291 results about "Axle load" patented technology

The invention discloses a heavy traffic asphalt pavement damage evolution prediction system, and relates to the technical field of road engineering, and the system comprises a data acquisition module which is used for obtaining continuous multi-frame time sequence images of pavement cracks, a vehicle-mounted axle load spectrum and environment temperature and humidity data; the image processing and space-time modeling module is used for performing multi-scale fractal processing and dynamic time warping on the time sequence image and calculating a cross-scale fractal dimension sequence; the material performance association module is used for establishing and updating a probability association model of the fractal dimension and the shear modulus in real time according to the test data of the dynamic shear rheometer; the multi-physics field data fusion module is used for performing multi-physics field feature fusion through the fractal attention network to generate a multi-physics field collaborative damage correction factor; and the damage prediction and early warning module is used for predicting a fractal dimension growth trend through a fractal domain adaptive transfer learning algorithm, and outputting damage evolution early warning based on a viscoelasticity phase consistency verification result.

The invention relates to the field of locomotive power battery electric quantity control, and particularly discloses a locomotive power battery electric quantity hysteresis equalization control method, which comprises the following steps that: a traction force exerting mode is reset into an axle load transfer mode, and the initial value of an electric quantity equalization compensation coefficient K is a rack axle load transfer coefficient corresponding to zero speed; judging whether the current mode is a power battery power supply mode; if yes, the TCU receives the electric quantity of a front power battery and the electric quantity of a rear power battery in real time according to the current locomotive working mode, calculates the electric quantity average value difference value, monitors the auxiliary load power and the traction motor power and calculates the power difference value; entering a hysteresis control logic process; calculating a dynamic traction force compensation coefficient, ensuring that the traction force compensation amount is matched with the actual load characteristic of the system, correcting the traction characteristic curve in real time, and dynamically compensating the electric quantity difference of the battery; and performing traction distribution control according to the locomotive speed and outputting corresponding traction.

The invention provides a front and rear axle load estimation method and system and a steer-by-wire vehicle, and the method comprises the steps: (1) when the vehicle is in a longitudinal stable and straight driving state, updating the mass of the whole vehicle; (2) establishing a least square recursion equation with a forgetting factor based on the dynamic motion equation of the vehicle on the ramp, and calculating the gradient of the current ramp; and (3) calculating a front axle load and a rear axle load based on the whole vehicle mass and the current gradient. The whole vehicle mass estimation is started under the working conditions of longitudinal stability and straight driving, so that the reliability and the stability of the whole vehicle mass calculation process are ensured; besides, vehicle dynamics and kinematics models are fused, recursive calculation is performed by applying a least square method with a forgetting factor, the road gradient can be estimated in real time at high frequency and high precision under various driving working conditions of the vehicle, and the limitation of a traditional fixed parameter model is broken through.

A computer system has processing circuitry to selectively operate the powertrain system in at least a freewheeling mode, in which an output shaft of the engine is non-rotating, and the engine is disconnected from the one or more drive wheels. The processing circuitry is further configured to: determine an opportunity for the freewheeling mode by predicting a feasibility of restarting the engine along an intended route by using a controllable clutch. Predicting the feasibility of restarting the engine by using the controllable clutch includes determining fulfillment of any one of a first restarting condition and a second restarting condition. Determining fulfillment of the first restarting condition includes comparing current total weight of the vehicle with a threshold value indicative of a minimum total weight for avoiding excessive braking of the vehicle during restarting at a high friction road condition with a given total gear ratio. Determining fulfillment of the second restarting condition includes comparing a current drive axle load with a corresponding threshold value indicative of a minimum drive axle load on a drive axle for avoiding excessive wheel slip during restarting at a low friction road condition with a given total gear ratio. The powertrain system is controlled into the freewheeling mode upon the fulfillment of any one of the first restarting condition and the second restarting condition.

The invention provides a loading safety monitoring method and system for a rear-loading vehicle and the vehicle. The method comprises the following steps that the arc height variable quantity of a plate spring of the vehicle in the current loading state is collected; based on the arc height variable quantity, a vehicle total weight estimated value is obtained through calculation; based on the axle load estimation values of the front axle and the rear axle and the axle distance of the vehicle, estimating the current gravity center height of the vehicle, and dynamically compensating the gravity center height according to the dynamic state parameters; and calculating a stability risk coefficient of the vehicle according to the total weight estimated value of the vehicle and the compensated gravity center height so as to carry out early warning. Displacement sensors are arranged on a front plate spring and a rear plate spring of a vehicle to collect arc height variation in real time, an axle load and a vehicle total weight estimated value are calculated based on a pre-calibrated plate spring rigidity coefficient, the gravity center height of the vehicle is estimated to evaluate the stability of the vehicle, and meanwhile the gravity center height is dynamically compensated based on dynamic parameters in the driving process. The evaluation precision under complex working conditions is improved, and the transportation safety is guaranteed.

