location (i.e., the target point) is subjected to periodic compression deformation from the ground. A three-dimensional accelerometer can measure the radial acceleration generated by the ground pressure on the tire. Based on a rigid-flexible coupling kinematic model, the smart tire uses the ground boundary method to calculate the asymmetric characteristics of the ground imprint during tire rolling, distinguishing between ground contact and liftoff moments by analyzing the acquired acceleration waveforms. During tire rolling on a flat rolling machine or road surface, the embedded module 2 attached inside the tire rotates with the tire's movement. The attachment location is subjected to periodic compression deformation from the ground. The embedded module 2 integrates a three-dimensional accelerometer, which measures the radial acceleration generated by the ground pressure on the tire. Based on a rigid-flexible coupling kinematic model, the smart tire uses the ground boundary method to study the asymmetric characteristics of the ground imprint during tire rolling, distinguishing between ground contact and liftoff moments by analyzing the acquired acceleration waveforms.

[0063] Figure 5 This is a schematic diagram of the radial acceleration waveform in an embodiment of the present invention. A to F are waveforms generated by fitting multiple radial accelerations collected by the acceleration sensor when the tire rotates one revolution. Figure 6This is a schematic diagram of the tire grounding on a plane in an embodiment of the present invention. One rotation of the tire corresponds to points A, B, C, D, E, P, and F, with point F representing the next rolling cycle. This also corresponds to point A on the planar rolling machine. The kinematic model of the tire's rigid-flexible coupling divides the positional relationship between the attached acceleration sensor and the ground during tire rolling into seven regions: the front non-grounded no-deformation zone APE, the front non-grounded deformation zone AB, the grounding deformation compression zone BC, the grounding deformation stable zone C, the grounding deformation recovery zone CD, the rear non-grounded deformation zone DE, and the rear non-grounded no-deformation zone EPA.

[0064] The front-end non-grounded deformation-free zone APE refers to the area along the tire's rolling direction where the tire with the attached accelerometer rolls to a point where it is not in contact with the ground and remains undeformed. The front-end non-grounded deformation zone AB refers to the area along the tire's rolling direction where the tire with the attached accelerometer rolls to a point where it is not in contact with the ground but deforms. The grounding deformation compression zone BC refers to the area along the tire's rolling direction where the tire with the attached accelerometer rolls close to the ground and experiences gradually increasing compressive force, resulting in gradually increasing compression deformation. The grounding deformation stability zone near C refers to the area along the tire's rolling direction where the tire with the attached accelerometer... The tire at the sensor location rolls to the area of ​​greatest deformation due to ground compression in contact with the ground; the ground deformation recovery zone CD segment refers to the area behind the tire in the rolling direction where the tire with the attached accelerometer rolls away from the ground and experiences gradually decreasing compression force, resulting in gradually decreasing compression deformation; the rear non-ground deformation zone DE segment refers to the area behind the tire in the rolling direction where the tire with the attached accelerometer rolls to the area where it is not in contact with the ground but deforms; the rear non-ground no deformation zone EPA segment refers to the area behind the tire in the rolling direction where the tire with the attached accelerometer rolls to the area where it is not in contact with the ground and is without deformation. The contact area includes the ground deformation compression zone BC segment, the area near the ground deformation stability zone C, and the ground deformation recovery zone CD segment; the non-contact area includes the front non-ground no deformation zone APE segment, the front non-ground deformation zone AB segment, the rear non-ground deformation zone DE segment, and the rear non-ground no deformation zone EPA segment; the periodic zone includes the front non-ground deformation zone AB segment, the ground deformation compression zone BC segment, the area near the ground deformation stability zone C, the ground deformation recovery zone CD segment, the rear non-ground deformation zone DE segment, and the rear non-ground no deformation zone EPA segment.

