CN109814404A - The assemblage on-orbit calibration system and scaling method of entire car controller - Google Patents
The assemblage on-orbit calibration system and scaling method of entire car controller Download PDFInfo
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- CN109814404A CN109814404A CN201910058976.7A CN201910058976A CN109814404A CN 109814404 A CN109814404 A CN 109814404A CN 201910058976 A CN201910058976 A CN 201910058976A CN 109814404 A CN109814404 A CN 109814404A
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Abstract
The present invention relates to the assemblage on-orbit calibration systems of entire car controller, its driver's simulator is fixed on six degree of freedom platform, the accelerator pedal status signal of driver's simulator, brake pedal status signal, gear signal, key signal and steering wheel angle signal output end are separately connected the correspondence input terminal of entire car controller to be calibrated, the controller nominal data output end of host computer connects the input terminal of entire car controller to be calibrated, in the control terminal of the six degree of freedom platform control signal output end connection six degree of freedom platform of ring experimental bench, the vehicle attitude parameter output end of six degree of freedom platform is connected to the attitude parameter input terminal of ring experimental bench, the torque signal and steering wheel angle signal output end of entire car controller to be calibrated are connected to the correspondence input terminal of ring experimental bench, full-vehicle control to be calibrated is connected in the speed signal output end of ring experimental bench The correspondence input terminal of device.The present invention can be such that entire car controller to be calibrated emulates in a true drive simulation scene.
Description
Technical field
The present invention relates to entire car controller technical fields, and in particular to a kind of assemblage on-orbit calibration system of entire car controller
And scaling method.
Background technique
Entire car controller (VCU, vehicle control unit), is the key control unit of entire automobile, it is acquired
Accelerator pedal signal, brake pedal signal and other component signals, and after making corresponding judgement, control each component controls of lower layer
The movement of device, while entire car controller is by acquisition driver driving signal and vehicle-state, by CAN bus to the network information into
Row management, scheduling, analysis and operation configure for the difference of vehicle, carry out corresponding energy management, realize vehicle driving control
The functions such as system, energy optimal control, feedback braking control and network management.And car steering ride comfort drives with vehicle and controls
It makes, the output torque size in feedback braking control is closely bound up, and above-mentioned torque value is made by the control strategy in usual VCU can
The amount of calibration is to adapt to different road conditions.Therefore, it needs to have wide experience in development process and before entering practical application
Calibration engineer these scalar quantities are demarcated, to improve the ride comfort and riding comfort of vehicle.
The scaling scheme used at present for electric car/hybrid power automobile controller exploitation specifically includes that laboratory
Tooling calibration and the calibration of road real vehicle.Wherein tooling calibration in laboratory is using calibration tools such as CANape or INCA to vehicle
Controller carries out off-line calibration, and tooling test pcb board is recycled after the completion of calibration to receive the simulation letter of entire car controller output
Number, digital signal or CAN signal are commonly used to demarcate the switching signal of some relays, water pump to verify the quality of calibrating parameters
The pwm signal of fan.The logical laboratory tooling scaling scheme of calibration tool used in the calibration of road real vehicle is the same, and difference is
Real vehicle calibration in road is to carry out real-time calibration to entire car controller in real roads, and the quality of calibration is according to calibration engineer
Actually body-sensing reaction by bus, provides relatively subjective evaluation.
The evaluation of road real vehicle calibration is to lack objective basis using the subjective response of people as foundation.Physical evaluation be then with
Quantitative assessment of the vibration parameters as ride comfort is surveyed, and is easily combined with controller calibrating parameters.However same vibration shape
State is for the human body of different physiological characteristic and state, and there are the reactions of entirely different subjective sensation, it is still desirable to the subjectivity of people
Feel to examine.Therefore, in order to demarcate the dependent dynamics parameter of entire car controller, need to combine subjective assessment and objectively evaluate
The riding comfort of automobile is evaluated.
Summary of the invention
The purpose of the present invention is to provide the assemblage on-orbit calibration systems and scaling method of a kind of entire car controller, to solve
Existing calibration test macro is not suitable for entire car controller under off-line state using riding comfort as evaluation index, to controller
The problem of parameter is demarcated.
In order to solve the above technical problems, the assemblage on-orbit calibration system of entire car controller designed by the present invention, feature
Be: it include driver's simulator, entire car controller to be calibrated, host computer, in ring experimental bench and six degree of freedom platform,
In, the cockpit seat and scene of driver's simulator show that equipment is fixed on six degree of freedom platform, driver's simulator
Accelerator pedal status signal output, brake pedal status signal output end, gear signal output end, key signal output end
The correspondence signal input part of entire car controller to be calibrated, the controller of host computer are separately connected with steering wheel angle signal output end
Nominal data output end connects the controller nominal data input terminal of entire car controller to be calibrated, in the six degree of freedom of ring experimental bench
Platform control signal output end connects the control signal input of six degree of freedom platform, the vehicle attitude parameter of six degree of freedom platform
Output end is connected to the vehicle attitude parameter input terminal of ring experimental bench, the torque signal output end of entire car controller to be calibrated and side
The torque signal input terminal and steering wheel angle signal input part of ring experimental bench are connected to disk angular signal output end, in ring reality
The speed signal output end for testing platform connects the speed signal input terminal of entire car controller to be calibrated.
