CN109249934A - A kind of tire wear calculation method of parameters, system and device - Google Patents
A kind of tire wear calculation method of parameters, system and device Download PDFInfo
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- CN109249934A CN109249934A CN201811156028.9A CN201811156028A CN109249934A CN 109249934 A CN109249934 A CN 109249934A CN 201811156028 A CN201811156028 A CN 201811156028A CN 109249934 A CN109249934 A CN 109249934A
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- positioning system
- mileage travelled
- wheel speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/02—Signalling devices actuated by tyre pressure
- B60C23/04—Signalling devices actuated by tyre pressure mounted on the wheel or tyre
- B60C23/0486—Signalling devices actuated by tyre pressure mounted on the wheel or tyre comprising additional sensors in the wheel or tyre mounted monitoring device, e.g. movement sensors, microphones or earth magnetic field sensors
- B60C23/0488—Movement sensor, e.g. for sensing angular speed, acceleration or centripetal force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
- B60R16/0234—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions related to maintenance or repairing of vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/002—Integrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/18—Distance travelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/20—Tyre data
Abstract
The invention discloses a kind of tire wear calculation method of parameters, system and devices, this method comprises: obtaining the wheel speed of the tire of wheel speed sensors acquisition, and then calculate the accumulative turnning circle of tire；The location data for obtaining positioning system, to calculate the mileage travelled of vehicle；When judging that mileage travelled reaches default mileage threshold value, the estimation radius of tire is calculated in conjunction with mileage travelled and the accumulative turnning circle of tire；The abrasion loss of tire is calculated according to estimation radius.The present invention can be according to the accumulative turnning circle of the wheel speed calculation tire of tire, in conjunction with the mileage travelled of the vehicle of the calculated acquisition of location data according to positioning system, calculate the estimation radius for obtaining tire, the last automatic abrasion loss for calculating acquisition tire, it can be in conjunction with the practical driving situation of vehicle, the location data of accumulative turnning circle and positioning system based on tire is precisely calculated the abrasion loss for obtaining tire, can be widely applied in automobile industry.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of tire wear calculation method of parameters, system and device.
Background technique
Important component of the tire as vehicle has vital effect to the normal work of vehicle.And with vehicle
Elongated using the time, tire will appear various abrasions, because wear process slowly carries out, driver is difficult accurate judgement
When should re-type, replacement can generate waste too early, and security risk may be had too late by replacing.
At present in technology, occur calculating the technical solution of degree of tire abrasion according to vehicle mileage, but this kind of skill
Art scheme, the mainly calculation basis using the GPS location of vehicle as vehicle mileage, the restrictive condition of program mileage calculation
The case where being straight line traveling, it can not be compatible with the influence of vehicle climb and fall, have the drawback that 1, vehicle in actual travel
In, seldom, less triggering mileage calculation the case where straight-line travelling；2, GPS accuracy is poor in onboard navigation system, and vehicle
The straight length of traveling is very limited, uses the biggish GPS location of error as the position at straight line both ends and calculate the length of straight line,
Error also can be bigger；3, this scheme judge particular by steering wheel angle vehicle whether straight-line travelling, to trigger
Mileage calculation, but this scheme is difficult to realize, for driver when attempting straight-line travelling, practical steering wheel angle is also fluctuation
, therefore, this scheme or makes the less triggering of mileage calculation or will lead to many false triggerings.
Therefore, generally speaking, in current technology scheme, acquisition can not be automatically calculated according to the driving situation of vehicle
Accurate tire wear state.
Explanation of nouns
GNSS: full name Global Navigation Satellite System, Global Navigation Satellite System, it is to refer to
All satellite navigation systems, including the whole world, region and enhancing, such as the GPS in the U.S., the Glonass of Russia, Europe
Galileo, China Beidou satellite navigation system and relevant enhancing system, as the U.S. WAAS (wide area enhancing system
System), the EGNOS (Europe geostationary Navigation Overlay System) in Europe and Japanese MSAS (Multi-functional transporting Satellite Augmentation System) etc.,
It also covers in other satellite navigation systems built and built later.International GNSS system is multisystem, stage construction, a multi-mode
Complicated combined system.
