CN109591821A - Tire force calculation method, device and vehicle computing machine equipment - Google Patents
Tire force calculation method, device and vehicle computing machine equipment Download PDFInfo
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- CN109591821A CN109591821A CN201811493643.9A CN201811493643A CN109591821A CN 109591821 A CN109591821 A CN 109591821A CN 201811493643 A CN201811493643 A CN 201811493643A CN 109591821 A CN109591821 A CN 109591821A
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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
-
- 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
- B60W40/10—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 vehicle motion
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—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
- 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
- B60W40/10—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 vehicle motion
- B60W40/107—Longitudinal acceleration
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Tires In General (AREA)
Abstract
The present invention provides a kind of tire force calculation method, device and vehicle computing machine equipment, the tire force calculation method, which is used to observe data according to vehicle sensors, calculates tire force, comprising: obtains longitudinal acceleration, yaw velocity, longitudinal speed, side acceleration and the steering wheel angle of vehicle in real time；According to preset tire vertical force formula, operation is carried out using longitudinal acceleration, yaw velocity and longitudinal speed, obtains tire vertical force；According to preset longitudinal force of tire formula, operation is carried out using tire parameter, vertical load and tire vertical force, obtains longitudinal force of tire；According to preset side force of tire formula, operation is carried out using the longitudinal acceleration, the side acceleration, the steering wheel angle, the tire vertical force and the longitudinal force of tire, obtains side force of tire.Tire force calculation method of the invention, the calculating of tire force can be realized using vehicle sensors, to reduce the cost of tire force acquisition.
Description
Technical field
The present invention relates to dynamics of vehicle field, in particular to a kind of tire force calculation method, device, vehicle-mounted
Computer equipment and computer storage medium.
Background technique
Tire force is the key parameters for determining dynamics of vehicle state, while being also the basis of automobile chassis intelligent control,
During traveling, tire force is influenced vehicle by many factors.
Currently, the method for obtaining tire force mainly has the direct method of measurement, which needs complicated and specific wheel
The tire six-component sensor of KISTLER (Kistler) can be used for example in tire force snesor.But these sensors are very high
It is expensive, it is not widely deployed in the automobile of large-scale production.
Another method is then that the calculating of tire force is carried out using various tire models, such as using Dugoff model, or
Pacejka tire model etc., but the Multi-parameter Data Acquisition of being permitted in tire model needs a large amount of different kinds of tyre specifications, different kinds of tyre pressure
Test data under power is calibrated, and experimentation cost is higher.
Generally speaking, existing tire force acquisition methods, tire force procurement cost are too high.
Summary of the invention
In view of the above problems, the present invention provides a kind of tire force calculation method, device, vehicle computing machine equipment and meters
Calculation machine storage medium, to reduce the cost of tire force acquisition.
To achieve the goals above, the present invention adopts the following technical scheme that:
A kind of tire force calculation method calculates tire force for observing data according to vehicle sensors, comprising:
Longitudinal acceleration, yaw velocity, longitudinal speed, side acceleration and the steering wheel for obtaining vehicle in real time turn
Angle；
According to preset tire vertical force formula, the longitudinal acceleration, the yaw velocity and described vertical are utilized
Operation is carried out to speed, obtains tire vertical force；
According to preset longitudinal force of tire formula, carried out using tire parameter, vertical load and the tire vertical force
Operation obtains longitudinal force of tire；
According to preset side force of tire formula, the longitudinal acceleration, the side acceleration, the steering wheel are utilized
Corner, the tire vertical force and the longitudinal force of tire carry out operation, obtain side force of tire.
Preferably, the tire vertical force formula includes:
In formula, a is vehicle centroid at a distance from wheel front axle, and b is vehicle centroid at a distance from wheel rear axle, hgFor vehicle
Height of center of mass, w is wheelspan, and m is vehicle mass, and g is acceleration of gravity, and u is longitudinal direction of car speed,For Vehicular yaw angle speed
Degree, fl represent vehicle front left wheel, and fr represents the right wheel of vehicle front, and rl represents rear of vehicle left wheel, and rr represents vehicle
The right wheel in rear.