The invention relates to the field of power control, and particularly discloses an electric four-wheel drive torque distribution method based on a climbing working condition, which comprises the following steps: defining vehicle state parameters, power system parameters, vehicle real-time driving state parameters and road condition parameters; carrying out torque calculation by utilizing Julia, considering shaft load, friction coefficient, motor efficiency and yaw velocity correction, obtaining a comprehensive weight of a front shaft and a rear shaft, and carrying out normalized torque distribution; and establishing model simulation through Modelica, and verifying the effectiveness of the distribution scheme. According to the invention, the climbing performance of the vehicle can be improved, the control flexibility and driving stability of the vehicle are improved, the energy consumption is reduced, the dynamic stability is enhanced, and the method is suitable for power control of the electric four-wheel-drive vehicle under the climbing working condition.

The invention relates to the technical field of highway bridge safety monitoring, in particular to a bridge dynamic weighing algorithm based on Bayesian maximum posterior probability. Obtaining influence lines through a bridge calibration test, and calculating an influence line matrix, a mean value and a covariance; using a Moses algorithm to obtain the vehicle axle load as the axle load of the initial main cycle i = 0; initial axle load distribution is set, the covariance of load response is obtained through the influence line covariance, the measurement noise and the axle load of the main cycle, and an axle load mean vector and a stable value of the covariance are iterated together with the influence line matrix, the initial axle load distribution and the load response to serve as the axle load distribution of the main cycle; according to the axle load distribution, the influence line matrix, the load response and the covariance thereof, the posterior probability of the axle load is obtained, and the axle load when the probability is the maximum serves as the axle load corresponding to the (i + 1) th main cycle; and repeating until the axle load update difference value is smaller than the preset value, and outputting the axle load result, thereby solving the problem of low axle load identification precision of the existing bridge dynamic weighing system.

The invention discloses an anti-skid control method for a high-speed train at a higher speed, which comprises the following steps of: firstly, acquiring basic information such as the speed and the axle load of the high-speed train in real time through a sensor, establishing a real-time analysis model by virtue of data, then calculating a real-time adhesion coefficient, and further judging the rail surface state of wheel-rail contact of the high-speed train; the optimal creep rate under the current rail surface condition is calculated based on the information, the traction or braking torque is adjusted through a control strategy by comparing the optimal creep rate with the actual creep rate in real time, anti-skid control adjustment is conducted, and the adhesion utilization rate and operation safety are improved. According to the method, for a high-speed train at a higher speed, the torque is changed through adhesion control, so that anti-skid control is carried out, the adhesion utilization rate and the operation safety are improved, and wheel skid and abnormal abrasion can be effectively restrained.

The invention relates to the technical field of bridge monitoring, in particular to a medium and small span bridge strain intelligent verification and diagnosis method and system combined with refined space axle load. According to the method, a space-time distribution matrix of the vehicle axle load of the actual traffic flow on the multi-beam medium and small bridges is established based on a data driving method, an implementation process for converting time-discontinuous discrete dynamic weighing monitoring data into a time sequence of the vehicle axle load is provided, and reference is provided for engineering application. According to the method, the bridge is innovatively divided according to the longitudinal area to achieve linkage calculation of the time sequence of the vehicle axle load and the theoretical strain value of the key section of any main beam of the small and medium-sized bridge, and the strain-based safety condition evaluation index of the small and medium-sized bridges is established by combining the strain monitoring data of the key section of the small and medium-sized span bridge. According to the method, the bridge health monitoring data are effectively mined, the value of the multi-source monitoring data is fully utilized, and the rationality and reliability of bridge safety evaluation are effectively improved.