[0065] The tire's front-end non-ground deformation zone AB is located in the transition area between the tire's front-end non-ground deformation zone APE (or EPF) and the tire's ground-contact deformation compression zone BC. Although the tire is not in direct contact with the ground in this area, it is an elastic rubber product. Due to the indirect resistance from the ground during its complete circular motion, the tire gradually deforms. The radial acceleration is the additional acceleration generated by deformation on top of the centripetal acceleration. As the deformation increases, the acceleration generated by deformation also gradually increases, leading to an increasing trend in radial acceleration. The tire's ground-contact deformation compression zone BC begins to contact the ground and gradually increases the contact area. At this point, the tire's tread rolling radius at the sensor attachment position gradually increases, and the centripetal acceleration gradually decreases, thus the radial acceleration also gradually decreases and approaches zero. Near the tire's ground-contact deformation stability zone C, the tire is in complete contact with the ground. At this point, the tire at the sensor attachment position is approximately in contact with the road. As the surface remains parallel, the rolling radius tends to infinity, thus the centripetal acceleration tends to 0, corresponding to the minimum radial acceleration value, typically near 0. In the tire contact deformation recovery zone CD, the tire gradually separates from the ground and the contact area gradually decreases. At this time, the tire tread rolling radius at the sensor attachment position gradually decreases, and the centripetal acceleration gradually increases, thus the radial acceleration gradually increases. The tire rear-end non-contact deformation zone DE is located in the transition area between the tire contact deformation recovery zone CD and the tire rear-end non-contact no-deformation zone EPA (or EPF). In this area, although the tire is not in direct contact with the ground and is not directly squeezed by the ground, due to the indirect resistance of the ground to the complete circular motion, the tire deformation gradually decreases and returns to its original shape. The radial acceleration is the acceleration generated by deformation added to the centripetal acceleration. As the deformation decreases, the acceleration generated by deformation also gradually decreases, resulting in a decreasing trend in radial acceleration.

[0066] In one example, selecting the ground contact time and the ground lift time in the acceleration waveform includes: locating a first inflection point and a second inflection point within one cycle of the acceleration waveform, wherein the cycle corresponds to the time it takes for the tire to roll one revolution; and determining the corresponding times of the first inflection point and the second inflection point in the acceleration waveform as the ground contact time and the ground lift time, respectively.

[0067] In this embodiment, the rigid-flexible coupling kinematic model acquires a linear relationship between the characteristics of acceleration and the second-order gradient of elastic deformation in the corresponding direction. In other words, the characteristics of tire radial acceleration are linearly related to the deformation in the corresponding direction. The acceleration characteristics refer to the amplitude of the tire's radial acceleration obtained from triaxial acceleration measurements, and the corresponding direction refers to the tire's radial direction. At the tire's front and rear ends where it contacts the ground, the tread rubber deformation increases rapidly, and the radius of curvature decreases, causing a sudden increase in radial acceleration. Therefore, the abrupt change in acceleration corresponds to the front and rear endpoints of the contact area. For radial acceleration, the inflection point corresponds to the turning point between contact and non-contact. In the tire's rear non-contact, deformation-free EPA (or EPF) segment, the tire rolls normally, the acceleration sensor is not in contact with the road surface, and there are no significant deformation fluctuations. The tire's radial acceleration value decreases to near the centripetal acceleration value, recovering to a smooth curve, and the value returns to a relatively stable range, such as around 800. Figure 5 As shown, the first inflection point is point B, and the second inflection point is point D.

[0068] In one embodiment of this example, calculating the tire's ground contact angle based on the ground contact time, the ground lift time, and the sampling frequency includes: determining the rolling area of ​​the tire between the ground contact time and the ground lift time as the ground contact area; counting the first number of samples collected by the accelerometer in the ground contact area and the second number of samples collected by the accelerometer during one revolution of the tire based on the sampling frequency; and calculating the tire's ground contact angle based on the first number of samples and the second number of samples.

[0069] For example, the sampling frequency of the accelerometer is known and fixed, such as f = 2 kHz, and can be adjusted as needed. The raw acceleration signal measured during tire rolling is a series of discrete points, meaning the signal is collected once per sampling period Δt according to the sampling frequency, where Δt = 1 / f = 1 / 2000 = 0.0005 s, or 0.5 ms. By counting the number of sampling points m in the contact area and multiplying it by the sampling period of 0.5 ms, the time t of the contact area can be obtained. m , i.e. t m =0.5*m; Similarly, by counting the number of sampling points n in the periodic region and multiplying it by the sampling period of 0.5ms, the periodic time t of the periodic region can be obtained. n , i.e. t n =0.5*n.