Preferably, the longitudinal force of tire formula includes:
Wherein, above formula is the longitudinal force of tire formula based on pid algorithm, in formula, RijFor the effective radius of each tire,
Rs,ijFor the static tire radius of each tire, FzijFor tire vertical force, kzijFor tire vertical stiffness, Kp、KiAnd KdFor
Pid parameter, eωFor wheel acceleration deviation,For longitudinal force of tire initial value,For longitudinal force of tire.
Preferably, described " according to preset side force of tire formula, to utilize the longitudinal acceleration, the lateral acceleration
Degree, the steering wheel angle, the tire vertical force and the longitudinal force of tire carry out operation, obtain side force of tire " packet
It includes:
Side force of tire basic value is calculated according to the side acceleration and the tire vertical force；
Random walk SCKF state space is defined according to the side force of tire basic value, and according to the random walk
SCKF state space and the steering wheel angle determine the process equation and measurement equation of side force of tire；
Processing and measurement updaue processing are updated to the process equation and measurement equation progress SCKF time, before acquisition
The lateral force value of back axle；
According to the lateral force value of the front and back axle and the tire vertical force, side force of tire is calculated.
Preferably, the side force of tire formula includes:
In formula,For vehicle front left wheel lateral force,For the right wheel lateral force of vehicle front,For rear of vehicle
Left wheel lateral force,For the right wheel lateral force in rear of vehicle；For the lateral force value of front axle,For back axle
Lateral force value；For vehicle front left wheel vertical force,For the right wheel vertical force of vehicle front,For a rear of vehicle left side
Wheel vertical force,For the right wheel vertical force in rear of vehicle；For the vertical force value of front axle,For hanging down for back axle
To force value.
Preferably, the tire force calculation method, further includes:
Judge whether the tire vertical force, the longitudinal force of tire and the side force of tire are more than preset value；
Tire force is super at least one in the tire vertical force, the longitudinal force of tire and the side force of tire
When crossing preset value, generates alarm sounds and remind user.
The present invention provides a kind of tire force computing device, calculates tire for observing data according to vehicle sensors
Power, comprising:
Vehicle traveling information obtains module, for obtaining longitudinal acceleration, the yaw velocity, Zong Xiangche of vehicle in real time
Speed, side acceleration and steering wheel angle；
Vertical force computing module, for utilizing the longitudinal acceleration, the cross according to preset tire vertical force formula
Pivot angle speed and longitudinal speed carry out operation, obtain tire vertical force；
Longitudinal force computing module, for according to preset longitudinal force of tire formula, using tire parameter, vertical load and
The tire vertical force carries out operation, obtains longitudinal force of tire；
Lateral force computing module, for utilizing the longitudinal acceleration, the side according to preset side force of tire formula
Operation is carried out to acceleration, the steering wheel angle, the tire vertical force and the longitudinal force of tire, it is lateral to obtain tire
Power.
Preferably, the tire force computing device, further includes:
Tire force judgment module, for judging that the tire vertical force, the longitudinal force of tire and the tire are lateral
Whether power is more than preset value；
Alarm sounds generation module, it is lateral for working as the tire vertical force, the longitudinal force of tire and the tire
When tire force is more than preset value at least one in power, generates alarm sounds and remind user.
The present invention also provides a kind of vehicle computing machine equipment, including memory and processor, the memory is for depositing
Computer program is stored up, the processor runs the computer program so that the vehicle computing machine equipment executes the tire
Force calculation method.
The present invention also provides a kind of computer storage medium, it is stored with used in the vehicle computing machine equipment
Computer program.
The present invention provides a kind of tire force calculation method, and this method according to vehicle sensors by observing based on data
Calculate tire force, comprising: obtain longitudinal acceleration, yaw velocity, longitudinal speed, side acceleration and the direction of vehicle in real time
Disk corner；According to preset tire vertical force formula, the longitudinal acceleration, the yaw velocity and the longitudinal direction are utilized
Speed carries out operation, obtains tire vertical force；According to preset longitudinal force of tire formula, using tire parameter, vertical load with
And the tire vertical force carries out operation, obtains longitudinal force of tire；According to preset side force of tire formula, the longitudinal direction is utilized
Acceleration, the side acceleration, the steering wheel angle, the tire vertical force and the longitudinal force of tire are transported
It calculates, obtains side force of tire.Tire force can be realized using vehicle sensors in tire force calculation method of the invention
It calculates, to reduce the cost of tire force acquisition.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of the scope of the invention.