RTK: full name Real-time kinematic refers to real-time dynamic carrier phase difference technology, is real-time processing two
The carrier phase that base station acquires is issued receiver user, carries out asking poor by the difference method of measuring station carrier phase observed quantity
Resolve coordinate, be a kind of new common GPS measurement method, pervious static state, rapid static, dynamic measure require afterwards into
Row resolves the precision that could obtain Centimeter Level, and RTK is can to obtain in real time the measurement method of centimeter-level positioning precision in field.
Summary of the invention
In order to solve the above technical problems, the object of the present invention is to provide tire wear calculation method of parameters, system and
Device.
One aspect of the present invention provides a kind of tire wear calculation method of parameters, comprising the following steps:
The wheel speed of the tire of wheel speed sensors acquisition is obtained, and then calculates the accumulative turnning circle of tire；
The location data for obtaining positioning system, to calculate the mileage travelled of vehicle；
When judging that mileage travelled reaches default mileage threshold value, calculated in conjunction with mileage travelled and the accumulative turnning circle of tire
The estimation radius of tire；
The abrasion loss of tire is calculated according to estimation radius.
Further, further comprising the steps of after described the step for calculating the abrasion loss of tire according to estimation radius:
When the abrasion loss for judging tire is greater than default wear threshold, issues alarm and remind.
Further, the wheel speed of the tire for obtaining wheel speed sensors acquisition, and then calculate the accumulative turnning circle of tire
The step for before, it is further comprising the steps of:
The tire pressure of vehicle all tire is obtained, and then judges whether the tire pressure of all tire is normal, and judge positioning system
Whether the positioning accuracy of system is less than default precision threshold, when both meeting, then performs the next step rapid.
Further, the location data for obtaining positioning system, thus in the step for calculating the mileage travelled of vehicle, institute
Stating location data is speed, which calculates the mileage travelled of vehicle especially by following formula:
Wherein, S indicates mileage travelled, and i indicates the sampling time point of positioning system, and m indicates total sampling of positioning system
Time point, vi indicate speed of the positioning system at the i moment, and dt indicates the update cycle of positioning system.
Further, the location data for obtaining positioning system, thus in the step for calculating the mileage travelled of vehicle, institute
Stating location data is position, which calculates the mileage travelled of vehicle especially by following formula:
Wherein, S indicates mileage travelled, and i indicates the sampling time point of positioning system, and m indicates total sampling of positioning system
Time point, Δ SiIndicate distance of the positioning system between two positions of the adjacent moment that the i moment exports.
Further, the location data for obtaining positioning system, thus in the step for calculating the mileage travelled of vehicle, institute
Stating location data is position, which calculates the mileage travelled of vehicle especially by the following steps:
Based on Kalman filter, in conjunction with the position that vehicle movement model and positioning system export, position is carried out to vehicle
Set estimation；
According to the vehicle location that estimation obtains, the mileage travelled for obtaining vehicle is calculated.
Further, described when judging that mileage travelled reaches default mileage threshold value, in conjunction with the accumulative of mileage travelled and tire
Turnning circle calculates the step for estimation radius of tire, is calculate by the following formula the estimation radius of tire:
Wherein, j indicates the serial number of tire, RjIndicate that the estimation radius of j-th of tire, S indicate mileage travelled, NjIndicate jth
The accumulative turnning circle of a tire.
Further, the described the step for abrasion loss of tire is calculated according to estimation radius, it is calculate by the following formula the mill of tire
Damage amount:
ΔRj=R0-Rj
Wherein, j indicates the serial number of tire, Δ RjIndicate the abrasion loss of j-th of tire, R0Indicate new tire radius, RjIt indicates
The estimation radius of j-th of tire.
Another aspect of the present invention provides a kind of tire wear Parameters Computing System, comprising:
At least one processor；
At least one processor, for storing at least one program；
When at least one described program is executed by least one described processor, so that at least one described processor is realized
Tire wear calculation method of parameters of the present invention.
Another aspect of the present invention provides a kind of tire wear parameter calculation apparatus, including positioning system, control system, more
A tire pressure monitoring instrument and multiple wheel speed sensors, the positioning system are installed on vehicle, for obtaining location data, each institute
It states wheel speed sensors to be mounted at each tire of vehicle, for acquiring the wheel speed of corresponding tire, each tire pressure monitoring instrument difference
For acquiring the tire pressure of each tire of vehicle, the positioning system, multiple tire pressure monitoring instrument and multiple wheel speed sensors with
Control system connection, the control system is for loading procedure to execute tire wear calculation method of parameters of the present invention.
