Tire wear determination method and apparatus, and device and storage medium

Abstract

A tire wear determination method, and a device and a storage medium. The method comprises: acquiring basic information of a vehicle; acquiring vehicle operation information during the operation of the vehicle; on the basis of the basic information and acceleration information, determining pressure information of each wheel of the vehicle; on the basis of a driving direction, the basic information, speed information and steering information, determining slip information of each wheel of the vehicle; and on the basis of the pressure information of each wheel, the slip information of each wheel, and ground information, determining wear information of each wheel. The wear information of each wheel can be determined separately, thereby avoiding vehicle safety risks caused by the usage of unhealthy tires. Since basic information of a vehicle and vehicle operation information during the operation of the vehicle cover any operating condition of the vehicle, the wear information of each wheel can also be accurately estimated even under large dynamic operating conditions such as emergency braking.

Description

Tire wear determination method, device, equipment and storage medium

[0001] Cross-reference to Related Applications

[0002] The present disclosure claims priority to the Chinese patent application No. 202411348250.4, filed on September 26, 2024, and entitled "Tire wear determination method, device and storage medium", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of vehicle detection, in particular to a tire wear determination method, device, equipment and storage medium. BACKGROUND

[0004] In the field of automobiles, the evaluation of tire wear is of great importance. It is related to driving safety, ensuring that tire performance does not decline due to excessive wear, and preventing accidents. At the same time, the evaluation helps to prolong the service life of the tire, reasonably arrange the replacement period, improve the driving experience, and effectively save maintenance costs.

[0005] In the prior art, the tire wear is usually estimated according to the mileage of the vehicle. However, this tire wear estimation method has a large error, and cannot accurately estimate the wear of the tire under large dynamic conditions such as emergency braking, and also cannot estimate the wear of each tire separately. SUMMARY

[0006] The purpose of the present disclosure is to provide a tire wear determination method, device, equipment and storage medium to solve the problem that the prior art cannot estimate the wear of each tire separately and cannot accurately estimate the wear of the tire under large dynamic conditions such as emergency braking.

[0007] To achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present disclosure are as follows:

[0008] In a first aspect, an embodiment of the present disclosure provides a tire wear determination method, the method comprising:

[0009] obtaining basic information of a vehicle, the basic information of the vehicle comprising: weight, center of mass height, wheelbase, distance from center of mass to front axle, distance from center of mass to rear axle, and track width;

[0010] obtaining vehicle running information in a vehicle running process, the vehicle running information comprising a driving direction of the vehicle, acceleration information, speed information, steering information, and ground information, the acceleration information comprising longitudinal acceleration and lateral acceleration, the speed information comprising yaw angular velocity, reference vehicle speed, actual wheel speed, and side-slip vehicle speed, and the steering information comprising steering angle information of each tire;

[0011] determining pressure information of each wheel of the vehicle according to the basic information and the acceleration information;

[0012] determining slip amount information of each wheel of the vehicle according to the driving direction, the basic information, the speed information, and the steering information, the slip amount information comprising longitudinal slip amount and lateral slip amount;

[0013] determining wear information of each wheel of the vehicle according to the pressure information of each wheel, the slip amount information of each wheel, and the ground information.

[0014] In a possible implementation, the wear information comprises a wear degree.

[0015] The method further comprises:

[0016] judging the wear degree, and outputting alarm information if the wear degree is less than or equal to a preset wear degree threshold, the alarm information being used to indicate that the wheel needs to be replaced.

[0017] In a possible implementation, the determining of the pressure information of each wheel of the vehicle according to the basic information and the acceleration information comprises:

[0018] performing force analysis on the vehicle according to the basic information to determine front axle positive pressure or rear axle positive pressure of the vehicle;

[0019] determining front axle equivalent mass or rear axle equivalent mass of the vehicle according to the front axle positive pressure or the rear axle positive pressure;

[0020] performing torque analysis on the vehicle according to the acceleration information, the basic information, the front axle equivalent mass or the rear axle equivalent mass to determine the pressure information of each wheel of the vehicle.

[0021] In a possible implementation, the determining of the slip amount information of each wheel of the vehicle according to the driving direction, the basic information, the speed information, and the steering information comprises:

[0022] determining body wheel speed and side-slip wheel speed of each wheel of the vehicle according to the driving direction, the basic information, and the speed information;

[0023] determining slip amount information of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel of the vehicle, the side slip wheel speed of each wheel of the vehicle, the steering information and the speed information.

[0024] In a possible implementation, the determining the body wheel speed and the side slip wheel speed of each wheel of the vehicle according to the driving direction, the basic information and the speed information comprises:

[0025] determining the body wheel speed of each wheel of the vehicle according to the driving direction, the wheel track, the reference speed and the yaw rate, the body wheel speed being a reference speed of each wheel in a body coordinate system of the vehicle;

[0026] determining the side slip wheel speed of each wheel of the vehicle according to the side slip speed, the yaw rate and the distance from the center of mass to the front axle or the distance from the center of mass to the rear axle, the side slip wheel speed being a side slip speed of each wheel in the body coordinate system of the vehicle.

[0027] In a possible implementation, the determining the slip amount information of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel of the vehicle, the side slip wheel speed of each wheel of the vehicle, the steering information and the speed information comprises:

[0028] determining the lateral slip amount of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel, the side slip wheel speed of each wheel and the steering information;

[0029] determining the longitudinal slip amount of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel, the side slip wheel speed of each wheel, the steering information and the actual wheel speed.

[0030] In a possible implementation, the ground information comprises: a ground effective adhesion coefficient interpolation coefficient, a wheel normal pressure interpolation coefficient, a wheel slip amount interpolation coefficient, a wear coefficient of a mileage of the vehicle, a ground adhesion coefficient and a driving mileage of the vehicle;

[0031] the determining the wear information of each wheel according to the pressure information of each wheel, the slip amount information of each wheel and the ground information comprises:

[0032] determining a tire wear coefficient of each wheel according to the ground adhesion coefficient, the ground effective adhesion coefficient interpolation coefficient, the wheel normal pressure interpolation coefficient and the wheel slip amount interpolation coefficient;

[0033] determine longitudinal wear information of each wheel according to the longitudinal slip amount of each wheel, the pressure information of each wheel and the tire wear coefficient;

[0034] determine lateral wear information of each wheel according to the lateral slip amount of each wheel, the pressure information of each wheel and the tire wear coefficient;

[0035] determine wear information of each wheel according to the mileage of the vehicle, the wear coefficient of the mileage of the vehicle, the longitudinal wear information of each wheel and the lateral wear information of each wheel.

[0036] In a possible implementation, the determining of the wear information of each wheel according to the mileage of the vehicle, the wear coefficient of the mileage of the vehicle, the longitudinal wear information of each wheel and the lateral wear information of each wheel comprises:

[0037] determine mileage wear information of each wheel according to the mileage of the vehicle and the wear coefficient of the mileage of the vehicle;

[0038] determine movement wear information of each wheel according to the longitudinal wear information of each wheel and the lateral wear information of each wheel;

[0039] determine the wear information of each wheel according to the mileage wear information of each wheel and the movement wear information of each wheel.

[0040] In a second aspect, another embodiment of the present disclosure provides a tire wear determination device, which comprises:

[0041] an acquisition module configured to acquire basic information of a vehicle, wherein the basic information of the vehicle comprises weight, center of mass height, wheelbase, distance from the center of mass to the front axle, distance from the center of mass to the rear axle and track;

[0042] an acquisition module configured to acquire vehicle running information during vehicle running, wherein the vehicle running information comprises driving direction of the vehicle, acceleration information, speed information, steering information and ground information, the acceleration information comprises longitudinal acceleration and lateral acceleration, the speed information comprises yaw angular velocity, reference vehicle speed, actual wheel speed and side-slip vehicle speed, and the steering information comprises steering angle information of each tire when steering;

[0043] a determination module configured to determine pressure information of each wheel of the vehicle according to the basic information and the acceleration information;

[0044] determining, by a determining module, slip information of each wheel of the vehicle according to the driving direction, the basic information, the speed information, and the steering information, the slip information including longitudinal slip and lateral slip;

[0045] determining, by the determining module, wear information of each wheel of the vehicle according to the pressure information of each wheel, the slip information of each wheel, and ground information.

[0046] In a possible implementation, the wear information includes: a wear degree.

[0047] The determining module is further configured to:

[0048] judging the wear degree, and outputting alarm information if the wear degree is less than or equal to a preset wear degree threshold, the alarm information being configured to indicate that the wheel needs to be replaced.

[0049] In a possible implementation, the determining module is specifically configured to:

[0050] performing force analysis on the vehicle according to the basic information to determine front axle normal pressure or rear axle normal pressure of the vehicle;

[0051] determining front axle equivalent mass or rear axle equivalent mass of the vehicle according to the front axle normal pressure or the rear axle normal pressure;

[0052] performing torque analysis on the vehicle according to the acceleration information, the basic information, the front axle equivalent mass or the rear axle equivalent mass to determine the pressure information of each wheel of the vehicle.