Fig. 1 is a kind of flow chart for tire force calculation method that the embodiment of the present invention 1 provides；
Fig. 2 is the tire effective radius schematic diagram that the embodiment of the present invention 1 provides；
Fig. 3 is a kind of flow chart of the calculating side force of tire for tire force calculation method that the embodiment of the present invention 2 provides；
Fig. 4 is a kind of flow chart for tire force calculation method that the embodiment of the present invention 3 provides；
Fig. 5 is a kind of flow chart for tire force computing device that the embodiment of the present invention 4 provides；
Fig. 6 is the flow chart for another tire force computing device that the embodiment of the present invention 4 provides.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Embodiment 1
Fig. 1 is a kind of flow chart for tire force calculation method that the embodiment of the present invention 1 provides, and this method is used for according to vehicle
Sensors observation data calculate tire force, include the following steps:
Step S11: longitudinal acceleration, yaw velocity, longitudinal speed, side acceleration and the side of vehicle are obtained in real time
To disk corner.
In the embodiment of the present invention, it is provided with vehicle computing machine equipment in the car, which connects vehicle
Sensor, obtain the data of vehicle each sensor acquisition in real time, the data when vehicle driving of sensor acquisition include vehicle
Longitudinal acceleration, yaw velocity, longitudinal speed, side acceleration and steering wheel angle etc..
In the embodiment of the present invention, which, can be with after the data for obtaining vehicle each sensor acquisition
The data are pre-processed, such as carry out the cleaning treatment of data, remove bring influence of noise in vehicle travel process.On
Stating the pretreated process of data progress to sensor acquisition can be realized by algorithm or application program, such as in vehicle-mounted meter
It calculates in machine equipment and is provided with data cleansing application program, after the data of vehicle computing machine equipment receiving sensor acquisition, pass through
The Cleaning application program starts the cleaning processing sensing data, to guarantee the reliability of data.
Step S12: according to preset tire vertical force formula, longitudinal acceleration, yaw velocity and longitudinal vehicle are utilized
Speed carries out operation, obtains tire vertical force.
In the embodiment of the present invention, the vehicle computing machine equipment obtain sensor data after or sensing data into
After row pretreatment, it can use the longitudinal acceleration in sensing data, yaw velocity and longitudinal speed and carry out operation, obtain
Obtain tire vertical force, wherein formula used in the calculating process is preset tire vertical force formula, which calculates
Formula is based on PID (PID, Proportion Integral Differential, proportional-integral-differential algorithm).
In the embodiment of the present invention, which includes:
In formula, a is vehicle centroid at a distance from wheel front axle, and b is vehicle centroid at a distance from wheel rear axle, hgFor vehicle
Height of center of mass, w is wheelspan, and m is vehicle mass, and g is acceleration of gravity, and u is longitudinal direction of car speed,For Vehicular yaw angle speed
Degree, fl represent vehicle front left wheel, and fr represents the right wheel of vehicle front, and rl represents rear of vehicle left wheel, and rr represents vehicle
The right wheel in rear.
In the embodiment of the present invention, it can be provided with application program in vehicle computing machine equipment, be realized by application program
The operation of above-mentioned formula obtains the tire vertical force of each tire.For example, being provided in vehicle computing machine equipment based on the wheel
The vertical force calculation procedure of tire vertical force formula, the vertical force calculation procedure can use longitudinal acceleration in sensing data
Degree, yaw velocity and longitudinal speed carry out operation and obtain each tire vertical force.
Step S13: according to preset longitudinal force of tire formula, tire parameter, vertical load and tire vertical force are utilized
Operation is carried out, longitudinal force of tire is obtained.
In the embodiment of the present invention, after the vertical force that vehicle computing machine equipment operation obtains a tire, acquisition can use
Tire vertical force, tire parameter and vehicle vertical load carry out operation, obtain longitudinal force of tire.Wherein, the operation
Formula used in journey is preset longitudinal force of tire formula.