The beneficial effects of the present invention are: the present invention can be tied according to the accumulative turnning circle of the wheel speed calculation tire of tire
The mileage travelled of the vehicle of the calculated acquisition of location data according to positioning system is closed, calculates the estimation radius for obtaining tire, most
It is automatic afterwards to calculate the abrasion loss for obtaining tire, therefore can be in conjunction with the practical driving situation of vehicle, the accumulative rotation based on tire
The location data for enclosing number and positioning system is precisely calculated the abrasion loss for obtaining tire.
And the present invention can issue alarm and remind, user is reminded to replace in time when the abrasion loss for judging tire is larger
Tire.
Detailed description of the invention
Fig. 1 is the flow chart of tire wear calculation method of parameters of the invention；
Fig. 2 is the schematic diagram of the vehicle movement model in the specific embodiment of the invention；
Fig. 3 is the structural block diagram of tire wear Parameters Computing System of the invention；
Fig. 4 is the structural block diagram of tire wear parameter calculation apparatus of the invention.
Specific embodiment
Embodiment of the method
Referring to Fig.1, a kind of tire wear calculation method of parameters is present embodiments provided, comprising the following steps:
The wheel speed of the tire of wheel speed sensors acquisition is obtained, and then calculates the accumulative turnning circle of tire；Specifically, to wheel
Speed, which carries out integral, can calculate the accumulative turnning circle for obtaining tire；
The location data for obtaining positioning system, to calculate the mileage travelled of vehicle；
When judging that mileage travelled reaches default mileage threshold value, calculated in conjunction with mileage travelled and the accumulative turnning circle of tire
The estimation radius of tire；
The abrasion loss of tire is calculated according to estimation radius.
Specifically, the step of obtaining the revolving speed of tire and obtaining the location data of positioning system, it between the two can be simultaneously
It executes, can also be executed using any sequencing, the present invention does not do excessive restriction.
In the present invention, after setting reaches default mileage threshold value, then the estimation radius of tire is calculated, because when mileage is too small
When, therefore the exact value that error brought by positioning system will affect estimation radius generally requires after reaching certain mileage travelled
It is calculated again.In the present embodiment, default mileage threshold value is traditionally arranged to be 20Km or more.
In addition, the quantity of tire and the tire quantity of vehicle are consistent in the present invention, such as vehicle tyre has 4, then acquires
The wheel speed of 4 tires finally calculates separately the abrasion loss for obtaining each tire, and so on.
The present invention can be according to the accumulative turnning circle of the wheel speed calculation tire of tire, in conjunction with the positioning according to positioning system
Data calculate the mileage travelled of the vehicle obtained, calculate the estimation radius for obtaining tire, finally automatic to calculate the mill for obtaining tire
Damage amount, this programme can be in conjunction with the practical driving situation of vehicle, the positioning of accumulative turnning circle and positioning system based on tire
Data are precisely calculated the abrasion loss for obtaining tire.
Be further used as preferred embodiment, the described the step for abrasion loss of tire is calculated according to estimation radius it
Afterwards, further comprising the steps of:
When the abrasion loss for judging tire is greater than default wear threshold, issues alarm and remind.
Rule of thumb data or tire itself performance are set default wear threshold, when the abrasion loss for judging tire
It when more than default wear threshold, indicates that abrasion loss is larger, therefore issues alarm and remind, remind user's tire wear serious, need
It is replaced.Specific alarm mode can be alerted by controlling the text of large-size screen monitors in audible and visual alarm, vehicle, or to the user of setting
Account sends alarm pushing information etc..
It is further used as preferred embodiment, the wheel speed of the tire for obtaining wheel speed sensors acquisition, and then is calculated
It is further comprising the steps of before the step for accumulative turnning circle of tire:
The tire pressure of vehicle all tire is obtained, and then judges whether the tire pressure of all tire is normal, and judge positioning system
Whether the positioning accuracy of system is less than default precision threshold, when both meeting, then performs the next step rapid.
It, will using the abrasion loss that this method calculates when the positioning accuracy of abnormal tire pressure or positioning system is too poor
There is a biggish error, therefore this step is after normal and positioning system the positioning accuracy of the tire pressure for judging all tire is normal,
This method is executed again carries out the calculating of tire wear amount.
It is further used as preferred embodiment, the location data for obtaining positioning system, to calculate the row of vehicle
In the step for sailing mileage, the location data is speed, which calculates the mileage travelled of vehicle especially by following formula:
Wherein, S indicates mileage travelled, and i indicates the sampling time point of positioning system, and m indicates total sampling of positioning system
Time point, vi indicate speed of the positioning system at the i moment, and dt indicates the update cycle of positioning system.