[0053] In a possible implementation, the determining module is specifically configured to:

[0054] determining body wheel speed and side slip wheel speed of each wheel of the vehicle according to the driving direction, the basic information, and the speed information;

[0055] determining slip information of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel of the vehicle, the side slip wheel speed of each wheel of the vehicle, the steering information, and the speed information.

[0056] In a possible implementation, the determining module is specifically configured to:

[0057] determining body wheel speed of each wheel of the vehicle according to the driving direction, the wheel track, the reference vehicle speed, and the yaw rate, the body wheel speed being a reference speed of each wheel in a vehicle body coordinate system of the vehicle;

[0058] According to the sideslip speed, the yaw angular velocity, and the distance from the center of mass to the front axle or the distance from the center of mass to the rear axle, a sideslip wheel speed of each wheel of the vehicle is determined, the sideslip wheel speed being a sideslip speed of each wheel in a body coordinate system of the vehicle.

[0059] In a possible implementation, the determining module is specifically configured to:

[0060] According to the driving direction, the body wheel speeds of the wheels, the sideslip wheel speeds of the wheels, and the steering information, a lateral slip amount of each wheel of the vehicle is determined.

[0061] According to the driving direction, the body wheel speeds of the wheels, the sideslip wheel speeds of the wheels, the steering information, and the actual wheel speeds, a longitudinal slip amount of each wheel of the vehicle is determined.

[0062] In a possible implementation, the ground information includes: a ground effective adhesion coefficient interpolation coefficient, a wheel normal pressure interpolation coefficient, a wheel slip amount interpolation coefficient, a vehicle mileage wear coefficient, a ground adhesion coefficient, and a driving mileage of the vehicle.

[0063] The determining module is specifically configured to:

[0064] According to the ground adhesion coefficient, the ground effective adhesion coefficient interpolation coefficient, the wheel normal pressure interpolation coefficient, and the wheel slip amount interpolation coefficient, a tire wear coefficient of each wheel is determined.

[0065] According to the longitudinal slip amount of each wheel, the pressure information of each wheel, and the tire wear coefficient, longitudinal wear information of each wheel is determined.

[0066] According to the lateral slip amount of each wheel, the pressure information of each wheel, and the tire wear coefficient, lateral wear information of each wheel is determined.

[0067] According to the driving mileage of the vehicle, the vehicle mileage wear coefficient, the longitudinal wear information of each wheel, and the lateral wear information of each wheel, wear information of each wheel is determined.

[0068] In a possible implementation, the determining module is specifically configured to:

[0069] According to the driving mileage of the vehicle and the vehicle mileage wear coefficient, mileage wear information of each wheel is determined.

[0070] According to the longitudinal wear information of each wheel and the lateral wear information of each wheel, movement wear information of each wheel is determined.

[0071] The wear information of each wheel is determined according to the mileage wear information of each wheel and the movement wear information of each wheel.

[0072] In a third aspect, another embodiment of the present disclosure provides an electronic device, comprising a processor, a storage medium and a bus, the storage medium stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine readable instructions to perform the steps of the method of any one of the above first aspect.

[0073] In a fourth aspect, another embodiment of the present disclosure provides a storage medium, the storage medium stores a computer program, when the computer program is run by a processor, the steps of the method of any one of the above first aspect are performed.

[0074] The present disclosure has the beneficial effects that: by acquiring the basic information of the vehicle and the vehicle running information in the vehicle running process, and determining the pressure information of each wheel of the vehicle according to the basic information and the acceleration information, and determining the slip amount information of each wheel of the vehicle according to the driving direction, the basic information, the speed information and the steering information, the wear information of each wheel can be determined according to the pressure information of each wheel, the slip amount information of each wheel and the ground information. The wear information of each wheel can be determined respectively, so as to avoid the vehicle safety risk caused by using unhealthy tires, and since the basic information of the vehicle and the vehicle running information in the vehicle running process cover any working condition of the vehicle, the wear information of each wheel can also be accurately estimated in the large dynamic working condition such as emergency braking. BRIEF DESCRIPTION OF DRAWINGS

[0075] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0076] Fig. 1 is a flowchart of a tire wear determination method provided by an embodiment of the present disclosure;

[0077] Fig. 2 is a flowchart of determining the pressure information of each wheel of the vehicle in the tire wear determination method provided by an embodiment of the present disclosure;

[0078] Fig. 3 is a force analysis diagram for determining the front axle positive pressure or the rear axle positive pressure of the vehicle in the tire wear determination method provided by an embodiment of the present disclosure;

[0079] FIG. 4 is a force analysis diagram for determining pressure information of each wheel of the vehicle in the tire wear determination method according to an embodiment of the present disclosure;

[0080] FIG. 5 is a flow diagram for determining side slip wheel speed and slip amount information of each wheel of the vehicle in the tire wear determination method according to an embodiment of the present disclosure;

[0081] FIG. 6 is a flow diagram for determining body wheel speed and side slip wheel speed of each wheel of the vehicle in the tire wear determination method according to an embodiment of the present disclosure;

[0082] FIG. 7 is a speed vector analysis diagram for determining body wheel speed of each wheel of the vehicle in the tire wear determination method according to an embodiment of the present disclosure;

[0083] FIG. 8 is a flow diagram for determining slip amount information of each wheel of the vehicle in the tire wear determination method according to an embodiment of the present disclosure;

[0084] FIG. 9 is a speed vector analysis diagram for determining slip amount information of each wheel of the vehicle in the tire wear determination method according to an embodiment of the present disclosure;

[0085] FIG. 10 is a flow diagram for determining wear information of each wheel in the tire wear determination method according to an embodiment of the present disclosure;

[0086] FIG. 11 is another flow diagram for determining wear information of each wheel in the tire wear determination method according to an embodiment of the present disclosure;

[0087] FIG. 12 is a structural diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0088] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. It should be understood that the drawings in the present disclosure merely serve the purpose of illustration and description, and are not used to limit the scope of protection of the present disclosure. In addition, it should be understood that the schematic drawings are not drawn according to the actual proportions. The flow diagrams in the present disclosure show the operations implemented according to some embodiments of the present disclosure. It should be understood that the operations of the flow diagrams can not be implemented in sequence, and the steps without logical context relationship can be reversed in sequence or implemented simultaneously. In addition, one or more other operations can be added to the flow diagram or removed from the flow diagram under the guidance of the present disclosure by those skilled in the art.

[0089] In addition, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The components of the embodiments of the present disclosure described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the claimed present disclosure, but only represents selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0090] It should be noted that the term "comprising" will be used in the embodiments of the present disclosure to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0091] The prior art generally estimates the wear of the tire according to the driving mileage of the vehicle. However, this tire wear estimation method has a large error and cannot accurately estimate the wear of the tire under large dynamic conditions such as emergency braking, and in addition, cannot estimate the wear of each tire separately.

[0092] Based on the above problems, the embodiments of the present disclosure provide a tire wear determination method, by obtaining the basic information of the vehicle and the vehicle running information in the vehicle running process, and determining the pressure information of each wheel of the vehicle according to the basic information and the acceleration information, and determining the slip amount information of each wheel of the vehicle according to the driving direction, the basic information, the speed information and the steering information, so that the wear information of each wheel can be determined according to the pressure information of each wheel, the slip amount information of each wheel and the ground information. The wear of each wheel can be estimated separately, and since the basic information of the vehicle and the vehicle running information in the vehicle running process cover any working condition of the vehicle, the wear of the tire can also be accurately estimated under large dynamic conditions such as emergency braking.

[0093] It is worth noting that the tire wear determination method provided by the embodiments of the present disclosure can be deployed in the control system of the vehicle, so that the control system of the vehicle can determine the wear of each tire of the vehicle by using the tire wear determination method provided by the embodiments of the present disclosure during the vehicle running process, thereby effectively avoiding the safety risks caused by using unhealthy tires.

[0094] It is worth noting that the tire wear determination method provided by the embodiments of the present disclosure can also be deployed in the cloud server, so that the cloud server can execute the tire wear determination method provided by the embodiments of the present disclosure to determine the wear of each tire of the vehicle by interacting with the vehicle during the vehicle running process, thereby effectively avoiding the safety risks caused by using unhealthy tires.

[0095] The tire wear determination method provided by the embodiments of the present disclosure is described in detail below in combination with multiple embodiments.

[0096] FIG. 1 is a flowchart of a tire wear determination method provided by an embodiment of the present disclosure. Referring to FIG. 1, the execution subject of the method can be any electronic device with processing capability, such as the control system of the vehicle or a cloud server. The method includes the following steps.

[0097] S101, obtaining the basic information of the vehicle.