[0070] In one example, calculating the tire's ground contact angle based on the first sample number and the second sample number includes: calculating the ratio between the first sample number and the second sample number, and determining the ratio as the ground contact ratio; multiplying the ground contact ratio by the circumferential angle to obtain the tire's ground contact angle.

[0071] Based on the obtained arrival time t m The cycle time t of a tire rolling one revolution n And the tire rotates 360° in one revolution, or the acceleration sensor is at t m t n The data collected, m and n respectively, can be used to obtain the grounding ratio α and the grounding angle θ: Grounding ratio α = t m / t n Alternatively, α = m / n; grounding angle θ = α * 360°.

[0072] Figure 7 This is a schematic diagram showing the imprint lengths of a rotary drum rolling mill and a flat surface rolling mill in an embodiment of the present invention. 9 represents a tire, 10 represents a flat surface rolling mill or road surface, 11 represents a rotary drum rolling mill, and A, B, C, D, E, F are shown in the diagram. Figure 5 and Figure 6 In the diagram, O is the center of the tire, ω is the rotational speed, and θ1 and θ2 are half of the ground contact angle when the tire rolls on a flat surface and a rotary drum rolling machine, respectively.

[0073] In one implementation scenario, the dynamic imprint parameters include the dynamic imprint length. Calculating the dynamic imprint parameters of the tire during rolling based on the grounding angle includes: determining the tire diameter; and calculating the dynamic imprint length L of the tire during rolling on the plane using the following formula:

[0074] L=d*sinθ1;(1)

[0075] Where d is the tire diameter and θ1 is half of the contact angle when the tire rolls on the plane.

[0076] In one implementation scenario, the dynamic imprint parameters include the dynamic maximum compression. Calculating the dynamic imprint parameters of the tire during rolling based on the ground contact angle includes: determining the tire diameter; and calculating the dynamic maximum compression h of the tire during rolling on a plane using the following formula:

[0077] h = d / 2 - d / 2 * cosθ1; (2)

[0078] Where d is the tire diameter and θ1 is half of the contact angle when the tire rolls on the plane.

[0079] Based on the kinematic model of a rigid-flexible coupling intelligent tire, and combining the tire radius with trigonometric functions, the dynamic imprint length L can be calculated using a sine function and the tire diameter. Then, the maximum dynamic compression h of the tire can be obtained using a cosine function. The dynamic imprint length L is... Figure 6 The length of the BCD segment, the dynamic maximum compression amount h is... Figure 7 Length of the CQ segment.

[0080] In another implementation scenario, the dynamic imprint parameters include the dynamic imprint length. Calculating the dynamic imprint parameters of the tire during rolling based on the grounding angle includes: determining the tire diameter; and calculating the dynamic imprint length L of the tire during rolling on the plane using the following formula:

[0081] Where d is the tire diameter, and θ2 is half of the ground contact angle of the tire when it rolls on the rotary drum rolling machine.

[0082] In another implementation scenario, the dynamic imprint parameters include the dynamic maximum compression. Calculating the dynamic imprint parameters of the tire during rolling based on the ground contact angle includes: determining the tire diameter; and calculating the dynamic maximum compression h of the tire during rolling on a plane using the following formula:

[0083] Where d is the tire diameter, and θ2 is half of the ground contact angle of the tire when it rolls on the rotary drum rolling machine.

[0084] The testing equipment for dynamic imprints in this embodiment includes a flat-plate rolling mill and a rotary drum rolling mill. For example... Figure 7 As shown, the planar rolling machine can simulate the working conditions of a tire mounted on a real vehicle and driving on the road, which is closest to the running state of the tire on the real vehicle; the drum rolling machine, because its drum is cylindrical, has a much smaller compression contact area between the tire and the drum during the test than the tire on the actual road surface. The length of the compression contact area in the tire rolling direction is the dynamic imprint length.