The invention provides a lateral movement sensing method and a vehicle, the method is applied to the technical field of vehicle control, and the method comprises the steps that a tire slip angle value at the current moment is obtained in response to a target calculation instruction of the vehicle; calculating an actual lateral force value at the current moment based on the tire slip angle value and the current wheel slip rate of the vehicle; and calculating the actual lateral motion acceleration of the vehicle according to the actual lateral force value, and evaluating the axle load transfer amount in the vehicle steering process according to the actual lateral motion acceleration. According to the method, the actual lateral force can be calculated in real time according to the tire slip angle and the wheel slip rate in various running states of the vehicle, then the actual lateral motion acceleration of the vehicle is accurately output, different working conditions can be adapted, and the real-time performance and accuracy of vehicle dynamics control are improved.

The invention discloses a coal ash roadbed permanent deformation prediction method and a prediction model thereof. The method comprises the following steps: firstly, obtaining the optimal water content and the maximum dry density of fly ash through a fly ash compaction test; filling the fly ash in the state into a full-scale model according to a core-spun method, and applying dynamic loads simulating different vehicle speeds and axle loads to carry out a test to obtain permanent deformation values under different working conditions; and establishing a prediction model based on a time hardening power law criterion and a nonlinear viscoplastic constitutive theory, fitting test values to determine model parameters, and constructing the prediction model. Based on the prediction model, equivalent standard axle load action times allowed by a road structure are predicted according to a specified critical threshold, quantitative evaluation of road durability is realized, and a scientific early warning mechanism is provided for road maintenance decision. According to the technical scheme, the settling volume of the fly ash roadbed can be accurately predicted, and the road durability is effectively evaluated.

The invention discloses a method for determining an initial modulus of a semi-rigid base of an in-service asphalt pavement, and relates to the technical field of road engineering, a preset monitoring point of the in-service asphalt pavement is detected through a drop weight deflectometer, and a base modulus value is obtained through back calculation based on a deflection detection result; based on the transverse distribution coefficient of the carriageway, respectively calculating the accumulated axle load action times of the preset monitoring points; establishing a basic layer modulus damage model with basic layer initial modulus parameters by utilizing the structure behavior equation; and detecting basic layer modulus values under different accumulated axle load action times by using a drop weight deflectometer, performing regression fitting to obtain model parameters, obtaining a complete basic layer modulus damage model, and obtaining a basic layer initial modulus. According to the method, the initial modulus of the base layer is determined through the drop weight deflectometer.

The motor tricycle rear axle load adjusting device comprises a base, an adjusting arm and a load spring, two sides of the base are respectively and rotatably connected with one end of an upper rocker arm, and the other end of the upper rocker arm is respectively connected with a rear wheel steering knuckle. Two brackets and a jacking mechanism are fixedly arranged on the upper surface of the base; the jacking mechanism is located between the two supports. The adjusting arm comprises a first end part, a second end part and an arm body, a through hole is formed in the first end part and is used for being rotatably connected with the second through hole, one end of a load spring sleeves the bottom of the second end part, and the other end of the load spring sleeves the upper surface of the upper rocker arm; a third through hole is formed in an arm body of the adjusting arm and used for being rotationally connected with a hole in the top of the jacking mechanism. The adjusting arm serves as a lever, the third through hole serves as a fulcrum, the through hole in the first end serves as a force point, the jacking mechanism presses the two load springs downwards while ascending, and load support is provided for the motor tricycle.

1. The name of the design product: multifunctional detector. 2. The use of the design product: for the safety of motor vehicles, for detecting braking performance, pressure, tension, weighing, axle load performance. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: design 1 perspective view. 5. Design 1 is designated as the basic design.

The present application relates to the technical field of bridge health monitoring, in particular to a bridge health monitoring system acceleration sensor online calibration method and system. The method comprises the following steps: extracting dynamic axle load time history characteristics and environmental interference correction factors according to traffic load data and environmental monitoring data; processing standard sensor data and to-be-calibrated sensor data to obtain real vibration reference characteristics and initial deviation characteristics; using the traffic load data and the real vibration reference characteristics to obtain working condition weight characteristics; combining the dynamic axle load time history characteristics, the environmental interference correction factors, the real vibration reference characteristics, the initial deviation characteristics and the working condition weight characteristics to obtain adaptive optimization calibration values. The present application can realize calibration without disassembling sensors and blocking traffic under normal operation of the bridge, evaluate transient errors through multi-data coupling, adaptively optimize calibration values, and ensure monitoring accuracy while reducing operation and maintenance costs.