In the present embodiment mode, the location data of positioning system is speed, by accumulating within the sampling time to speed
Divide after calculating, the mileage travelled for obtaining vehicle can be calculated.
It is further used as preferred embodiment, the location data for obtaining positioning system, to calculate the row of vehicle
In the step for sailing mileage, the location data is position, which calculates the mileage travelled of vehicle especially by following formula:
Wherein, S indicates mileage travelled, and i indicates the sampling time point of positioning system, and m indicates total sampling of positioning system
Time point, Δ SiIndicate distance of the positioning system between two positions of the adjacent moment that the i moment exports.
In present embodiment, the location data of positioning system is position, by adding up within the sampling time to position
After summation, the mileage travelled for obtaining vehicle can be calculated.
It is further used as preferred embodiment, the location data for obtaining positioning system, to calculate the row of vehicle
In the step for sailing mileage, the location data is position, which calculates the mileage travelled of vehicle especially by the following steps:
Based on Kalman filter, in conjunction with the position that vehicle movement model and positioning system export, position is carried out to vehicle
Set estimation；
According to the vehicle location that estimation obtains, the mileage travelled for obtaining vehicle is calculated.
Specifically, positioning system uses three-axis gyroscope here, the position of positioning system output refers to the three of three-axis gyroscope
Shaft position data, in this step, for vehicle movement model as shown in Fig. 2, in Fig. 2, x (n) and y (n) respectively indicate three shaft position numbers
X, y-coordinate value in, t (n) indicate the time, and ψ (n) indicates course angle, and △ s (n) indicates vehicle in two positions of adjacent moment
The distance between set, n indicates present sample time point, and n+1 indicates next sampling time point.
The state equation of Kalman filter are as follows:
Wherein, xNED、yNED、θNEDX, y-coordinate and course of the vehicle rear axle center under the coordinate system of northeast day are respectively indicated,
bwzFor gyroscope z-axis zero bias, k represents current time, and k+1 is subsequent time, and Δ t indicates calculating cycle, v indicate before vehicle to
Speed；Indicate that gyro z-axis measured value, nwz indicate that gyro z-axis measures noise.
The measurement equation of Kalman filter are as follows:
Wherein,Indicate measurement noise,For vehicle rear axle center x, the measured value of y-coordinate, specifically
It is converted to by the measured value of GPS antenna position.
After establishing the state equation and measurement equation of Kalman filter in the above manner, using the extension of the prior art
Kalman filtering algorithm is calculated, and can estimate the position for obtaining vehicle, specifically how to use expanded Kalman filtration algorithm
It is calculated, the present invention does not improve, repeats no more.
It is further used as preferred embodiment, it is described when judging that mileage travelled reaches default mileage threshold value, in conjunction with row
The step for sailing the estimation radius of the accumulative turnning circle calculating tire of mileage and tire, is calculate by the following formula the estimation half of tire
Diameter:
Wherein, j indicates the serial number of tire, RjIndicate that the estimation radius of j-th of tire, S indicate mileage travelled, NjIndicate jth
The accumulative turnning circle of a tire.J is natural number, value 1,2,3,4 ....The maximum value of j is the tire sum of vehicle, example
Such as 4.
It can be according to the accumulative turnning circle N of mileage travelled S and j-th of tire by above-mentioned formulajIt calculates and obtains j-th
The estimation radius of tire.
It is further used as preferred embodiment, the described the step for abrasion loss of tire is calculated according to estimation radius, is led to
Cross the abrasion loss that following formula calculates tire:
ΔRj=R0-Rj
Wherein, j indicates the serial number of tire, Δ RjIndicate the abrasion loss of j-th of tire, R0Indicate new tire radius, RjIt indicates
The estimation radius of j-th of tire.Here, for same vehicle, the new tire radius of all tire is theoretically the same,
Therefore, R is used here0Indicate new tire radius.
System embodiment
Referring to Fig. 3, a kind of tire wear Parameters Computing System is present embodiments provided, comprising:
At least one processor 100；
At least one processor 200, for storing at least one program；
When at least one described program is executed by least one described processor 100, so that at least one described processor
Tire wear calculation method of parameters described in 100 implementation method embodiments.