[0085] According to the kinematic model of the intelligent tire rigid-flexible coupling described in this patent, under the same test conditions—that is, when the same load, tire pressure, and rotational speed are applied to the test tire on both a flat-plate rolling mill and a rotary drum rolling mill—the dynamic maximum compression h of the tire is equal. The dynamic maximum compression h is... Figure 7 The length of the CQ segment. The principle for calculating the imprint length on both flat-type and rotary drum rolling machines is the same, using a triangular area composed of the tire radius, sinking amount, and ground imprint length.

[0086] Specifically, for a planar rolling mill, the chord length corresponding to the grounding angle 2θ1, i.e., the grounding imprint length L, which is segment BCD, is in triangle OBD.

[0087] L=d*sinθ1; (3)

[0088] Where θ1 is half of the grounding angle of the planar rolling mill.

[0089] For a rotary drum mill, the arc length corresponding to the grounding angle 2θ2 is the length of the grounding imprint. The corresponding chord length S is the KG segment, which is in triangle OKG.

[0090] S = d*sinθ²; (4)

[0091] Where θ2 is half of the grounding angle of the rotary drum rolling mill.

[0092] available,

[0093] Half of the ground contact angle, θ1, and θ2 can be obtained from radial acceleration measurements. Therefore, the length of the tire's ground contact mark on a flat-plate rolling mill is a multiple of the chord length corresponding to the mark length on a rotary drum rolling mill. This multiple is...

[0094] Under the same test conditions, the chord length L corresponding to the tire contact angle 2θ1 on the flat rolling mill and the arc length corresponding to the tire contact angle 2θ2 on the drum rolling mill are compared. Equal, and also equivalent to the arc length on the tire tread circumference corresponding to the ground contact angle 2θ2. In other words, the arc length of the tire is equivalent to the length of the tire's contact patch on the rotary drum rolling mill. (Setting the arc length) arc length Then we have L = C1 = C2; according to the arc length calculation formula, we get:

[0095]

[0096] Combining formula (3), we get: Substituting into formula (5), we get:

[0097]

[0098]

[0099] θ2 is half of the tire contact angle obtained by measuring with a rotary drum rolling mill, and S is the tire chord length corresponding to the contact angle. Then, the dynamic maximum compression h is calculated by formula (2) using L. Thus, the contact mark parameters of the tire on a flat rolling mill or the ground can be obtained by measuring with a rotary drum rolling mill.

[0100] In this embodiment, after calculating the dynamic imprint parameters of the tire during rolling based on the grounding angle, the method further includes: retrieving a preset parameter table, wherein the preset parameter table stores the mapping relationship between the tire's imprint parameters and the vertical force it bears; searching the preset parameter table for a target vertical force that matches the dynamic imprint parameters; and determining the target vertical force as the dynamic load borne by the tire.

[0101] Optionally, the dynamic imprint parameters include the dynamic imprint length L and the dynamic maximum compression h. Based on the obtained dynamic imprint parameters, the tire pressure and rotation speed are set on the tire rolling mill, and different vertical forces are applied to the tire to represent the load borne by the tire. By correlating the vertical forces with the dynamically imprint parameters calculated from the actual tire readings, a parameter table of the vertical forces borne by the tire can be obtained by looking up the dynamic imprint parameters, thus obtaining the load borne by the tire. The specific parameter lookup table is shown in Table 1 below, where length is the dynamic imprint length in mm, compression is the dynamic maximum compression in mm, and load is the load borne by the tire in kg.

[0102] Table 1

[0103]

[0104] The solution in this embodiment obtains the kinematic characteristics of the tire during the rolling process using an acceleration sensor, and then obtains the tire load data based on the dynamic imprint parameter values ​​during the tire movement.

[0105] Figure 8 This is a flowchart illustrating the calculation of the dynamic tire imprint length in an embodiment of the present invention, as shown below. Figure 8 As shown, the process includes: using a tire-rolling drum machine to drive the tire to rotate and collecting radial acceleration data of the tire during the rolling process; dividing the radial acceleration data curve into regions based on a rigid-flexible coupling kinematic tire model to obtain the ground contact and ground lift times; determining the ground contact angle based on the ground contact and ground lift times and the sampling frequency of the acceleration sensor in the embedded module; determining the tire dynamic imprint parameters based on the tire diameter and the ground contact angle; and using physical test models of a flatbed rolling machine and a drum rolling machine, calculating the dynamic imprint of the flatbed rolling machine through the dynamic imprint of the drum rolling machine to simulate the dynamic imprint of a real vehicle tire during road driving and measuring it.