[0098] It can be understood that when determining the tire wear of the vehicle, the basic information of the vehicle can be obtained before or during the operation of the vehicle. The basic information of the vehicle includes the weight m, the height of the center of mass h, the wheelbase L, the distance from the center of mass to the front axle Lf, the distance from the center of mass to the rear axle Lr, and the track w.

[0099] The weight refers to the weight of the vehicle, the height of the center of mass refers to the height of the center of mass of the vehicle, the wheelbase refers to the distance from the center of the front axle to the center of the rear axle, the distance from the center of mass to the front axle refers to the horizontal distance from the center of mass of the vehicle to the front axle (i.e., the straight line where the front wheel axis is located), the distance from the center of mass to the rear axle refers to the horizontal distance from the center of mass of the vehicle to the rear axle (i.e., the straight line where the rear wheel axis is located), and the track refers to the distance between the center lines of the tracks left by the wheels on the vehicle support plane (i.e., the ground).

[0100] Optionally, the control system of the vehicle or the cloud server can interact with the electronic stability system (Electronic Stability Control System, ESC) of the vehicle to obtain the basic information of the vehicle.

[0101] S102, obtaining the vehicle running information during the operation of the vehicle.

[0102] It can be understood that in the process of determining the tire wear of the vehicle, the vehicle running information during the running of the vehicle is acquired during the running of the vehicle. The vehicle running information includes the driving direction veh_dir of the vehicle, acceleration information, speed information, steering information, and ground information. The acceleration information includes longitudinal acceleration ax and lateral acceleration ay. The speed information includes yaw rate Yawrate, reference vehicle speed vxVehRef, actual wheel speed (left front wheel actual wheel speed Speed_FL, right front wheel actual wheel speed Speed_FR, left rear wheel actual wheel speed Speed_RL, and right rear wheel actual wheel speed Speed_RR), and side slip vehicle speed vySlip. The steering information includes the steering angle information of each tire (left front wheel steering angle WheelAngle_FL, right front wheel steering angle WheelAngle_FR, left rear wheel steering angle WheelAngle_RL, and right rear wheel steering angle WheelAngle_RR) when the driver turns the steering wheel.

[0103] The driving direction of the vehicle refers to whether the current running direction of the vehicle is forward or backward. The longitudinal acceleration refers to the acceleration of the vehicle in the forward direction (i.e., the longitudinal direction) during driving. The lateral acceleration refers to the acceleration of the vehicle in the direction perpendicular to the driving direction of the vehicle (i.e., the lateral direction) during driving. The yaw rate refers to the rate of change of the angle per unit time when the vehicle is turning. The reference vehicle speed refers to the reference vehicle speed used for calculation and control in the anti-lock braking system (ABS) and other vehicle control systems. The actual wheel speed refers to the actual rotational speed of the vehicle wheel during driving. The side slip vehicle speed refers to the speed of the vehicle when the vehicle is side slipping. The steering angle information of each tire refers to the change in the angle of the front and rear wheels of the vehicle relative to the straight driving state of the vehicle when the driver turns the steering wheel. The ground information refers to parameters that affect the driving performance of the vehicle, such as the ground adhesion coefficient.

[0104] Optionally, the control system of the vehicle or the cloud server can interact with the electronic stability control system (ESC) of the vehicle to acquire the vehicle running information during the running of the vehicle.

[0105] Optionally, the above step S101 and the present step can be executed simultaneously or S101 can be executed first and then S102.

[0106] S103, determining the pressure information of each wheel of the vehicle according to the basic information and the acceleration information.

[0107] It can be understood that when determining the tire wear of the vehicle, the tire wear is aggravated by the tire pressure of each tire of the vehicle being too high or too low, and the tire wear is also aggravated by the pressure of each tire of the vehicle being unbalanced. Therefore, after obtaining the basic information and the acceleration information of the vehicle, the pressure information of each wheel of the vehicle can be determined first, that is, the pressure information of each wheel is determined respectively.

[0108] The pressure information of each wheel of the vehicle can refer to the pressure acting on each wheel of the vehicle and perpendicular to the contact surface of the wheel, that is, the normal pressure of each wheel.

[0109] Alternatively, the force analysis can be performed on each wheel or each axle of the vehicle respectively, and the pressure information of each wheel can be calculated respectively according to the basic information and the acceleration information.

[0110] S104, determining the slip information of each wheel of the vehicle according to the driving direction, the basic information, the speed information and the steering information.

[0111] It can be understood that the tire wear is also aggravated by the side slip state of the vehicle. When determining the tire wear of the vehicle, the dynamic characteristics of the wheels during driving, especially the lateral slip, also need to be considered. Therefore, the slip information of each wheel of the vehicle can be calculated according to the driving direction, the basic information, the speed information and the steering information, so that the dynamic characteristics of each wheel during driving can be considered through the slip information of each wheel of the vehicle, and the wear condition of each wheel can be accurately determined.

[0112] Alternatively, the side slip speed of each wheel of the vehicle can be calculated according to the driving direction, the basic information and the speed information of the vehicle respectively, so that the slip information of each wheel can be calculated according to the steering information of the vehicle and the side slip speed of each wheel.

[0113] The slip information of each wheel includes the longitudinal slip and the lateral slip. Specifically, the longitudinal slip refers to the quantitative representation of the relative sliding distance or the sliding degree between the tire and the road surface in the driving direction (i.e., the longitudinal direction) during driving of the vehicle, and the lateral slip refers to the quantitative representation of the lateral sliding phenomenon of the wheel caused by improper positioning parameters, tire wear, road conditions and other factors during driving of the vehicle.

[0114] S105, determining the wear information of each wheel according to the pressure information, the slip information and the ground information of each wheel.

[0115] It can be understood that after obtaining the pressure information of each wheel and the slip amount information of each wheel, the parameters affecting the driving performance of the vehicle during driving of the vehicle also need to be considered when determining the tire wear of the vehicle, that is, the ground information during driving of the vehicle also needs to be considered, so that the wear information of each wheel can be accurately determined.

[0116] Optionally, the wear information of each wheel can be calculated respectively according to the pressure information of each wheel, the slip amount information of each wheel and the ground information.

[0117] The wear information of each wheel refers to the wear condition of each wheel of the vehicle, which can be represented by the wear degree or the remaining amount of wear of each wheel.

[0118] Optionally, after obtaining the wear information of each wheel, the wear information of each wheel can also be output to the infotainment system of the vehicle, so that the wear information of each wheel can be displayed in real time on the infotainment system.

[0119] In this embodiment, by obtaining the basic information of the vehicle and the vehicle running information during running of the vehicle, and determining the pressure information of each wheel of the vehicle according to the basic information and the acceleration information, and determining the slip amount information of each wheel of the vehicle according to the driving direction, the basic information, the speed information and the steering information, the wear information of each wheel can be determined according to the pressure information of each wheel, the slip amount information of each wheel and the ground information. The wear information of each wheel can be determined respectively, so that the vehicle safety risk caused by using unhealthy tires can be avoided, and since the basic information of the vehicle and the vehicle running information during running of the vehicle cover any working condition of the vehicle, the wear information of each wheel can also be accurately estimated in a large dynamic working condition such as emergency braking.

[0120] In a possible implementation, the wear information includes a wear degree, and the tire wear determination method provided by the embodiment of the disclosure further includes:

[0121] The wear degree is judged, and if the wear degree is less than or equal to a preset wear degree threshold, an alarm information is output.

[0122] Optionally, the wear degree refers to the remaining amount of wear degree, and after obtaining the wear degree, the electronic device can also judge the wear degree of each wheel respectively, and if the wear degree of a certain wheel is less than or equal to a preset wear degree threshold, an alarm information is output to the infotainment system, wherein the alarm information is used to indicate that the wheel needs to be replaced.

[0123] By judging the wear degree, the vehicle can output an alarm information, so that the driver can replace the tire in time, avoid the vehicle safety risk caused by using unhealthy tires, and effectively solve the tire replacement anxiety of the driver.

[0124] FIG. 2 is a flow diagram illustrating a method for determining pressure information of each wheel of a vehicle in a tire wear determination method according to an embodiment of the present disclosure.

[0125] In one possible implementation, referring to FIG. 2, the determination of the pressure information of each wheel of the vehicle according to the basic information and the acceleration information in step S103 can be performed according to the following steps, specifically including:

[0126] S201, performing force analysis on the vehicle according to the basic information to determine the front axle normal pressure or the rear axle normal pressure of the vehicle.

[0127] It can be understood that, when determining the pressure information of each wheel, since the distribution of the total weight of the vehicle between the front axle and the rear axle affects the pressure borne by each wheel, when determining the pressure information of each wheel, force analysis can be performed on the vehicle according to the axle on which the wheel is located to determine the front axle normal pressure or the rear axle normal pressure of the vehicle, so as to determine the pressure information of each wheel based on the front axle normal pressure or the rear axle normal pressure of the vehicle.