A kind of assemblage on-orbit scaling method of the entire car controller of above system, it includes the following steps:
Step 1: first via the calibration software in host computer to entire car controller to be calibrated carry out crawling torque MAP table,
Accelerator open degree torque MAP table, the parameter braked recycling torque MAP table and slide torque recycling MAP table are demarcated in advance；
Step 2: after the completion of pre- calibration, tester drives at this time according to test calibration step operation driver's simulator
Member's simulator exports corresponding accelerator pedal status signal, brake pedal to entire car controller to be calibrated according to test calibration step
Status signal, gear signal, key signal and steering wheel angle signal, meanwhile, in ring experimental bench by the vehicle of vehicle moving model
Fast information feeds back to entire car controller to be calibrated, entire car controller to be calibrated according to receive accelerator pedal status signal, system
Dynamic pedal state signal, gear signal, key signal, steering wheel angle signal and vehicle speed information calculate current output to motor
Torque value, which is delivered directly in ring experimental bench；
Step 3: at this point, running vehicle power according to the torque signal and steering wheel angle signal received in ring experimental bench
It learns model and obtains vehicle attitude parameter model, vehicle attitude parameter model, which is conveyed on host computer, to be shown, host computer is to vehicle appearance
State parameter runs washout filter algorithm, inverse kinematic algorithm and electric cylinder control algolithm and generates corresponding six degree of freedom platform control
Six degree of freedom platform control signal by being transferred to six degree of freedom platform in ring experimental bench, is made six freedom by signal processed, host computer
Control of the platform realization to driver's simulator posture is spent, is transported to obtain controller to be calibrated in the case where simulating true road surface road conditions
The fed back vehicle body Comfort Evaluation information of row, and then be calibrating parameters marking according to these information.
The present invention is by that in conjunction with assemblage on-orbit system, can make full-vehicle control to be calibrated for Six-degree-of-freedom Simulation platform
Device emulation is in a true drive simulation scene, improves in entire car controller to be calibrated in entire vehicle control software exploitation
The applicability of control strategy reduces the number of proving ground test, shortens the development time, reduces development cost, reduces road
The risk of examination process.
The present invention can simulate a variety of different extreme operating conditions, and real vehicle road test then will receive place, weather etc.
Factor influence can not demarcate；
In addition, the present invention, which also can be reduced, shortens the nominal time, calibration cost is reduced, real vehicle calibration is done with engineer's impression entirely
Less than quantitative analysis, assemblage on-orbit calibration in laboratory is subtracted by the selection of acquisition six-degree-of-freedom posture information guiding calibrating parameters
Few staking-out work amount improves calibration accuracy, also can be shortened the time certainly, reduce cost.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Wherein, 1-driver's simulator, 2-entire car controllers to be calibrated, 3-host computers, 4-are in ring experimental bench, 5-
Six degree of freedom platform.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
A kind of assemblage on-orbit calibration system of entire car controller, as shown in Figure 1, it include driver's simulator 1, it is to be calibrated
Entire car controller 2, host computer 3, in ring experimental bench 4 and six degree of freedom platform 5, wherein the cockpit of driver's simulator 1
Seat and scene show that equipment is fixed on six degree of freedom platform 5, can realize that sideway, rotation, lateral deviation drive with six degree of freedom platform
Accelerator pedal status signal output, brake pedal status signal output end, the gear signal output end, key of member's simulator 1
Signal output end and steering wheel angle signal output end are separately connected the correspondence signal input part of entire car controller 2 to be calibrated, on
The controller nominal data output end of position machine 3 connects the controller nominal data input terminal of entire car controller 2 to be calibrated, in ring reality
The control signal input of the six degree of freedom platform control signal output end connection six degree of freedom platform 5 of platform 4 is tested, six degree of freedom is flat
The vehicle attitude parameter output end of platform 5 is connected to the vehicle attitude parameter input terminal of ring experimental bench 4, entire car controller 2 to be calibrated
Torque signal output end and steering wheel angle signal output end be connected to the torque signal input terminal and steering wheel of ring experimental bench 4
Angular signal input terminal connects the speed signal input of entire car controller 2 to be calibrated in the speed signal output end of ring experimental bench 4
End.
In above-mentioned technical proposal, the vehicle attitude parameter three-dimensional animation in ring experimental bench 4 shows that signal output end connects
The three-dimensional animation for connecing host computer 3 in succession shows signal input part.