In the embodiment of the present invention, which includes:
Wherein, above formula is the longitudinal force of tire formula based on pid algorithm, in formula, RijFor the effective radius of each tire,
Rs,ijFor the static tire radius of each tire, FzijFor tire vertical force, kzijFor tire vertical stiffness, Kp、KiAnd KdFor
Pid parameter, eωFor wheel acceleration deviation,For longitudinal force of tire initial value,For longitudinal force of tire.Wherein, such as Fig. 2 tire
Shown in effective radius schematic diagram, which includes static tire radius Rs,ij, tire vertical force Fzij、RijTire it is effective
Radius, Ru,ijThe true radius of tire and ωijTire running angular speed.
In the embodiment of the present invention, it can be provided with application program in vehicle computing machine equipment, obtain tire vertical force
Afterwards, operation is carried out using the tire vertical force by application program, obtains the longitudinal force of tire of each tire.For example, vehicle-mounted
The longitudinal force calculation procedure based on longitudinal force of tire formula is provided in computer equipment, which is being taken turns
It is activated after tire vertical force, and carries out the operation of above-mentioned formula using the tire vertical force, tire parameter and vehicle vertical load,
Finally obtain each longitudinal force of tire.
Step S14: according to preset side force of tire formula, turned using longitudinal acceleration, side acceleration, steering wheel
Angle, tire vertical force and longitudinal force of tire carry out operation, obtain side force of tire.
In the embodiment of the present invention, which, can be with after obtaining longitudinal force of tire and tire vertical force
Utilize longitudinal acceleration, the side acceleration, steering wheel angle in the longitudinal force of tire, tire vertical force and sensing data
Operation is carried out, side force of tire is obtained, wherein formula used in the calculating process is preset side force of tire formula, should
Side force of tire formula is based on SCKF (SCKF, Square-root Cubature Kalman Filter, square root volume karr
Graceful filtering algorithm).
Embodiment 2
Fig. 3 is a kind of flow chart of the calculating side force of tire for tire force calculation method that the embodiment of the present invention 2 provides,
This includes the following steps:
Step S31: side force of tire basic value is calculated according to side acceleration and tire vertical force.
In the embodiment of the present invention, cart-mounted computing device is calculating side force of tire mistake using preset side force of tire formula
Cheng Zhong calculates side force of tire according to the tire vertical force of side acceleration and operation acquisition in sensing data first
Basic value.Wherein, the formula of the calculating side force of tire basic value includes:
In formula,For the side force of tire basic value of vehicle front wheel,For the side force of tire of rear of vehicle wheel
Basic value；For the tire vertical force of vehicle front wheel,For the tire vertical force of rear of vehicle wheel, m is the matter of vehicle
Amount, aymFor the side acceleration of vehicle.
Step S32: random walk SCKF state space is defined according to side force of tire basic value, and according to random walk
SCKF state space and steering wheel angle determine the process equation and measurement equation of side force of tire.
It, can be according to tire after which calculates side force of tire basic value in the embodiment of the present invention
Lateral force basic value defines random walk SCKF state space, and according to random walk SCKF state space and steering wheel angle,
Determine the process equation and measurement equation of side force of tire.Wherein, migration is defined based on above-mentioned side force of tire basic value
The state space of SCKF is as follows:
Wherein, FyfjFor the lateral force of vehicle front wheel, FyrjFor the lateral force of rear of vehicle wheel.Pass through migration SCKF
State space can determine that the measurement equation of auto model is as follows:
Wherein, w (t) is measurement noise, and δ is steering wheel angle, can be converted into following format:
By rearranging, process equation can be obtained and measuring the following form of equation:
xk=I2×2xk-1+I2×2vk-1, zk=Hk-1xk-1+I2×2wk-1,
In formula,
Step S33: to process equation and the measurement equation progress SCKF time updates processing and measurement updaue is handled, before acquisition
The lateral force value of back axle.
In the embodiment of the present invention, SCKF algorithm is broadly divided into time update and two steps of measurement updaue, for system shape
State space is as follows:
Xk+1=f (Xk,uk)+vk,
Zk=h (Xk,uk)+wk.