[0128] In the formula, Fz_f is the front axle normal pressure of the vehicle, and Fz_r is the rear axle normal pressure of the vehicle.

[0129] Optionally, if the pressure information of the left front wheel or the right front wheel of the vehicle is currently determined, force analysis can be performed on the front axle of the vehicle according to the basic information to calculate the front axle normal pressure of the vehicle.

[0130] Optionally, if the pressure information of the left rear wheel or the right rear wheel of the vehicle is currently determined, force analysis can be performed on the rear axle of the vehicle according to the basic information to calculate the rear axle normal pressure of the vehicle.

[0131] For example, FIG. 3 is a force analysis diagram illustrating a method for determining the front axle normal pressure or the rear axle normal pressure of the vehicle in a tire wear determination method according to an embodiment of the present disclosure. Referring to FIG. 3, when the vehicle is moving, it is assumed that the vehicle is moving in a straight line at acceleration, and the longitudinal acceleration is ax (positive in the direction of the front of the vehicle). According to theoretical mechanics, a virtual inertia force m*ax (in the opposite direction of ax) can be set at the center of mass to perform force balance analysis. Taking the front axle as an example, the force analysis diagram is shown in FIG. 3. The front axle normal pressure Fz_f and the rear axle normal pressure Fz_r can be determined as shown in the following formulas (1) and (2): Fz_f*L = mg*Lr - m*ax*h (1) Fz_r*L = mg*Lf + m*ax*h (2)

[0132] Wherein, L is wheelbase, g is gravity acceleration, m is weight, Lf is the distance from the center of mass to the front axle, Lr is the distance from the center of mass to the rear axle, ax is longitudinal acceleration, and h is the center of mass height.

[0133] S202, determining the front axle equivalent mass or the rear axle equivalent mass of the vehicle according to the front axle normal pressure or the rear axle normal pressure.

[0134] Optionally, if the pressure information of the left front wheel or the right front wheel of the vehicle is currently determined, after the front axle normal pressure Fz_f is obtained, the front axle equivalent mass m_f of the vehicle can be calculated based on the above formula (1) as shown in the following formula (3): m_f=Fz_f / g=m*Lr / L-m*ax*h / (g*L)(3)

[0135] Wherein, L is wheelbase, g is gravity acceleration, m is weight, Lr is the distance from the center of mass to the rear axle, ax is longitudinal acceleration, and h is the center of mass height.

[0136] Optionally, if the pressure information of the left rear wheel or the right rear wheel of the vehicle is currently determined, after the rear axle normal pressure Fz_r is obtained, the rear axle equivalent mass m_r of the vehicle can be calculated based on the above formula (2) as shown in the following formula (4): m_r=Fz_r / g=m*Lf / L+m*ax*h / (g*L)(4)

[0137] Wherein, L is wheelbase, g is gravity acceleration, m is weight, Lf is the distance from the center of mass to the front axle, ax is longitudinal acceleration, and h is the center of mass height.

[0138] S203, performing torque analysis on the vehicle according to the acceleration information, the basic information, the front axle equivalent mass or the rear axle equivalent mass, to determine the pressure information of each wheel of the vehicle.

[0139] Optionally, after the front axle equivalent mass or the rear axle equivalent mass of the vehicle is obtained, torque analysis can be performed on the vehicle according to the acceleration information, the basic information, the front axle equivalent mass or the rear axle equivalent mass, to calculate the pressure information of each wheel of the vehicle.

[0140] Optionally, if the pressure information of the left front wheel or the right front wheel of the vehicle is currently determined, torque analysis can be performed on the vehicle according to the acceleration information, the basic information, and the front axle equivalent mass, to calculate the pressure information of each wheel of the vehicle.

[0141] Optionally, if the pressure information of the left rear wheel or the right rear wheel of the vehicle is currently determined, torque analysis can be performed on the vehicle according to the acceleration information, the basic information, and the rear axle equivalent mass, to calculate the pressure information of each wheel of the vehicle.

[0142] For example, FIG. 4 is a force analysis diagram for determining the pressure information of each wheel of the vehicle in the tire wear determination method provided by the embodiment of the present disclosure. Referring to FIG. 4, the front axle is analyzed when the vehicle is performing a steering motion. The lateral acceleration is ay (positive to the left). According to theoretical mechanics, a virtual inertia force m_f*ay (in the opposite direction of ay) can be set at the center of mass. The front axle force diagram is shown in FIG. 4. According to torque balance, the left front wheel pressure information FzWheel_FL and the right front wheel pressure information FzWheel_FR can be obtained as shown in the following formulas (5)-(6): FzWheel_FL*w+m_f*ayh-m_f*g*w / 2=0(5) FzWheel_FR*w-m_f*ay*h-m_f*g*w / 2=0(6)

[0143] where w is the wheel track, ay is the lateral acceleration, m_f is the front axle equivalent mass, g is the gravitational acceleration, and h is the center of mass height.

[0144] For example, the front axle equivalent mass m_f of the vehicle obtained in the above step S202 is substituted into the above formulas (5)-(6), and the left front wheel pressure information FzWheel_FL and the right front wheel pressure information FzWheel_FR can be obtained as shown in the following formulas (7)-(8): FzWheel_FL=0.5*m*g*Lr / L-0.5*m*ax*h / L-m*ay*Lr*h / (L*w)+m*ax*ay*h^2 / (L*w*g)(7) FzWheel_FR=0.5*m*g*Lr / L-0.5*m*ax*h / L+m*ay*Lr*h / (L*w)-m*ax*ay*h^2 / (L*w*g)(8)

[0145] where L is the wheelbase, g is the gravitational acceleration, m is the weight, Lr is the distance from the center of mass to the rear axle, ax is the longitudinal acceleration, h is the center of mass height, w is the wheel track, and ay is the lateral acceleration.

[0146] For example, the rear axle is continuously analyzed, and according to torque balance, the left rear wheel pressure information FzWheel_RL and the right rear wheel pressure information FzWheel_RR can be obtained as shown in the following formulas (9)-(10): FzWheel_RL=0.5*m*g*Lf / L+0.5*m*ax*h / L-m*ay*Lf*h / (L*w)-m*ax*ay*h^2 / (L*w*g)(9) FzWheel_RR=0.5*m*g*Lf / L+0.5*m*ax*h / L+m*ay*Lf*h / (L*w)+m*ax*ay*h^2 / (L*w*g)(10)

[0147] Wherein, L is the wheel base, g is the gravity acceleration, m is the weight, Lf is the distance from the center of mass to the front axle, ax is the longitudinal acceleration, h is the center of mass height, w is the wheel track, and ay is the lateral acceleration.

[0148] By the basic information, the front axle normal pressure or the rear axle normal pressure of the vehicle is obtained through force analysis of the vehicle, and the front axle equivalent center of mass or the rear axle equivalent center of mass of the vehicle is determined according to the front axle normal pressure or the rear axle normal pressure, so that the pressure information of each wheel of the vehicle can be determined through torque analysis of the vehicle according to the acceleration information, the basic information, the front axle equivalent center of mass or the rear axle equivalent center of mass, and the pressure information of each wheel of the vehicle under complex working conditions such as turning and lane changing can be accurately calculated, so as to accurately determine the wear information of each wheel.

[0149] FIG. 5 is a flowchart illustrating a method for determining the side slip wheel speed and the slip amount information of each wheel of the vehicle in the tire wear determination method according to the embodiments of the present disclosure.

[0150] In a possible implementation, referring to FIG. 5, the step S104 of determining the slip amount information of each wheel of the vehicle according to the driving direction, the basic information, the speed information and the steering information can be performed according to the following steps, specifically including:

[0151] S501, determining the body wheel speed and the side slip wheel speed of each wheel of the vehicle according to the driving direction, the basic information and the speed information.

[0152] It can be understood that when determining the tire wear of the vehicle, the dynamic characteristics of the wheels during driving, especially the lateral slip, need to be considered. Since the wheels are subjected to longitudinal and lateral forces during driving, the side slip wheel speed directly affects the rolling state of the wheels, and further affects the calculation of the longitudinal slip amount. Therefore, the body wheel speed and the side slip wheel speed of each wheel of the vehicle can be determined first, which helps to more accurately reflect the motion state of the wheels during driving and improve the accuracy of the calculation of the longitudinal slip amount.

[0153] Optionally, the vehicle driving speed in the body coordinate system can be determined according to the driving direction, the basic information and the speed information, and then converted to each wheel end, so as to determine the body wheel speed and the side slip wheel speed of each wheel of the vehicle. The body wheel speed is the reference speed of each wheel in the body coordinate system of the vehicle. The side slip wheel speed is the sliding speed component perpendicular to the driving direction of the vehicle due to the lateral force during driving.