[0106] The solution in this embodiment integrates the aforementioned intelligent tire system, the kinematic model of the intelligent tire's rigid-flexible coupling, and the test method for tire dynamic imprint length onto the vehicle and controller. During vehicle operation, based on the radial acceleration signal measured by the intelligent tire system sensors and combined with the kinematic model of the intelligent tire's rigid-flexible coupling, the actual dynamic imprint length and dynamic maximum compression of the tire during vehicle operation can be obtained through the calculation method of the tire dynamic imprint length. Vehicle operation can be performed on a road surface or on a flatbed or rotary drum machine.

[0107] The solution adopted in this embodiment obtains the tire's load-bearing capacity through dynamic imprint parameters. Based on an intelligent tire system with an internally mounted acceleration sensor, rolling tests are conducted using dynamic rolling testing equipment. The acceleration sensor acquires the tire's kinematic characteristics during rolling, and the dynamic imprint parameter values ​​are calculated based on the kinematic model of the intelligent tire's rigid-flexible coupling. The load borne by the tire is then obtained from these parameter values. This method can simulate a flatbed tester or actual road surface on a rotary drum machine, effectively reducing the cost of building a physical vehicle and helping to solve the problem of large-specification tires, such as engineering tires, not being able to be tested using a flatbed machine.

[0108] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0109] Example 2

[0110] This embodiment also provides a device for calculating tire track parameters, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0111] Figure 9 This is a structural block diagram of a tire imprint parameter calculation device according to an embodiment of the present invention, as shown below. Figure 9 As shown, the device includes:

[0112] The acquisition module 90 is used to acquire the radial acceleration of the tire during the rolling process, which is collected by the acceleration sensor based on the sampling frequency, wherein the acceleration sensor is fixedly built into the target position of the tire;

[0113] The first determining module 92 is used to determine the contact moment and the lift-off moment of the target point during the tire rolling process based on the radial acceleration.

[0114] The first calculation module 94 is used to calculate the grounding angle of the tire based on the grounding time, the grounding time, and the sampling frequency;

[0115] The second calculation module 96 is used to calculate the dynamic imprint parameters of the tire during the rolling process based on the grounding angle.

[0116] Optionally, the first determining module includes: a retrieval unit for retrieving the rigid-flexible coupling kinematic model of the tire, wherein the rigid-flexible coupling kinematic model is a mathematical model of the interaction between the ground and the tire; a generation unit for fitting the values ​​of multiple radial accelerations of the tire during the rolling process based on the rigid-flexible coupling kinematic model to generate a radial acceleration waveform; and a selection unit for selecting the ground contact time and the ground lift-off time in the acceleration waveform.

[0117] Optionally, the selection unit includes: a positioning subunit, used to locate a first inflection point and a second inflection point within one cycle of the acceleration waveform, wherein the cycle corresponds to the time for the tire to roll one revolution; and a determining subunit, used to determine the corresponding times of the first inflection point and the second inflection point in the acceleration waveform as the ground contact time and the ground lift-off time, respectively.

[0118] Optionally, the first calculation module includes: a determination unit, configured to determine the rolling area of ​​the tire between the ground contact time and the ground departure time as the ground contact area; a statistics unit, configured to count the first number of samples collected by the acceleration sensor in the ground contact area and the second number of samples collected by the acceleration sensor during one revolution of the tire based on the sampling frequency; and a calculation unit, configured to calculate the ground contact angle of the tire based on the first number of samples and the second number of samples.

[0119] Optionally, the calculation unit includes: a calculation subunit, used to calculate the ratio between the first sample number and the second sample number, and determine the ratio as the grounding ratio; and an operation subunit, used to multiply the grounding ratio by the circumferential angle to obtain the grounding angle of the tire.