This invention discloses a test apparatus and method for train disc brakes considering wheel-rail creep. The apparatus includes a test bench base, a fixed gantry, a track simulation system, an axle load system, a disc brake system, and a control system. The fixed gantry is fixedly mounted on the test bench base, the axle load system is fixedly mounted above the test bench base via the fixed gantry, the disc brake system is fixedly mounted on the axle load system, and the track simulation system is mounted on the test bench base and rolls in contact with the axle load system. This invention enables the analysis of the braking performance of the disc brake system under wheel-rail creep conditions, as well as the dynamic response when multiple brake discs brake simultaneously. It thus provides an in-depth exploration of the braking characteristics of the disc brake system under wheel-rail creep conditions and the complex coupling mechanism between the braking system and the wheel and rail.

The invention discloses a road fatigue damage prediction method, system and device, a medium and a program product, and relates to the technical field of road surface damage prediction.The method comprises the steps that according to obtained road surface traffic load data, each axle load of each vehicle is converted into the equivalent axle number of standard axle loads, the equivalent axle numbers of all vehicles at the current moment are summarized, and the equivalent axle numbers of all vehicles at the current moment are obtained; obtaining a multi-axle load accumulated value at the current moment, and obtaining an accumulated damage degree according to the multi-axle load accumulated value; according to the multi-axle load accumulated value at the current moment, the proportion of various vehicle types, the average vehicle speed at the current moment and the accumulated damage degree at the previous moment, the evolution trend of the accumulated damage degree is predicted, set damage degree predicted values at multiple moments in the future are obtained, and an early warning signal is pushed when the damage degree predicted values exceed a set threshold value. High-frequency and multi-axle load data are accumulated according to time periods, the road damage degree is quantified more truly, and the potential damage risk of the road surface is reduced through rolling prediction of the damage degree.

The application discloses a hydraulic weighing system for heavy-load vehicles at high-speed intersections, and belongs to the technical field of heavy-load transportation, which comprises a plurality of pits evenly spaced along the longitudinal direction of a road, a road panel arranged at the opening of the pit, an oil cylinder corresponding to the road panel arranged in the pit, a middle partition plate of the oil cylinder separating the inner side of the oil cylinder into an upper oil cylinder groove and a lower storage groove, a piston fixed at the bottom of the road panel and slidingly arranged in the oil cylinder groove, and an oil bag arranged between the piston and the middle partition plate; a pressure measuring instrument is installed in the storage groove, and the output end of the pressure measuring instrument is connected to the oil bag; the pressure measuring instrument can convert the current actual axle load according to the pressure change amount, and the weighing data information of each road panel is returned to a central control computer, and the computer outputs the size of each axle load and the axle spacing. The application can be used for accurately calculating the total weight of vehicles and goods, and can also consider more detailed load factors such as the axle load and the wheelbase.

The application provides a four-wheel vertical load dynamic estimation system and simulation method of a variable load working condition commercial vehicle, relates to the field of vehicle motion characteristic simulation, and is composed of a nonlinear three-degree-of-freedom vehicle body model, a tire model, a four-wheel side slip angle / slip rate calculation model, a four-wheel vertical load solving model and a mass center position and spring mass estimation model. The mass center position and spring mass estimation model can be combined with the vehicle static axle load to estimate the mass center and mass related information, and correct the parameters in the vehicle body model and the vertical load solving model. The four-wheel vertical load and load transfer rate of the commercial vehicle can be obtained under the premise that the wheels are not additionally modified.

This application relates to the field of lifting equipment technology, specifically providing a hoisting machine and a support adjustment method. The hoisting machine includes a chassis, which comprises a frame, a first front axle, and a second front axle connected to the frame. The first and second front axles are independently mounted on the frame, or the first and second front axles form a modular front axle assembly connected to the frame. Increasing the load capacity generally requires increasing the frame and axle dimensions to meet load-bearing and stability requirements, but this easily leads to exceeding specifications and limitations. The hoisting machine provided in this application uses multi-axle support at the front end of the frame. By increasing the number of front axles, it significantly increases the machine's load-bearing capacity and load capacity without increasing the size or requirements of the axles and the frame itself, thus at least partially solving the problem of insufficient front axle load-bearing capacity in existing front-end hoisting cranes.