[0154] S502, determining the slip amount information of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel of the vehicle, the side slip wheel speed of each wheel of the vehicle, the steering information and the speed information.

[0155] It can be understood that after the side slip wheel speeds of the wheels of the vehicle are obtained, the contact force and the friction coefficient of the wheels with the ground will change under different driving directions and different steering information, which will affect the slip of the wheels. Therefore, when determining the slip amount information of the wheels of the vehicle, the driving direction and the steering information also need to be considered, so that the slip amount information of the wheels of the vehicle can be accurately determined.

[0156] Optionally, after the side slip wheel speeds of the wheels of the vehicle are obtained, the longitudinal slip amount and the lateral slip amount of different wheels can be determined according to different driving directions and different steering information.

[0157] By the driving direction, the basic information and the speed information, the body wheel speed and the side slip wheel speed of the wheels of the vehicle are determined, and according to the driving direction, the body wheel speed and the side slip wheel speed of the wheels of the vehicle, the steering information and the speed information, the longitudinal slip amount and the lateral slip amount of the wheels of the vehicle are determined, so that the slip amount information of the wheels of the vehicle under complex working conditions such as turning and lane changing can be accurately calculated, and the accurate determination of the wear information of the wheels can be realized.

[0158] FIG. 6 is a flow diagram for determining the body wheel speed and the side slip wheel speed of the wheels of the vehicle in the tire wear determination method provided by the embodiment of the present disclosure.

[0159] In a possible implementation, with reference to FIG. 6, when the body wheel speed and the side slip wheel speed of the wheels of the vehicle are determined according to the driving direction, the basic information and the speed information in the step S501, the following steps can be performed, specifically including:

[0160] S601, determining the body wheel speed of the wheels of the vehicle according to the driving direction, the wheel track, the reference speed and the yaw rate.

[0161] Optionally, the body wheel speed of the wheels of the vehicle can be calculated according to the current driving direction of the vehicle, the wheel track, the reference speed and the yaw rate. The body wheel speed is the reference speed of the wheels in the body coordinate system of the vehicle.

[0162] For example, FIG. 7 is a speed vector analysis diagram for determining the body wheel speed of the wheels of the vehicle in the tire wear determination method provided by the embodiment of the present disclosure. With reference to FIG. 7, the speed vector analysis of the vehicle can determine the reference speed of the wheels in the body coordinate system of the vehicle when the driving direction of the vehicle is forward, that is, the body wheel speed vxVehRef_FL of the left front wheel is as shown in the following formula (11):

[0163] vxVehRef_FL = vxVehRef - 0.5 * w * Yawrate (15)

[0164] vxVehRef_RL = vxVehRef + 0.5 * w * Yawrate (17)

[0165] vxVehRef_RR = vxVehRef - 0.5 * w * Yawrate (18)

[0166] vxVehRef_FL = vxVehRef - 0.5 * w * Yawrate (15)

[0167] vxVehRef_FR = vxVehRef - 0.5 * w * Yawrate (16)

[0168] vxVehRef_RL = vxVehRef + 0.5 * w * Yawrate (17)

[0169] vxVehRef_RR = vxVehRef - 0.5 * w * Yawrate (18)

[0170] wherein vxVehRef is the reference vehicle speed obtained in step S102, w is the wheel base, and Yawrate is the yaw rate.

[0171] S602, determining the side slip wheel speed of each wheel of the vehicle according to the side slip vehicle speed, the yaw rate, and the distance from the center of mass to the front axle or the distance from the center of mass to the rear axle.

[0172] Optionally, the side slip wheel speed of each wheel of the vehicle can be calculated according to the side slip vehicle speed, the yaw rate, and the distance from the center of mass to the front axle or the distance from the center of mass to the rear axle. The side slip wheel speed is the side slip speed of each wheel in the vehicle body coordinate system.

[0173] Exemplarily, the side slip wheel speed vySlip_FL of the left front wheel can be calculated using the following formula (19):

[0174] Exemplarily, the side slip wheel speed vySlip_FR of the right front wheel can be calculated using the following formula (20):

[0175] Exemplarily, the side slip wheel speed vySlip_RL of the left rear wheel can be calculated using the following formula (21):

[0176] Exemplarily, the side slip wheel speed vySlip_RR of the right rear wheel can be calculated using the following formula (22):

[0177] wherein vySlip is the side slip speed obtained in the step S102, Lf is the distance from the mass center to the front axle, Lr is the distance from the mass center to the rear axle, and Yawrate is the yaw rate.

[0178] FIG. 8 is a flow diagram of determining the slip information of each wheel of the vehicle in the tire wear determination method according to an embodiment of the present disclosure.

[0179] In a possible implementation, with reference to FIG. 8, the step S502 of determining the slip information of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel of the vehicle, the side slip wheel speed of each wheel of the vehicle, the steering information and the speed information comprises:

[0180] S801, determining the lateral slip of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel, the side slip wheel speed of each wheel and the steering information.

[0181] It can be understood that when determining the slip information of each wheel of the vehicle, the body wheel speed and the side slip wheel speed need to be converted from the body coordinate system to the tire coordinate system, and therefore, the speed vector analysis can be performed on each wheel according to the difference of the wheels, so as to determine the lateral slip and the longitudinal slip of the wheel, and to determine the slip information of the wheel.

[0182] Exemplarily, FIG. 9 is a schematic diagram of a speed vector analysis for determining the slip amount information of each wheel of the vehicle in the tire wear determination method provided by the embodiment of the present disclosure. Referring to FIG. 9, the left front wheel is taken as an example. When the driving direction of the vehicle is forward, the lateral slip amount vywheel FL of the left front wheel can be calculated by using the following formula (23):

[0183] Exemplarily, when the driving direction of the vehicle is backward, the lateral slip amount vywheel FL of the left front wheel can be calculated by using the following formula (24):

[0184] Exemplarily, when the driving direction of the vehicle is forward, the lateral slip amount vywheel FR of the right front wheel can be calculated by using the following formula (25):

[0185] Exemplarily, when the driving direction of the vehicle is backward, the lateral slip amount vywheel FR of the right front wheel can be calculated by using the following formula (26):

[0186] Exemplarily, when the driving direction of the vehicle is forward, the lateral slip amount vywheel RL of the left rear wheel can be calculated by using the following formula (27):

[0187] Exemplarily, when the driving direction of the vehicle is backward, the lateral slip amount vywheel RL of the left rear wheel can be calculated by using the following formula (28):

[0188] Exemplarily, when the driving direction of the vehicle is forward, the lateral slip amount vywheel_RR of the right rear wheel can be calculated using the following formula (29): vywheel_RR = -vxVehRef_RR * sinWheelAngle_RR + vySlip_RR * cosWheelAngle_RR (29)

[0189] Exemplarily, when the driving direction of the vehicle is backward, the lateral slip amount vywheel_RR of the right rear wheel can be calculated using the following formula (30): vywheel_RR = vxVehRef_RR * sinWheelAngle_RR + vySlip_RR * cosWheelAngle_RR (30)

[0190] wherein WheelAngle_FL is the left front wheel steering angle, WheelAngle_FR is the right front wheel steering angle, WheelAngle_RL is the left rear wheel steering angle, and WheelAngle_RR is the right rear wheel steering angle.

[0191] S802, determining the longitudinal slip amount of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel, the side slip wheel speed of each wheel, the steering information and the actual wheel speed.

[0192] Optionally, the reference wheel speed of each wheel of the vehicle in the coordinate system of each wheel can be calculated according to the driving direction, the body wheel speed of each wheel, the side slip wheel speed of each wheel and the steering information, and the longitudinal slip amount of each wheel can be calculated according to the actual wheel speed and the reference wheel speed.

[0193] Exemplarily, continuing to refer to FIG. 9, taking the left front wheel as an example, when the driving direction of the vehicle is forward, the reference wheel speed vxwheel_FL of the left front wheel can be calculated using the following formula (31): vxwheel_FL = vxVehRef_FL * cosWheelAngle_FL + vySlip_FL * sinWheelAngle_FL (31)

[0194] Exemplarily, when the driving direction of the vehicle is backward, the reference wheel speed vxwheel_FL of the left front wheel can be calculated using the following formula (32): vxwheel_FL = vxVehRef_FL * cosWheelAngle_FL - vySlip_FL * sinWheelAngle_FL (32)

[0195] Exemplarily, when the driving direction of the vehicle is forward, the reference wheel speed vxwheel FR of the right front wheel can be calculated using the following formula (33):

[0196] Exemplarily, when the driving direction of the vehicle is backward, the reference wheel speed vxwheel FR of the right front wheel can be calculated using the following formula (34):

[0197] Exemplarily, when the driving direction of the vehicle is forward, the reference wheel speed vxwheel RL of the left rear wheel can be calculated using the following formula (35):

[0198] Exemplarily, when the driving direction of the vehicle is backward, the reference wheel speed vxwheel RL of the left rear wheel can be calculated using the following formula (36):

[0199] Exemplarily, when the driving direction of the vehicle is forward, the reference wheel speed vxwheel RR of the right rear wheel can be calculated using the following formula (37):

[0200] Exemplarily, when the driving direction of the vehicle is backward, the reference wheel speed vxwheel RR of the right rear wheel can be calculated using the following formula (38):

[0201] wherein WheelAngle FL is the left front wheel steering angle, WheelAngle FR is the right front wheel steering angle, WheelAngle RL is the left rear wheel steering angle, and WheelAngle RR is the right rear wheel steering angle.