Tire wear provided by embodiment of the present invention method can be performed in the tire wear Parameters Computing System of the present embodiment
Calculation method of parameters, any combination implementation steps of executing method embodiment have the corresponding function of this method and beneficial to effect
Fruit.
Installation practice
Referring to Fig. 4, present embodiments provide a kind of tire wear parameter calculation apparatus, including positioning system, control system,
Multiple tire pressure monitoring instrument and multiple wheel speed sensors, the positioning system are installed on vehicle, for obtaining location data, respectively
The wheel speed sensors are mounted at each tire of vehicle, for acquiring the wheel speed of corresponding tire, each tire pressure monitoring instrument point
The tire pressure of each tire of vehicle Yong Yu not be acquired, the positioning system, multiple tire pressure monitoring instrument and multiple wheel speed sensors are equal
It is connect with control system, the control system is for loading procedure to execute tire wear parameter of the present invention calculating side
Method.
Specifically, when vehicle is the kart of four-wheel, as shown in Figure 4, tire pressure monitoring instrument and wheel speed sensors
Quantity is 4, is respectively arranged at four tires, for acquiring the tire pressure and wheel speed of four tires, thus by the tire of acquisition
Pressure and wheel speed are sent to control system and execute tire wear parameter of the present invention after control system receives tire pressure and wheel speed
Calculation method, the automatic abrasion loss for calculating tire.
In the present invention, positioning system refers to GNSS, including various positioning systems on the market, if positioning system has GNSS mould
The speed of block exports, then obtains the mileage travelled of vehicle by GNSS rate integrating, if positioning system includes high accuracy positioning
Module (such as RTK, radar or high-precision map etc.) then directly calculates the row of vehicle using the position of high accuracy positioning module
Sail mileage.
Tire wear provided by embodiment of the present invention method can be performed in the tire wear parameter calculation apparatus of the present embodiment
Calculation method of parameters, any combination implementation steps of executing method embodiment have the corresponding function of this method and beneficial to effect
Fruit.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent variation or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of tire wear calculation method of parameters, which comprises the following steps:
The wheel speed of the tire of wheel speed sensors acquisition is obtained, and then calculates the accumulative turnning circle of tire；
The location data for obtaining positioning system, to calculate the mileage travelled of vehicle；
When judging that mileage travelled reaches default mileage threshold value, tire is calculated in conjunction with mileage travelled and the accumulative turnning circle of tire
Estimation radius；
The abrasion loss of tire is calculated according to estimation radius.
2. tire wear calculation method of parameters according to claim 1, which is characterized in that described to be calculated according to estimation radius
It is further comprising the steps of after the step for abrasion loss of tire:
When the abrasion loss for judging tire is greater than default wear threshold, issues alarm and remind.
3. tire wear calculation method of parameters according to claim 1, which is characterized in that the acquisition wheel speed sensors are adopted
The wheel speed of the tire of collection, so calculate tire accumulative turnning circle the step for before, it is further comprising the steps of:
The tire pressure of vehicle all tire is obtained, and then judges whether the tire pressure of all tire is normal, and judge positioning system
Whether positioning accuracy is less than default precision threshold, when both meeting, then performs the next step rapid.
4. tire wear calculation method of parameters according to claim 1, which is characterized in that described to obtain determining for positioning system
Position data, so that the location data is speed, and the step is especially by following formula in the step for calculating the mileage travelled of vehicle
Calculate the mileage travelled of vehicle:
Wherein, S indicates mileage travelled, and i indicates the sampling time point of positioning system, and m indicates total sampling time of positioning system
Point, vi indicate speed of the positioning system at the i moment, and dt indicates the update cycle of positioning system.
5. tire wear calculation method of parameters according to claim 1, which is characterized in that described to obtain determining for positioning system
Position data, so that the location data is position, and the step is especially by following formula in the step for calculating the mileage travelled of vehicle
Calculate the mileage travelled of vehicle:
Wherein, S indicates mileage travelled, and i indicates the sampling time point of positioning system, and m indicates total sampling time of positioning system
Point, Δ SiIndicate distance of the positioning system between two positions of the adjacent moment that the i moment exports.
6. tire wear calculation method of parameters according to claim 1, which is characterized in that described to obtain determining for positioning system
Position data, so that the location data is position, and the step is especially by following in the step for calculating the mileage travelled of vehicle
The mileage travelled of step calculating vehicle:
Position is carried out to vehicle and is estimated in conjunction with the position that vehicle movement model and positioning system export based on Kalman filter
Meter；
According to the vehicle location that estimation obtains, the mileage travelled for obtaining vehicle is calculated.