In formula, Xk+1Represent system mode, ZkRepresent measuring state, vkRepresentative model noise, wkRepresent measurement noise.When then
Between update and include the following steps:
1. calculating volume point (i=1,2 ..., c):
2. calculating the volume point transmitted through system equation:
3. estimating the status predication value of subsequent time k+1:
4. the error of estimation subsequent time k+1 defences matrix jointly:
In formula, SQ,k-1For Qk-1On Square-Rooting Matrices, i.e., It represents following triangle and solves calculation
Method: by ΘTTriangle decomposition is carried out,To decompose obtained upper triangular matrix, thenAfter subtracting priori mean value, in weighting
Heart matrix is as follows:
Measurement updaue includes the following steps:
1. calculating volume point (i=1,2 ..., c):
Transmitting volume point is rubbed 2. putting by measurement:
Zi,k|k-1=h (Xi,k|k-1,uk)；
3. estimation observation predicted value:
4. estimating measurement error covariance matrix:
Szz,k|k-1=Tria ([Zk|k-1 SR,k])；
In formula, SR,kMeetWeighted center matrix are as follows:
5. estimation prediction cross-correlation covariance matrix:
In formula, χk|k-1Expression formula be
6. estimating filtering gain:
In formula, symbol/represent the right division operation symbol of matrix.
7. estimating k+1 moment state estimation:
Then k+1 moment state error covariance estimated value are as follows: Sk|k=Tria ([χk|k-1-WkZk|k-1 WkSR,k])。
In the embodiment of the present invention, after the update of above-mentioned time and measurement updaue step, the lateral of front and back axle can be obtained
Force value are as follows:
Step S34: according to the lateral force value and tire vertical force of front and back axle, side force of tire is calculated.
In the embodiment of the present invention, vehicle computing machine equipment is before and after the acquisition after the lateral force value of axle, before can use this
The lateral force value and tire vertical force of back axle calculate the lateral force of tire.Wherein, which includes:
In formula,For vehicle front left wheel lateral force,For the right wheel lateral force of vehicle front,For rear of vehicle
Left wheel lateral force,For the right wheel lateral force in rear of vehicle；For the lateral force value of front axle,For back axle
Lateral force value；For vehicle front left wheel vertical force,For the right wheel vertical force of vehicle front,For a rear of vehicle left side
Wheel vertical force,For the right wheel vertical force in rear of vehicle；For the vertical force value of front axle,For hanging down for back axle
To force value.
In the embodiment of the present invention, the calculating process of above-mentioned each step can be in vehicle computing machine equipment using using journey
Sequence is realized, such as can be stored with application program in vehicle computing machine equipment, is obtained operational parameter and is executed above-mentioned tyre side
To the calculating process of power, the final side force of tire for obtaining vehicle.
Embodiment 3
Fig. 4 is a kind of flow chart for tire force calculation method that the embodiment of the present invention 3 provides, and this method is used for according to vehicle
Sensors observation data calculate tire force, include the following steps:
Step S41: longitudinal acceleration, yaw velocity, longitudinal speed, side acceleration and the side of vehicle are obtained in real time
To disk corner.
This step is consistent with above-mentioned steps S11, and details are not described herein.
Step S42: according to preset tire vertical force formula, longitudinal acceleration, yaw velocity and longitudinal vehicle are utilized
Speed carries out operation, obtains tire vertical force.
This step is consistent with above-mentioned steps S12, and details are not described herein.
Step S43: according to preset longitudinal force of tire formula, tire parameter, vertical load and tire vertical force are utilized
Operation is carried out, longitudinal force of tire is obtained.
This step is consistent with above-mentioned steps S13, and details are not described herein.
Step S44: according to preset side force of tire formula, turned using longitudinal acceleration, side acceleration, steering wheel
Angle, tire vertical force and longitudinal force of tire carry out operation, obtain side force of tire.
This step is consistent with above-mentioned steps S14, and details are not described herein.
Step S45: judge whether tire vertical force, longitudinal force of tire and side force of tire are more than preset value.
In the embodiment of the present invention, vehicle in the process of moving, the cart-mounted computing device by operation obtain tire vertical force,
After longitudinal force of tire and side force of tire, it can be determined that whether tire vertical force, longitudinal force of tire and the side force of tire
More than preset value.Wherein the preset value of the tire vertical force, longitudinal force of tire and side force of tire because different vehicle class,
Model and the tire used and it is different, the preset value can by vehicular manufacturer carry out test of many times after obtain, which exists
It then can guarantee safety traffic when tire force is no more than the preset value in driving process.
Step S36: tire force is more than pre- in tire vertical force, longitudinal force of tire and side force of tire at least one
If when value, generating alarm sounds and reminding user.