[0202] Exemplarily, the longitudinal slip amount Slip FL of the left front wheel can be calculated using the following formula (39): Slip FL = Speed FL - vxwheel FL (39)

[0203] Exemplarily, the longitudinal slip amount Slip FR of the right front wheel can be calculated using the following formula (40): Slip FR = Speed FR - vxwheel FR (40)

[0204] Exemplarily, the longitudinal slip amount Slip RL of the left rear wheel can be calculated using the following formula (41): Slip RL = Speed RL - vxwheel RL (41)

[0205] Exemplarily, the longitudinal slip amount Slip RR of the right rear wheel can be calculated using the following formula (42): Slip RR = Speed RR - vxwheel RR (42)

[0206] wherein Speed FL is the actual wheel speed of the left front wheel, Speed FR is the actual wheel speed of the right front wheel, Speed RL is the actual wheel speed of the left rear wheel, and Speed RR is the actual wheel speed of the right rear wheel.

[0207] In a possible implementation, the ground information comprises: a ground effective adhesion coefficient interpolation coefficient a mu, a wheel normal pressure interpolation coefficient b Fz, a wheel slip amount interpolation coefficient c slip, a vehicle mileage wear coefficient d s, a ground adhesion coefficient Mu, and a vehicle driving mileage Odo.

[0208] Optionally, the ground effective adhesion coefficient interpolation coefficient a mu refers to an interpolation parameter used for calculating or estimating the ground effective adhesion coefficient under different conditions.

[0209] Optionally, the wheel normal pressure interpolation coefficient b Fz refers to an interpolation parameter used for adjusting or estimating the normal pressure (Fz) between the wheel and the ground.

[0210] Optionally, the wheel slip amount interpolation coefficient c slip refers to an interpolation parameter used for adjusting or estimating the wheel slip amount.

[0211] Optionally, the vehicle mileage wear coefficient d s refers to a coefficient reflecting the relationship between the vehicle driving mileage and the wear degree of the tire or the vehicle component.

[0212] Optionally, the ground adhesion coefficient Mu refers to a quantitative representation of the friction force between the road surface and the vehicle tire.

[0213] Optionally, the vehicle driving mileage Odo refers to the total distance recorded by the car since the new tire is installed.

[0214] FIG. 10 is a flowchart illustrating a method for determining tire wear information of each wheel according to an embodiment of the present disclosure.

[0215] In one possible implementation, referring to FIG. 10, the determination of the tire wear information of each wheel according to the pressure information of each wheel, the slip amount information of each wheel, and the ground information in step S105 can be performed according to the following steps, specifically including:

[0216] S1001, determining a tire wear coefficient of each wheel according to the ground adhesion coefficient, the ground effective adhesion coefficient interpolation coefficient, the wheel normal pressure interpolation coefficient, and the wheel slip amount interpolation coefficient.

[0217] Optionally, the product of the ground adhesion coefficient Mu, the ground effective adhesion coefficient interpolation coefficient a mu, the wheel normal pressure interpolation coefficient b Fz, and the wheel slip amount interpolation coefficient c slip can be calculated as the tire wear coefficient of each wheel.

[0218] S1002, determining longitudinal wear information of each wheel according to the longitudinal slip amount of each wheel, the pressure information of each wheel, and the tire wear coefficient.

[0219] Optionally, the absolute value of the product of the longitudinal slip amount of each wheel, the pressure information of each wheel, and the tire wear coefficient can be calculated as the longitudinal wear information of each wheel.

[0220] For example, taking the left front wheel as an example, the absolute value of the product of the longitudinal slip amount Slip FL of the left front wheel, the pressure information FzWheel FL of the left front wheel, and the tire wear coefficient can be calculated as the longitudinal wear information of the left front wheel.

[0221] S1003, determining lateral wear information of each wheel according to the lateral slip amount of each wheel, the pressure information of each wheel, and the tire wear coefficient.

[0222] Optionally, the absolute value of the product of the lateral slip amount of each wheel, the pressure information of each wheel, and the tire wear coefficient can be calculated as the lateral wear information of each wheel.

[0223] For example, taking the left front wheel as an example, the absolute value of the product of the lateral slip amount vywheel FL of the left front wheel, the pressure information FzWheel FL of the left front wheel, and the tire wear coefficient can be calculated as the lateral wear information of the left front wheel.

[0224] S1004, determining the wear information of each wheel according to the driving mileage of the vehicle, the wear coefficient of the vehicle mileage, the longitudinal wear information of each wheel, and the lateral wear information of each wheel.

[0225] Optionally, the wear information of each wheel can be calculated according to the driving mileage Odo of the vehicle, the wear coefficient d_s of the vehicle mileage, the longitudinal wear information, and the lateral wear information.

[0226] For example, the wear information of the left front wheel can be calculated according to the driving mileage Odo of the vehicle, the wear coefficient d_s of the vehicle mileage, the longitudinal wear information of the left front wheel, and the lateral wear information of the left front wheel.

[0227] The tire wear coefficient of each wheel is calculated through the ground adhesion coefficient, the ground effective adhesion coefficient interpolation coefficient, the wheel normal pressure interpolation coefficient, and the wheel slip amount interpolation coefficient. The longitudinal wear information of each wheel is calculated according to the longitudinal slip amount of each wheel, the pressure information of each wheel, and the tire wear coefficient. The lateral wear information of each wheel is calculated according to the lateral slip amount of each wheel, the pressure information of each wheel, and the tire wear coefficient. Thus, the wear information of each wheel can be calculated according to the driving mileage of the vehicle, the wear coefficient of the vehicle mileage, the longitudinal wear information of each wheel, and the lateral wear information of each wheel. The wear information of each wheel can be accurately determined, thereby avoiding the vehicle safety risk caused by using unhealthy tires.

[0228] FIG. 11 is another flowchart for determining the wear information of each wheel in the tire wear determination method provided by the embodiment of the present disclosure.

[0229] In a possible implementation, referring to FIG. 11, the wear information of each wheel is determined according to the driving mileage of the vehicle, the wear coefficient of the vehicle mileage, the longitudinal wear information of each wheel, and the lateral wear information of each wheel in step S1104, including:

[0230] S1101, determining the mileage wear information of each wheel according to the driving mileage of the vehicle and the wear coefficient of the vehicle mileage.

[0231] Optionally, the product of the driving mileage Odo of the vehicle and the wear coefficient d_s of the vehicle mileage can be calculated as the mileage wear information of each wheel.

[0232] S1102, determining the movement wear information of each wheel according to the longitudinal wear information of each wheel and the lateral wear information of each wheel.

[0233] Optionally, the integral of the sum of the longitudinal wear information of each wheel and the lateral wear information of each wheel can be calculated as the movement wear information of each wheel.

[0234] For example, the integral of the sum of the longitudinal wear information of the left front wheel and the lateral wear information of the left front wheel can be calculated as the movement wear information of the left front wheel.

[0235] S1103, determine the wear information of each wheel according to the mileage wear information of each wheel and the movement wear information of each wheel.

[0236] Optionally, the preset threshold value can be subtracted by the mileage wear information of each wheel and the movement wear information of each wheel to obtain the wear information of each wheel.

[0237] Exemplarily, taking the left front wheel as an example, 1 can be subtracted by the mileage wear information of the left front wheel and the movement wear information of the left front wheel to obtain the wear information of the left front wheel.