7. tire wear calculation method of parameters according to claim 1, which is characterized in that described to judge that mileage travelled reaches
When to default mileage threshold value, the step for calculating the estimation radius of tire in conjunction with mileage travelled and the accumulative turnning circle of tire,
It is calculate by the following formula the estimation radius of tire:
Wherein, j indicates the serial number of tire, RjIndicate that the estimation radius of j-th of tire, S indicate mileage travelled, NjIndicate j-th of wheel
The accumulative turnning circle of tire.
8. tire wear calculation method of parameters according to claim 1, which is characterized in that described to be calculated according to estimation radius
The step for abrasion loss of tire, is calculate by the following formula the abrasion loss of tire:
ΔRj=R0-Rj
Wherein, j indicates the serial number of tire, Δ RjIndicate the abrasion loss of j-th of tire, R0Indicate new tire radius, RjIndicate jth
The estimation radius of a tire.
9. a kind of tire wear Parameters Computing System characterized by comprising
At least one processor；
At least one processor, for storing at least one program；
When at least one described program is executed by least one described processor, so that at least one described processor is realized as weighed
Benefit requires the described in any item tire wear calculation method of parameters of 1-8.
10. a kind of tire wear parameter calculation apparatus, which is characterized in that including positioning system, control system, multiple tire pressure monitorings
Instrument and multiple wheel speed sensors, the positioning system are installed on vehicle, for obtaining location data, each wheel speed sensing
Device is mounted at each tire of vehicle, and for acquiring the wheel speed of corresponding tire, each tire pressure monitoring instrument is respectively used to collecting vehicle
Each tire tire pressure, the positioning system, multiple tire pressure monitoring instrument and multiple wheel speed sensors with control system connect
It connects, the control system requires the described in any item tire wear calculation method of parameters of 1-8 for loading procedure with perform claim.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228333A (en) * | 2018-03-05 | 2019-09-13 | 森萨塔科技公司 | System and method for tracking tire tread wear |
| CN111959205A (en) * | 2020-08-05 | 2020-11-20 | 铁将军汽车电子股份有限公司 | Tire wear amount detection method, tire wear amount detection device, electronic device, and nonvolatile storage medium |
| CN112461555A (en) * | 2020-11-13 | 2021-03-09 | 北京京东乾石科技有限公司 | Wheel detection method, device, electronic apparatus, and medium for automatic guided vehicle |
| CN112622915A (en) * | 2020-12-25 | 2021-04-09 | 清华大学 | Tire pressure and wear loss monitoring method based on high-frequency wheel speed and machine learning |
| CN112902982A (en) * | 2021-01-18 | 2021-06-04 | 惠州市德赛西威汽车电子股份有限公司 | Method and system for accurately calculating vehicle mileage and automobile |
| CN113291104A (en) * | 2020-02-21 | 2021-08-24 | 上海为彪汽配制造有限公司 | Tire wear monitoring method and system based on tire pressure sensor |
| CN113506254A (en) * | 2021-06-30 | 2021-10-15 | 武汉飞恩微电子有限公司 | Method, device, equipment and storage medium for tracking tyre tread wear |
| WO2022000886A1 (en) * | 2020-06-30 | 2022-01-06 | 同济大学 | Vehicle-mounted positioning data integration device and method |
| CN114475093A (en) * | 2022-01-05 | 2022-05-13 | 东风柳州汽车有限公司 | Tire wear reminding method, device, equipment and storage medium |
| CN115157939A (en) * | 2022-08-04 | 2022-10-11 | 上海派智能源有限公司 | Tire pressure detection device and method for vehicle tire, vehicle and motor controller thereof |
| CN115402039A (en) * | 2022-06-28 | 2022-11-29 | 岚图汽车科技有限公司 | Method, system, equipment, storage medium and automobile for monitoring tire eccentric wear |