In the embodiment of the present invention, in vehicle travel process, when tire vertical force, longitudinal force of tire and side force of tire
In when tire force is more than preset value at least one, which, which can be generated alarm sounds, reminds and is driving
User guarantees the safety of vehicle driving.Wherein, which can be prompt tone etc., here without limitation.
Embodiment 4
Fig. 5 is a kind of flow chart for tire force computing device that the embodiment of the present invention 4 provides.
The tire force computing device 500 includes:
Vehicle traveling information obtains module 510, for obtaining longitudinal acceleration, the yaw velocity, longitudinal direction of vehicle in real time
Speed, side acceleration and steering wheel angle.
Vertical force computing module 520, for utilizing the longitudinal acceleration, institute according to preset tire vertical force formula
It states yaw velocity and longitudinal speed carries out operation, obtain tire vertical force.
Longitudinal force computing module 530, for utilizing tire parameter, vertical load according to preset longitudinal force of tire formula
And the tire vertical force carries out operation, obtains longitudinal force of tire.
Lateral force computing module 540, for utilizing the longitudinal acceleration, institute according to preset side force of tire formula
It states side acceleration, the steering wheel angle, the tire vertical force and the longitudinal force of tire and carries out operation, obtain tire
Lateral force.
As shown in fig. 6, the tire force computing device 500 further include:
Tire force judgment module 550, for judging the tire vertical force, the longitudinal force of tire and the tyre side
It whether is more than preset value to power.
Alarm sounds generation module 560, for working as the tire vertical force, the longitudinal force of tire and the tyre side
When tire force is more than preset value in Xiang Lizhong at least one, generates alarm sounds and remind user.
In the embodiment of the present invention, it is phase in embodiment that the above-mentioned more detailed function description of modules, which can refer to aforementioned,
The content of part is answered, details are not described herein.
In addition, the vehicle computing machine equipment may include intelligent electricity the present invention also provides a kind of vehicle computing machine equipment
Words, tablet computer, vehicle-mounted computer, intelligent wearable device etc..The vehicle computing machine equipment includes memory and processor, memory
It can be used for storing computer program, processor is by running the computer program, so that vehicle computing machine equipment be made to execute
State the function of method or the modules in above-mentioned tire force computing device.
Memory may include storing program area and storage data area, wherein storing program area can storage program area, at least
Application program needed for one function (such as sound-playing function, image player function etc.) etc.；Storage data area can store root
Created data (such as audio data, phone directory etc.) etc. are used according to vehicle computing machine equipment.In addition, memory can wrap
High-speed random access memory is included, can also include nonvolatile memory, for example, at least disk memory, a flash memories
Part or other volatile solid-state parts.
The present embodiment additionally provides a kind of computer storage medium, for storing used in above-mentioned vehicle computing machine equipment
Computer program.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and structure in attached drawing
Figure shows the system frame in the cards of the device of multiple embodiments according to the present invention, method and computer program product
Structure, function and operation.In this regard, each box in flowchart or block diagram can represent a module, section or code
A part, a part of the module, section or code includes one or more for implementing the specified logical function
Executable instruction.It should also be noted that function marked in the box can also be to be different from the implementation as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that in structure chart and/or flow chart
The combination of each box and the box in structure chart and/or flow chart, can function or movement as defined in executing it is dedicated
Hardware based system realize, or can realize using a combination of dedicated hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention can integrate one independence of formation together
Part, be also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be intelligence
Can mobile phone, personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), magnetic or disk etc. be various to can store program code
Medium.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of tire force calculation method calculates tire force for observing data according to vehicle sensors, feature exists
In, comprising:
Longitudinal acceleration, yaw velocity, longitudinal speed, side acceleration and the steering wheel angle of vehicle are obtained in real time；
According to preset tire vertical force formula, the longitudinal acceleration, the yaw velocity and longitudinal vehicle are utilized
Speed carries out operation, obtains tire vertical force；
According to preset longitudinal force of tire formula, operation is carried out using tire parameter, vertical load and the tire vertical force,
Obtain longitudinal force of tire；
According to preset side force of tire formula, turned using the longitudinal acceleration, the side acceleration, the steering wheel
Angle, the tire vertical force and the longitudinal force of tire carry out operation, obtain side force of tire.