[0120] Optionally, the dynamic imprint parameter includes the dynamic imprint length, and the second calculation module includes: a determining unit for determining the tire diameter; and a first calculation unit for calculating the dynamic imprint length L of the tire during its rolling process on a plane using the following formula: L=d*sinθ1; where d is the tire diameter and θ1 is half of the ground contact angle when the tire rolls on the plane.

[0121] Optionally, the dynamic imprint parameter includes the dynamic imprint length, and the second calculation module includes: a determining unit for determining the tire diameter; and a second calculation unit for calculating the dynamic imprint length L of the tire during its rolling process on a flat surface using the following formula: Where d is the tire diameter, and θ2 is half of the ground contact angle of the tire when it rolls on the rotary drum rolling machine.

[0122] Optionally, the dynamic imprint parameters include the dynamic maximum compression amount. The second calculation module includes: a determination unit for determining the tire diameter; and a third calculation unit for calculating the dynamic maximum compression amount h of the tire during its rolling process on a plane using the following formula: h = d / 2 - d / 2 * cosθ1; where d is the tire diameter and θ1 is half of the ground contact angle when the tire rolls on the plane.

[0123] Optionally, the dynamic imprint parameters include the dynamic maximum compression amount, and the second calculation module includes: a determining unit for determining the tire diameter; and a fourth calculation unit for calculating the dynamic maximum compression amount h of the tire during rolling on a flat surface using the following formula: Where d is the tire diameter, and θ2 is half of the ground contact angle of the tire when it rolls on the rotary drum rolling machine.

[0124] Optionally, the device further includes: a retrieval module, used to retrieve a preset parameter table after the second calculation module calculates the dynamic imprint parameters of the tire during rolling based on the grounding angle, wherein the preset parameter table stores the mapping relationship between the tire's imprint parameters and the vertical force it bears; a search module, used to search the preset parameter table for a target vertical force that matches the dynamic imprint parameters; and a second determination module, used to determine the target vertical force as the dynamic load borne by the tire.

[0125] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0126] Example 3

[0127] Embodiments of the present invention also provide a storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0128] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0129] S1, acquire the radial acceleration of the tire during the rolling process based on the sampling frequency collected by the accelerometer, wherein the accelerometer is fixedly built into the target position of the tire;

[0130] S2, determine the contact moment and lift-off moment of the target point during the tire rolling process based on the radial acceleration;

[0131] S3, calculate the tire's ground contact angle based on the ground contact time, the ground contact time, and the sampling frequency;

[0132] S4, calculate the dynamic imprint parameters of the tire during the rolling process based on the grounding angle.

[0133] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0134] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0135] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0136] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0137] S1, acquire the radial acceleration of the tire during the rolling process based on the sampling frequency collected by the accelerometer, wherein the accelerometer is fixedly built into the target position of the tire;

[0138] S2, determine the contact moment and lift-off moment of the target point during the tire rolling process based on the radial acceleration;

[0139] S3, calculate the tire's ground contact angle based on the ground contact time, the ground contact time, and the sampling frequency;

[0140] S4, calculate the dynamic imprint parameters of the tire during the rolling process based on the grounding angle.

[0141] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0142] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0143] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0144] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0145] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for calculating tire imprint parameters, characterized in that, include: The radial acceleration of the tire during rolling is acquired by an accelerometer based on a sampling frequency, wherein the accelerometer is fixedly embedded at a target point on the tire. The contact point and lift-off point of the target point during the tire rolling process are determined based on the radial acceleration. The ground contact angle of the tire is calculated based on the ground contact time, the ground contact time, and the sampling frequency. The dynamic imprint parameters of the tire during rolling are calculated based on the grounding angle.

2. The method according to claim 1, characterized in that, Determining the contact point and lift-off point of the target point during the tire rolling process based on the radial acceleration includes: Retrieve the rigid-flexible coupling kinematic model of the tire, wherein the rigid-flexible coupling kinematic model is a mathematical model of the interaction between the ground and the tire; Based on the rigid-flexible coupling kinematic model, the values ​​of multiple radial accelerations of the tire during the rolling process are fitted to generate a radial acceleration waveform. Select the grounding time and the ground-leaving time in the acceleration waveform diagram.