| WO2023169530A1 (en) * | 2022-03-09 | 2023-09-14 | 北京罗克维尔斯科技有限公司 | Tire wear detection method and apparatus, electronic device, and storage medium |
| CN117073712A (en) * | 2023-10-17 | 2023-11-17 | 广东省嗒上车物联科技有限公司 | Vehicle management method, internet of things server and computer readable storage medium |
| CN117078117A (en) * | 2023-10-17 | 2023-11-17 | 广东省嗒上车物联科技有限公司 | Fork truck workload determination method based on Internet of things, internet of things server and medium |
| WO2024078081A1 (en) * | 2022-10-14 | 2024-04-18 | 珠海格力电器股份有限公司 | Compressor control method and apparatus, and unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228333A (en) * | 2018-03-05 | 2019-09-13 | 森萨塔科技公司 | System and method for tracking tire tread wear |
| CN113291104A (en) * | 2020-02-21 | 2021-08-24 | 上海为彪汽配制造有限公司 | Tire wear monitoring method and system based on tire pressure sensor |
| WO2022000886A1 (en) * | 2020-06-30 | 2022-01-06 | 同济大学 | Vehicle-mounted positioning data integration device and method |
| CN111959205A (en) * | 2020-08-05 | 2020-11-20 | 铁将军汽车电子股份有限公司 | Tire wear amount detection method, tire wear amount detection device, electronic device, and nonvolatile storage medium |
| CN112461555A (en) * | 2020-11-13 | 2021-03-09 | 北京京东乾石科技有限公司 | Wheel detection method, device, electronic apparatus, and medium for automatic guided vehicle |
| CN112622915A (en) * | 2020-12-25 | 2021-04-09 | 清华大学 | Tire pressure and wear loss monitoring method based on high-frequency wheel speed and machine learning |
| CN112622915B (en) * | 2020-12-25 | 2022-05-17 | 清华大学 | Tire pressure and wear loss monitoring method based on high-frequency wheel speed and machine learning |
| CN112902982B (en) * | 2021-01-18 | 2023-11-17 | 惠州市德赛西威汽车电子股份有限公司 | Vehicle driving mileage accurate calculation method, system and automobile |
| CN112902982A (en) * | 2021-01-18 | 2021-06-04 | 惠州市德赛西威汽车电子股份有限公司 | Method and system for accurately calculating vehicle mileage and automobile |
| CN113506254A (en) * | 2021-06-30 | 2021-10-15 | 武汉飞恩微电子有限公司 | Method, device, equipment and storage medium for tracking tyre tread wear |
| CN114475093A (en) * | 2022-01-05 | 2022-05-13 | 东风柳州汽车有限公司 | Tire wear reminding method, device, equipment and storage medium |
| CN114475093B (en) * | 2022-01-05 | 2023-06-30 | 东风柳州汽车有限公司 | Tire wear reminding method, device, equipment and storage medium |
| WO2023169530A1 (en) * | 2022-03-09 | 2023-09-14 | 北京罗克维尔斯科技有限公司 | Tire wear detection method and apparatus, electronic device, and storage medium |
| CN115402039A (en) * | 2022-06-28 | 2022-11-29 | 岚图汽车科技有限公司 | Method, system, equipment, storage medium and automobile for monitoring tire eccentric wear |
| CN115402039B (en) * | 2022-06-28 | 2023-08-11 | 岚图汽车科技有限公司 | Method, system, equipment, storage medium and automobile for monitoring tire bias wear |
| CN115157939A (en) * | 2022-08-04 | 2022-10-11 | 上海派智能源有限公司 | Tire pressure detection device and method for vehicle tire, vehicle and motor controller thereof |
| CN115157939B (en) * | 2022-08-04 | 2024-03-15 | 上海派智能源股份有限公司 | Tyre pressure detection device and method for vehicle tyre, vehicle and motor controller thereof |
| WO2024078081A1 (en) * | 2022-10-14 | 2024-04-18 | 珠海格力电器股份有限公司 | Compressor control method and apparatus, and unit |
| CN117073712A (en) * | 2023-10-17 | 2023-11-17 | 广东省嗒上车物联科技有限公司 | Vehicle management method, internet of things server and computer readable storage medium |
| CN117078117A (en) * | 2023-10-17 | 2023-11-17 | 广东省嗒上车物联科技有限公司 | Fork truck workload determination method based on Internet of things, internet of things server and medium |
| CN117073712B (en) * | 2023-10-17 | 2024-01-30 | 广东省嗒上车物联科技有限公司 | Vehicle management method, internet of things server and computer readable storage medium |
| CN117078117B (en) * | 2023-10-17 | 2024-02-23 | 广东省嗒上车物联科技有限公司 | Fork truck workload determination method based on Internet of things, internet of things server and medium |
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