[0238] Exemplarily, the wear information FL of the left front wheel can also be represented by the following formula (43): FL = 1 - Odo * d_s - ∫∫(|slip_FL * FzWheel_FL * Mu * a_mu * b_Fz * c_slip| + ||vywheel_FL * Fz_FL * Mu * a_mu * b_Fz * c_slip|)dt (43)

[0239] Exemplarily, the wear information FR of the right front wheel can be represented by the following formula (44): FR = 1 - Odo * d_s - ∫(|slip_FR * FzWheel_FR * Mu * a_mu * b_Fz * c_slip| + ||vywheel_FR * Fz_FR * Mu * a_mu * b_Fz * c_slip|)dt (44)

[0240] Exemplarily, the wear information RL of the left rear wheel can be represented by the following formula (45): RL = 1 - Odo * d_s - ∫(|slip_RL * FzWheel_RL * Mu * a_mu * b_Fz * c_slip| + ||vywheel_RL * Fz_RL * Mu * a_mu * b_Fz * c_slip|)dt (45)

[0241] Exemplarily, the wear information RR of the right rear wheel can be represented by the following formula (46): RR = 1 - Odo * d_s - ∫(|slip_RR * FzWheel_RR * Mu * a_mu * b_Fz * c_slip|| + ||vywheel_RR * Fz_RR * Mu * a_mu * b_Fz * c_slip|dt (46)

[0242] Based on the same inventive concept, the disclosure embodiments also provide a tire wear determination device corresponding to the tire wear determination method. Since the device in the disclosure embodiments solves the problem in the same principle as the above-mentioned tire wear determination method of the disclosure embodiments, the implementation of the device can be referred to the implementation of the method, and the repeated parts will not be described here. Specifically, the device comprises an acquisition module and a determination module.

[0243] The acquisition module is configured to acquire the basic information of the vehicle, and the basic information of the vehicle includes weight, center of mass height, wheelbase, center of mass to front axle distance, center of mass to rear axle distance, and track.

[0244] The acquisition module is configured to acquire vehicle running information during vehicle running, and the vehicle running information includes the driving direction of the vehicle, acceleration information, speed information, steering information, and ground information. The acceleration information includes longitudinal acceleration and lateral acceleration, the speed information includes yaw angular velocity, reference vehicle speed, actual wheel speed, and side slip vehicle speed, and the steering information includes the steering angle information of each tire.

[0245] The determination module is configured to determine the pressure information of each wheel of the vehicle according to the basic information and the acceleration information.

[0246] The determination module is configured to determine the slip amount information of each wheel of the vehicle according to the driving direction, the basic information, the speed information, and the steering information. The slip amount information includes longitudinal slip amount and lateral slip amount.

[0247] The determination module is configured to determine the wear information of each wheel according to the pressure information of each wheel, the slip amount information of each wheel, and the ground information.

[0248] In a possible implementation, the wear information includes wear degree.

[0249] The determination module is further configured to:

[0250] The wear degree is judged. If the wear degree is less than or equal to a preset wear degree threshold, an alarm information is output. The alarm information is configured to indicate that the wheel needs to be replaced.

[0251] In a possible implementation, the determination module is specifically configured to:

[0252] According to the basic information, the vehicle is subjected to force analysis to determine the front axle normal pressure or the rear axle normal pressure of the vehicle.

[0253] According to the front axle normal pressure or the rear axle normal pressure, the front axle equivalent center of mass mass or the rear axle equivalent center of mass mass of the vehicle is determined.

[0254] According to the acceleration information, the basic information, the front axle equivalent mass or the rear axle equivalent mass, torque analysis is performed on the vehicle to determine pressure information of each wheel of the vehicle.

[0255] In a possible implementation, the determining module is specifically configured to:

[0256] According to the driving direction, the basic information and the speed information, determine the body wheel speed and the side slip wheel speed of each wheel of the vehicle;

[0257] According to the driving direction, the body wheel speed of each wheel of the vehicle, the side slip wheel speed of each wheel of the vehicle, the steering information and the speed information, determine the slip amount information of each wheel of the vehicle.

[0258] In a possible implementation, the determining module is specifically configured to:

[0259] According to the driving direction, the wheel track, the reference vehicle speed and the yaw rate, determine the body wheel speed of each wheel of the vehicle, the body wheel speed being the reference speed of each wheel in the body coordinate system of the vehicle;

[0260] According to the side slip speed, the yaw rate and the distance from the mass center to the front axle or the distance from the mass center to the rear axle, determine the side slip wheel speed of each wheel of the vehicle, the side slip wheel speed being the side slip speed of each wheel in the body coordinate system of the vehicle.

[0261] In a possible implementation, the determining module is specifically configured to:

[0262] According to the driving direction, the body wheel speed of each wheel, the side slip wheel speed of each wheel and the steering information, determine the lateral slip amount of each wheel of the vehicle;

[0263] According to the driving direction, the body wheel speed of each wheel, the side slip wheel speed of each wheel, the steering information and the actual wheel speed, determine the longitudinal slip amount of each wheel of the vehicle.

[0264] In a possible implementation, the ground information includes: a ground effective adhesion coefficient interpolation coefficient, a wheel normal pressure interpolation coefficient, a wheel slip amount interpolation coefficient, a vehicle mileage wear coefficient, a ground adhesion coefficient and a driving mileage of the vehicle;

[0265] The determining module is specifically configured to:

[0266] According to the ground adhesion coefficient, the ground effective adhesion coefficient interpolation coefficient, the wheel normal pressure interpolation coefficient and the wheel slip amount interpolation coefficient, determine the tire wear coefficient of each wheel;

[0267] According to the longitudinal slip amount of each wheel, the pressure information of each wheel and the tire wear coefficient, determine the longitudinal wear information of each wheel;

[0268] According to the lateral slip amount of each wheel, the pressure information of each wheel, and the tire wear coefficient, the lateral wear information of each wheel is determined.

[0269] According to the driving mileage of the vehicle, the wear coefficient of the vehicle mileage, the longitudinal wear information of each wheel, and the lateral wear information of each wheel, the wear information of each wheel is determined.

[0270] In a possible implementation, the determining module is specifically configured to:

[0271] According to the driving mileage of the vehicle and the wear coefficient of the vehicle mileage, the mileage wear information of each wheel is determined.

[0272] According to the longitudinal wear information of each wheel and the lateral wear information of each wheel, the movement wear information of each wheel is determined.

[0273] According to the mileage wear information of each wheel and the movement wear information of each wheel, the wear information of each wheel is determined.

[0274] The description of the processing procedure of each module in the device and the interaction procedure between the modules can refer to the related description in the method embodiments, and will not be described in detail here.

[0275] The embodiment of the present disclosure further provides an electronic device 1200, as shown in FIG. 12, which is a structural schematic diagram of an electronic device provided by the embodiment of the present disclosure, and includes a processor 1201, a memory 1202, and optionally a bus 1203. The memory 1202 stores machine readable instructions (for example, execution instructions corresponding to the above-mentioned acquisition module and determination module, etc.) executable by the processor 1201. When the electronic device 1200 is running, the processor 1201 and the memory 1202 communicate through the bus 1203, and the machine readable instructions are executed by the processor 1201 to perform the steps of the above-mentioned tire wear determination method.

[0276] The embodiment of the present disclosure further provides a computer readable storage medium, which stores a computer program. When the computer program is run by a processor, the steps of the above-mentioned tire wear determination method are executed.

[0277] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in the disclosure. In several embodiments provided in the disclosure, it should be understood that the disclosed system, device and method can be implemented in other ways. The above-described device embodiments are only schematic, for example, the division of the modules is only a logical function division, and actual implementation can have another division manner, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed mutual elements can be indirect coupling or communication connection through some communication interface, device or module, and can be electrical, mechanical or other forms.

[0278] In addition, each functional unit in each embodiment of the disclosure can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. When the functions are realized in the form of software functional units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0279] The above is only a specific embodiment of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the disclosure, which should be covered within the protection scope of the disclosure. Industrial applicability

[0280] By the tire wear determination method, device and storage medium, the basic information of the vehicle and the vehicle running information in the vehicle running process are acquired, the pressure information of each wheel of the vehicle is determined according to the basic information and the acceleration information, and the slip amount information of each wheel of the vehicle is determined according to the driving direction, the basic information, the speed information and the steering information, so that the wear information of each wheel can be determined according to the pressure information of each wheel, the slip amount information of each wheel and the ground information. The wear information of each wheel can be determined respectively, so as to avoid the vehicle safety risk caused by using unhealthy tires, and since the basic information of the vehicle and the vehicle running information in the vehicle running process cover any working condition of the vehicle, the wear information of each wheel can also be accurately estimated in the large dynamic working condition such as emergency braking.