The present application relates to the technical field of bridge quality detection, especially to a continuous beam bridge different span loading load test method, comprising the following steps: determining a control section on the continuous beam bridge; measuring the axle load and the wheelbase of the test vehicle; calculating and analyzing the interval area of the calculated bending moment change effect function with the moving vehicle; analyzing and calculating the interval area of the measured bending moment change effect function with the moving vehicle; comparing the ratio of the interval area of the calculated bending moment change effect function with the moving vehicle and the interval area of the measured bending moment change effect function with the moving vehicle through the calibration coefficient to determine whether the bearing capacity requirement is met. The continuous beam bridge different span loading load test method can effectively reduce the arrangement of measuring points and the need for test vehicles, and quickly and accurately judge the bearing capacity state of the bridge by calculating the bending moment change effect function with the moving vehicle and the measured bending moment change effect function with the moving vehicle.

The application discloses a wheel fatigue life prediction method based on a rolling contact fatigue simulation technology, and comprises the following steps: establishing a finite element model of a wheel-axle-rail, performing grid encryption on a wheel-rail contact area, and performing static strength checking to obtain an initial finite element model meeting static force requirements; establishing a wheel-rail rolling contact model based on the initial finite element model, describing rolling motion of the wheel by using a hybrid Lagrangian / Eulerian description or a co-rotating coordinate system, and applying a wheel non-circularity excitation spectrum in explicit dynamics analysis to calculate a dynamic contact stress field under different axle loads and friction coefficients; and based on the dynamic contact stress field, a multi-axle fatigue damage model is used in combination with a linear cumulative damage criterion to calculate fatigue life, and an abrasion correction coefficient and a residual stress correction coefficient are introduced to correct the calculation results. The application significantly improves the prediction accuracy of fatigue defects such as wheel peeling, cracking and polygonization.

The invention relates to a combination (1) with a swather (10) and a baler (20) as processing equipment, wherein the baler (20) has a baler frame (21), a baler chassis (24) connected thereto at least indirectly, and a baler coupling device (23), and wherein the swather (10) has a swather frame (11), a swather chassis (16) connected thereto at least indirectly, and a rear coupling device (12) arranged on the rear side of the swather frame (11) with respect to a longitudinal axis (X) and a rear coupling point (B) to which the baler coupling device (23) can be pivotally coupled and transmit tension and compression forces, whereby the baler (20) can be partially supported on the swather frame (11).To improve the driving characteristics of a combination with a swather and a following baler, the invention provides that a load transfer element (18) is configured to exert a transfer torque acting between the swather frame (11) and the baler (20) with respect to the rear coupling point (B), by which a baler axle load (F. P ) the baler (20) can be reduced by increasing the swather axle load (Fs) of the swather (10).

The application relates to a vehicle axle load position monitoring method, comprising the following steps: detecting a vehicle in a real-time monitoring picture based on a target detection model; extracting geometric features of the vehicle, establishing an indirect inference method of the axle load position, and establishing a vehicle axle load key point data set and a key point detection model based on the indirect inference method; training the key point detection model by using the vehicle axle load key point data set; based on the detection result of the key point detection model, transforming axle load coordinates in an image coordinate system into world coordinates in a world coordinate system through a homography matrix to obtain the axle load coordinates in the world coordinate system, and performing optimal estimation on a motion track of the vehicle axle load by using Kalman filtering and a kinematic bicycle model of the vehicle, so that real-time spatial distribution monitoring of the vehicle axle load is realized. Compared with the prior art, the application has the advantages that the positions of all axle load action points can be obtained according to a monocular image, the real-time spatial distribution monitoring precision of the axle load is high, and the like.

The utility model relates to the technical field of ultra-large construction machinery transition equipment, in particular to a combined semi-trailer train which comprises a middle main trailer, a front bearing trailer and a tail bearing trailer. The left end of the middle main trailer is detachably connected with a front bearing trailer, and the right end of the middle main trailer is detachably connected with a tail bearing trailer; the middle main trailer comprises a main frame, a traction head is arranged at the left end of the main frame, a bearing table is arranged at the right end of the main frame, a first traction pin is arranged at the left end of the lower surface of the traction head, and a hanging frame is arranged at the right end of the lower surface of the bearing table. A combined semi-trailer train can flexibly change train combination according to requirements so as to adapt to different transportation requirements, can combine various types of trailers and increase the length of the trailers and the number of axles so as to reduce the axle load capacity, is particularly suitable for transporting ultra-large engineering mechanical equipment, improves the transportation efficiency, and is small in turning radius, good in controllability and high in practicability. The driver operation is convenient.