2. tire force calculation method according to claim 1, which is characterized in that the tire vertical force formula includes:
In formula, a is vehicle centroid at a distance from wheel front axle, and b is vehicle centroid at a distance from wheel rear axle, hgFor the matter of vehicle
Heart height, w are wheelspan, and m is vehicle mass, and g is acceleration of gravity, and u is longitudinal direction of car speed,For yaw rate, fl
Vehicle front left wheel is represented, fr represents the right wheel of vehicle front, and rl represents rear of vehicle left wheel, and rr represents the rear of vehicle right side
Wheel.
3. tire force calculation method according to claim 1, which is characterized in that the longitudinal force of tire formula includes:
Wherein, above formula is the longitudinal force of tire formula based on pid algorithm, in formula, RijFor the effective radius of each tire, Rs,ijFor
The static tire radius of each tire, FzijFor tire vertical force, kzijFor tire vertical stiffness, Kp、KiAnd KdFor pid parameter,
eωFor wheel acceleration deviation,For longitudinal force of tire initial value,For longitudinal force of tire.
4. tire force calculation method according to claim 1, which is characterized in that described " lateral according to preset tire
Power formula utilizes the longitudinal acceleration, the side acceleration, the steering wheel angle, the tire vertical force and institute
State longitudinal force of tire and carry out operation, obtain side force of tire " include:
Side force of tire basic value is calculated according to the side acceleration and the tire vertical force；
Random walk SCKF state space is defined according to the side force of tire basic value, and according to the random walk SCKF shape
State space and the steering wheel angle determine the process equation and measurement equation of side force of tire；
Processing and measurement updaue processing are updated to the process equation and measurement equation progress SCKF time, obtain front and back vehicle
The lateral force value of axis；
According to the lateral force value of the front and back axle and the tire vertical force, side force of tire is calculated.
5. tire force calculation method according to claim 4, which is characterized in that the side force of tire formula includes:
In formula,For vehicle front left wheel lateral force,For the right wheel lateral force of vehicle front,For the left vehicle in rear of vehicle
Lateral force is taken turns,For the right wheel lateral force in rear of vehicle；For the lateral force value of front axle,For the side of back axle
To force value；For vehicle front left wheel vertical force,For the right wheel vertical force of vehicle front,For rear of vehicle left wheel
Vertical force,For the right wheel vertical force in rear of vehicle；For the vertical force value of front axle,For the vertical force of back axle
Value.
6. tire force calculation method according to claim 1, which is characterized in that further include:
Judge whether the tire vertical force, the longitudinal force of tire and the side force of tire are more than preset value；
Tire force is more than pre- at least one in the tire vertical force, the longitudinal force of tire and the side force of tire
If when value, generating alarm sounds and reminding user.
7. a kind of tire force computing device calculates tire force for observing data according to vehicle sensors, feature exists
In, comprising:
Vehicle traveling information obtains module, for obtaining longitudinal acceleration, yaw velocity, the longitudinal speed, side of vehicle in real time
To acceleration and steering wheel angle；
Vertical force computing module, for utilizing the longitudinal acceleration, the yaw angle according to preset tire vertical force formula
Speed and longitudinal speed carry out operation, obtain tire vertical force；
Longitudinal force computing module utilizes tire parameter, vertical load and described for according to preset longitudinal force of tire formula
Tire vertical force carries out operation, obtains longitudinal force of tire；
Lateral force computing module, for according to preset side force of tire formula, using the longitudinal acceleration, it is described lateral plus
Speed, the steering wheel angle, the tire vertical force and the longitudinal force of tire carry out operation, obtain side force of tire.
8. tire force computing device according to claim 7, which is characterized in that further include:
Tire force judgment module, for judging that the tire vertical force, the longitudinal force of tire and the side force of tire be
No is more than preset value；
Alarm sounds generation module, for when in the tire vertical force, the longitudinal force of tire and the side force of tire
When tire force is more than preset value at least one, generates alarm sounds and remind user.
9. a kind of vehicle computing machine equipment, which is characterized in that including memory and processor, the memory is based on storing
Calculation machine program, the processor runs the computer program so that the vehicle computing machine equipment executes according to claim 1
To tire force calculation method described in any one of 6.
10. a kind of computer storage medium, which is characterized in that it is stored in vehicle computing machine equipment as claimed in claim 9
Used computer program.
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