Claims

A method of determining tire wear, characterized in that The method comprises: obtaining basic information of a vehicle, the basic information of the vehicle comprising: weight, height of center of mass, wheelbase, distance from center of mass to front axle, distance from center of mass to rear axle, and wheel track; obtaining vehicle running information in a running process of the vehicle, the vehicle running information comprising: driving direction of the vehicle, acceleration information, speed information, steering information, and ground information, the acceleration information comprising: longitudinal acceleration and lateral acceleration, the speed information comprising: yaw angular velocity, reference vehicle speed, actual wheel speed, and side-slip vehicle speed, the steering information comprising: steering angle information of each tire when steering; determining pressure information of each wheel of the vehicle according to the basic information and the acceleration information; determining slip amount information of each wheel of the vehicle according to the driving direction, the basic information, the speed information, and the steering information, the slip amount information comprising: longitudinal slip amount and lateral slip amount; determining wear information of each wheel of the vehicle according to the pressure information of each wheel, the slip amount information of each wheel, and the ground information. The tire wear determination method according to claim 1, characterized in that, The wear information comprises: wear degree. The method further comprises: judging the wear degree, and outputting alarm information if the wear degree is less than or equal to a preset wear degree threshold, the alarm information being used to indicate that the wheel needs to be replaced. The tire wear determination method according to claim 1, characterized in that, The determination of the pressure information of each wheel of the vehicle according to the basic information and the acceleration information comprises: performing force analysis on the vehicle according to the basic information to determine front axle normal pressure or rear axle normal pressure of the vehicle; determining front axle equivalent center of mass mass or rear axle equivalent center of mass mass of the vehicle according to the front axle normal pressure or the rear axle normal pressure; performing torque analysis on the vehicle according to the acceleration information, the basic information, the front axle equivalent center of mass mass or the rear axle equivalent center of mass mass to determine the pressure information of each wheel of the vehicle. The tire wear determination method according to claim 1, characterized in that, The determination of the slip amount information of each wheel of the vehicle according to the driving direction, the basic information, the speed information, and the steering information comprises: determining body wheel speed and side-slip wheel speed of each wheel of the vehicle according to the driving direction, the basic information, and the speed information; determining the slip amount information of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel of the vehicle, the side-slip wheel speed of each wheel of the vehicle, the steering information, and the speed information. The method of determining tire wear according to claim 4, wherein The determination of the body wheel speed and the side-slip wheel speed of each wheel of the vehicle according to the driving direction, the basic information, and the speed information comprises: determining the body wheel speed of each wheel of the vehicle according to the driving direction, the wheel track, the reference vehicle speed, and the yaw angular velocity, the body wheel speed being the reference speed of each wheel in a vehicle body coordinate system of the vehicle; determining the side-slip wheel speed of each wheel of the vehicle according to the side-slip vehicle speed, the yaw angular velocity, and the distance from center of mass to front axle or the distance from center of mass to rear axle, the side-slip wheel speed being the side-slip speed of each wheel in the vehicle body coordinate system of the vehicle. The method of determining tire wear according to claim 5, wherein The determination of the slip amount information of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel of the vehicle, the side slip wheel speed of each wheel of the vehicle, the steering information and the speed information comprises: The determination of the lateral slip amount of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel, the side slip wheel speed of each wheel and the steering information; The determination of the longitudinal slip amount of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel, the side slip wheel speed of each wheel, the steering information and the actual wheel speed. The tire wear determination method according to claim 1, characterized in that, The ground information comprises: ground effective adhesion coefficient interpolation coefficient, wheel normal pressure interpolation coefficient, wheel slip amount interpolation coefficient, vehicle mileage wear coefficient, ground adhesion coefficient and vehicle driving mileage; The determination of the wear information of each wheel according to the pressure information of each wheel, the slip amount information of each wheel and the ground information comprises: The determination of the tire wear coefficient of each wheel according to the ground adhesion coefficient, the ground effective adhesion coefficient interpolation coefficient, the wheel normal pressure interpolation coefficient and the wheel slip amount interpolation coefficient; The determination of the longitudinal wear information of each wheel according to the longitudinal slip amount of each wheel, the pressure information of each wheel and the tire wear coefficient; The determination of the lateral wear information of each wheel according to the lateral slip amount of each wheel, the pressure information of each wheel and the tire wear coefficient; The determination of the wear information of each wheel according to the driving mileage of the vehicle, the wear coefficient of the vehicle mileage, the longitudinal wear information of each wheel and the lateral wear information of each wheel. The method of determining tire wear according to claim 7, wherein The determination of the wear information of each wheel according to the driving mileage of the vehicle, the wear coefficient of the vehicle mileage, the longitudinal wear information of each wheel and the lateral wear information of each wheel comprises: The determination of the mileage wear information of each wheel according to the driving mileage of the vehicle and the wear coefficient of the vehicle mileage; The determination of the movement wear information of each wheel according to the longitudinal wear information of each wheel and the lateral wear information of each wheel; The determination of the wear information of each wheel according to the mileage wear information of each wheel and the movement wear information of each wheel. A tire wear determination device characterized by comprising: The device comprises: An acquisition module configured to acquire basic information of a vehicle, the basic information of the vehicle comprising: weight, center of mass height, wheelbase, center of mass to front axle distance, center of mass to rear axle distance and wheel track; An acquisition module configured to acquire vehicle running information during vehicle running, the vehicle running information comprising: driving direction of the vehicle, acceleration information, speed information, steering information and ground information, the acceleration information comprising: longitudinal acceleration and lateral acceleration, the speed information comprising: yaw angular velocity, reference vehicle speed, actual wheel speed and side slip speed, the steering information comprising: steering angle information of each tire when steering; A determination module configured to determine pressure information of each wheel of the vehicle according to the basic information and the acceleration information; determining, according to the driving direction, the basic information, the speed information, and the steering information, slip amount information of each wheel of the vehicle, the slip amount information including a longitudinal slip amount and a lateral slip amount; determining, according to the pressure information of each wheel, the slip amount information of each wheel, and ground information, wear information of each wheel. The apparatus of claim 9, wherein the wear information includes a wear degree; the determining module is further configured to: judging the wear degree, if the wear degree is less than or equal to a preset wear degree threshold, outputting an alarm information, the alarm information being configured to indicate that the wheel needs to be replaced. The method of claim 9, wherein the determining module is specifically configured to: performing force analysis on the vehicle according to the basic information, to determine a front axle positive pressure or a rear axle positive pressure of the vehicle; determining a front axle equivalent mass center or a rear axle equivalent mass center of the vehicle according to the front axle positive pressure or the rear axle positive pressure; performing torque analysis on the vehicle according to the acceleration information, the basic information, the front axle equivalent mass center or the rear axle equivalent mass center, to determine the pressure information of each wheel of the vehicle. The apparatus of claim 9, wherein the determining module is specifically configured to: determining a body wheel speed and a side slip wheel speed of each wheel of the vehicle according to the driving direction, the basic information, and the speed information; determining the slip amount information of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel of the vehicle, the side slip wheel speed of each wheel of the vehicle, the steering information, and the speed information. The apparatus of claim 12, wherein the determining module is specifically configured to: determining the body wheel speed of each wheel of the vehicle according to the driving direction, the wheel track, the reference speed, and the yaw rate, the body wheel speed being a reference speed of each wheel in a vehicle body coordinate system of the vehicle; determining the side slip wheel speed of each wheel of the vehicle according to the side slip speed, the yaw rate, and a distance from the mass center to the front axle or a distance from the mass center to the rear axle, the side slip wheel speed being a side slip speed of each wheel in the vehicle body coordinate system of the vehicle. The apparatus of claim 13, wherein the determining module is specifically configured to: determining the lateral slip amount of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel, the side slip wheel speed of each wheel, and the steering information; determining the longitudinal slip amount of each wheel of the vehicle according to the driving direction, the body wheel speed of each wheel, the side slip wheel speed of each wheel, the steering information, and the actual wheel speed. The apparatus of claim 9, wherein the ground information includes a ground effective adhesion coefficient interpolation coefficient, a wheel positive pressure interpolation coefficient, a wheel slip amount interpolation coefficient, a wear coefficient of a vehicle mileage, a ground adhesion coefficient, and a driving mileage of the vehicle; the determining module is specifically configured to: determining a tire wear coefficient of each wheel according to the ground adhesion coefficient, the ground effective adhesion coefficient interpolation coefficient, the wheel positive pressure interpolation coefficient, and the wheel slip amount interpolation coefficient; determining longitudinal wear information of each wheel according to the longitudinal slip amount of each wheel, the pressure information of each wheel, and the tire wear coefficient; determine lateral wear information of each wheel according to the lateral slip amount of each wheel, the pressure information of each wheel, and the tire wear coefficient; determine wear information of each wheel according to the driving mileage of the vehicle, the wear coefficient of the vehicle mileage, the longitudinal wear information of each wheel, and the lateral wear information of each wheel. The apparatus of claim 15, wherein The determining module is specifically configured to: determine mileage wear information of each wheel according to the driving mileage of the vehicle and the wear coefficient of the vehicle mileage; determine movement wear information of each wheel according to the longitudinal wear information of each wheel and the lateral wear information of each wheel; determine wear information of each wheel according to the mileage wear information of each wheel and the movement wear information of each wheel. An electronic device, characterized by comprising: comprise: a processor and a memory, the memory storing machine readable instructions executable by the processor, when the electronic device is running, the processor executes the machine readable instructions to perform the steps of the tire wear determination method according to any one of claims 1 to 8. A computer-readable storage medium, characterized by The computer readable storage medium stores a computer program, and the computer program is executed by the processor to perform the steps of the tire wear determination method according to any one of claims 1 to 8.

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