This invention relates to the field of straddle-type monorail vehicle operation simulation testing technology, and discloses a method and apparatus for simulating the operation of straddle-type monorail vehicles. The method involves adjusting the test bench to match the vehicle's wheel system, applying a vertical load to simulate vehicle weight using an axle load-simulating actuator, and achieving longitudinal and lateral fixation through a traction rod and pulley system. An onboard detection system acquires track irregularity displacement signals and track spectra from the actual track, which are then imported into a vibration simulation system to drive a vibration simulation device to reproduce the vehicle's operating state. Stability parameters are tested using sensors to complete the overall vehicle vibration reliability test. The corresponding apparatus includes a test bench foundation, a reaction frame, a loading gantry, and a vibration simulation system. This invention can accurately simulate actual operating conditions, achieve fault reproduction and extreme condition assessment, and effectively improve the realism and efficiency of the test.

The utility model relates to a telescopic tractor anti -rollover counterweight block mechanism, including frame, the adaptive board of installation in the top of frame, the counterweight ring of installation in the position of approaching four around of frame, the counterweight frame is equipped with with the counterweight ring coaxial setting of following rotation box in the extension position of both sides of frame, the adaptive board is used for adapting tractor chassis installation, and the counterweight ring and following rotation box are used for adapting tractor wheel anti -rollover installation, and the telescopic sleeve and the external cylinder of connection are all set up in both ends of counterweight frame, and the cylinder drives telescopic sleeve to approach or to be far from counterweight block, and the floating air bag is used as longitudinal buffer and compensation device, when tractor climbs, downhill or passes through undulating terrain causes the equal difference change of front and rear axle load, and the floating air bag can actively inflate and deflate, and the dynamic jacks up or releases counterweight ring, and shares the axle impact load, and the stability of auxiliary keeps the front and rear wheel ground pressure, thereby effectively promotes fuel economy, and improves the maneuverability of steering and driving, realizes the perfect unity of safety and efficiency.

The invention relates to an automobile gear combination switch control method integrated with a vehicle-mounted weighing function, and belongs to the technical field of automobile electronic control. The invention aims to solve the technical problems of high cost and complex wiring caused by single function of an existing gear controller and independent arrangement of a vehicle-mounted weighing system. The electronic gear shifting system comprises an electronic gear shifting module used for detecting the gear and the parking key state; the combined switch module is used for detecting on-off states of a windscreen wiper, light and the like; the vehicle-mounted weighing module is used for supplying power to the height sensors of the four wheels, receiving PWM signals of the height sensors and calculating the total weight of the vehicle, the load ratio of front and rear axles and the loads of the four wheels according to the calibration parameters and the height variation of the vehicle body; and the communication module is used for sending a gear shifting signal, a switching signal and a weighing signal through a CAN FD bus. The weighing function is integrated into the gear controller, the weighing precision is improved through inclination angle compensation, real-time display and overload reminding of load information are achieved, and the gear controller has the advantages of being high in integration level, low in cost and good in precision.

The present application relates to a kind of suspension control method, system, storage medium and vehicle, wherein the suspension control method includes: according to the axle load of vehicle, the damping compensation coefficient of corresponding axle is calculated;According to the damping compensation coefficient, the suspension damping of corresponding axle is adjusted.Since the damping compensation coefficient of vehicle axle is calculated according to the axle load of vehicle, the suspension damping of axle can be adjusted adaptively by means of damping compensation coefficient, and by adjusting the suspension damping, the damping ratio of vehicle suspension is stabilized in the case of load variation, and the damping effect of vehicle suspension system is stable when the load of vehicle is different.

The application discloses a multi-module fusion vehicle state estimation model and a control method thereof, relates to the technical field of vehicle engineering and intelligent vehicle control, and comprises a tire force estimation module, a vehicle pose estimation module, an adhesion coefficient calculation module, a slip rate calculation module, a road surface friction coefficient identification module and a yaw angular acceleration calculation module; the tire force estimation module acquires four-wheel speeds, four-wheel driving torques, four-wheel braking torques, a vehicle speed, longitudinal acceleration, lateral acceleration, vertical acceleration, yaw angular velocity, pitch angular velocity and roll angular velocity, performs tire rotation dynamics calculation and axle load transfer calculation, and obtains longitudinal forces and vertical forces of each wheel. The application adopts a layered module architecture and multi-parameter fusion calculation, realizes accurate estimation of vehicle states, optimizes calculation logic and constraint mechanisms in different scenes through a working condition self-adaptive strategy, and improves overall estimation accuracy, system stability and engineering adaptation capability.