3. The method according to claim 2, characterized in that, Selecting the grounding time and the ground-leaving time in the acceleration waveform includes: The first inflection point and the second inflection point are located within one cycle of the acceleration waveform, wherein the cycle corresponds to the time required for the tire to roll one revolution. The corresponding times of the first inflection point and the second inflection point in the acceleration waveform are respectively determined as the grounding time and the ground-leaving time.

4. The method according to claim 1, characterized in that, The calculation of the tire's ground contact angle based on the ground contact time, the ground contact time, and the sampling frequency includes: The rolling area of ​​the tire between the contact point and the takeoff point is defined as the contact area; Based on the sampling frequency, the first number of samples collected by the acceleration sensor in the grounding area and the second number of samples collected by the acceleration sensor during one revolution of the tire are statistically analyzed. The ground contact angle of the tire is calculated based on the first sample number and the second sample number.

5. The method according to claim 4, characterized in that, The calculation of the tire's contact angle based on the first sample number and the second sample number includes: Calculate the ratio between the first sample number and the second sample number, and determine the ratio as the grounding ratio; The ground contact angle of the tire is obtained by multiplying the ground contact ratio by the circumferential angle.

6. The method according to claim 1, characterized in that, The dynamic imprint parameters include the dynamic imprint length, and the calculation of the dynamic imprint parameters of the tire during rolling based on the ground contact angle includes: Determine the tire diameter; The dynamic imprint length L of the tire during its rolling motion on a flat surface is calculated using the following formula: L = d*sinθ1; Where d is the tire diameter and θ1 is half of the contact angle when the tire rolls on the plane.

7. The method according to claim 1, characterized in that, The dynamic imprint parameters include the dynamic imprint length, and the calculation of the dynamic imprint parameters of the tire during rolling based on the ground contact angle includes: Determine the tire diameter; The dynamic imprint length L of the tire during its rolling motion on a flat surface is calculated using the following formula: Where d is the tire diameter, and θ2 is half of the ground contact angle of the tire when it rolls on the rotary drum rolling machine.

8. The method according to claim 1, characterized in that, The dynamic imprint parameters include the dynamic maximum compression. The calculation of the dynamic imprint parameters of the tire during rolling, based on the ground contact angle, includes: Determine the tire diameter; The dynamic maximum compression h of the tire during its rolling motion on a flat surface is calculated using the following formula: h = d / 2 - d / 2 * cosθ1; Where d is the tire diameter and θ1 is half of the contact angle when the tire rolls on the plane.

9. The method according to claim 1, characterized in that, The dynamic imprint parameters include the dynamic maximum compression. The calculation of the dynamic imprint parameters of the tire during rolling, based on the ground contact angle, includes: Determine the tire diameter; The dynamic maximum compression h of the tire during its rolling motion on a flat surface is calculated using the following formula: Where d is the tire diameter, and θ2 is half of the ground contact angle of the tire when it rolls on the rotary drum rolling machine.

10. The method according to claim 1, characterized in that, After calculating the dynamic imprint parameters of the tire during rolling based on the grounding angle, the method further includes: Retrieve a preset parameter table, wherein the preset parameter table stores the mapping relationship between the tire's imprint parameters and the vertical force it bears; Find the target vertical force that matches the dynamic imprint parameters in the preset parameter table; The target vertical force is defined as the dynamic load that the tire can withstand.

11. A device for calculating tire imprint parameters, characterized in that, include: The acquisition module is used to acquire the radial acceleration of the tire during the rolling process, which is collected by the acceleration sensor based on the sampling frequency, wherein the acceleration sensor is fixedly built into the target position of the tire; The first determining module is used to determine the contact moment and lift-off moment of the target point during the tire rolling process based on the radial acceleration. The first calculation module is used to calculate the grounding angle of the tire based on the grounding time, the grounding time, and the sampling frequency; The second calculation module is used to calculate the dynamic imprint parameters of the tire during the rolling process based on the grounding angle.

12. A storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 1 to 10 when it is run.

13. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method as described in any one of claims 1 to 10.

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