It is described to download vehicle moving model from host computer 3 in ring experimental bench 4 in above-mentioned technical proposal.The-loop test bed,
Namely MicroAutoBox real-time simulation machine (in ring experimental bench capital equipment), its application method is, sharp in host computer
With model is built in Matlab/Simulink, input/output port signal type is configured, through under Code automatic build, compiling
It is loaded onto real-time simulation machine, makes replicating machine by driving chip output digit signals, analog signal etc., and then keep six degree of freedom flat
Platform movement.
In above-mentioned technical proposal, six degree of freedom platform control signal is obtained also from host computer 3 in ring experimental bench 4.
In above-mentioned technical proposal, the six degree of freedom platform is by the 6-dof motion platform, micro- using Stewart mechanism
The composition such as type controller, servo drive system.On the ground, upper mounting plate is movement for the lower platform installation of 6-dof motion platform
Platform, it is supported by six electric cylinders, and motion platform is hinged with electric cylinder using six Hookes, and electric cylinder is adopted with fixed pedestal
It is hinged with six Hookes, six electric cylinders use the electric cylinder of servo motor driving.Computer control system passes through pose-cylinder
It is long to resolve, it is long by driving servo motor change electric cylinder cylinder, to realize the movement of the six-freedom degree of motion platform, i.e. flute card
Three translational motions in your coordinate system and the rotation around three reference axis.Six degree of freedom platform is flat for common electric cylinder servo
Platform, in the the-loop test bed existing product in the market, using the MicroAutoBox real-time simulation machine of dSPACE company.
It is described to be used to receive auto model and drive simulating information in ring experimental bench 4 and generate by entire car controller to be calibrated
Received test desired signal, should ring experimental bench 4 be also used to according to entire car controller to be measured issue feedback signal to six from
The location information of platform feedback is controlled and received accordingly by degree motion platform.
The host computer 3 also has both driving calibrating parameters Function of Evaluation, wherein assessment module be by CANape or
The write-in of the calibration tools software such as person INCA is downloaded calibrating parameters to entire car controller 2 to be calibrated in real time and is demarcated, joined to calibration
Several evaluations is then that the common operating condition encountered when being demarcated according to real vehicle carries out integration test, mainly includes idle mode, semi-load
Mode, fully loaded mode, upward slope operating condition, descending operating condition.After the completion of calibration, commented by the vehicle movement feature of six degree of freedom feedback
Whether valence calibrating parameters are reasonable, and provide evaluation result, if calibrating parameters can rationally be generated Excel table storage by calibrating parameters
To local.
The calibrating parameters of current entire car controller are manipulated in fact on experiment road by the calibration engineer of rich experiences
Vehicle determines calibrating parameters according to subjective driving experience.The present invention is then detached from vehicle indoors and demarcates to controller,
Using pilot control is simulated on driving simulator, assemblage on-orbit machine exports body gesture in real time and gives six degree of freedom platform, finally
In conjunction with driver's impression and body gesture parametric synthesis evaluation, optimized parameter is found from multiple groups calibrating parameters.
A kind of assemblage on-orbit scaling method of the entire car controller of above system, it includes the following steps:
Step 1: first via CANape the INCA calibration software in host computer 3 to entire car controller 2 to be calibrated into
Row crawling torque MAP (Maipu's figure) table, accelerator open degree torque MAP table, braking recycle torque MAP table and slide torque recycling MAP
The parameter of table demarcates (demarcate in advance with engineer experience) in advance；
Step 2: after the completion of pre- calibration, tester drives at this time according to test calibration step operation driver simulator 1
Member's simulator 1 is according to test calibration step to entire car controller 2 to be calibrated exports corresponding accelerator pedal status signal, braking is stepped on
Board status signal, gear signal, key signal and steering wheel angle signal, meanwhile, in ring experimental bench 4 by vehicle moving model
Vehicle speed information feeds back to entire car controller 2 to be calibrated by CAN communication, and entire car controller 2 to be calibrated is according to the acceleration received
Pedal state signal, brake pedal status signal, gear signal, key signal, steering wheel angle signal and vehicle speed information calculate
To the torque value of motor, (basic calculation process is according to giving speed and gas pedal aperture interpolation accelerator open degree for current output out
Torque MAP obtains output torque), which is delivered directly in ring experimental bench 4；
Step 3: at this point, dynamic according to torque signal and steering wheel angle signal the operation vehicle received in ring experimental bench 4
Mechanical model (the Full Vehicle Dynamics model passes through CarSim software configuration) obtains vehicle attitude parameter model, vehicle attitude parameter
Model is conveyed on host computer 3 and shows, host computer 3 runs washout filter algorithm, inverse kinematic algorithm to vehicle attitude parameter
Corresponding six degree of freedom platform control signal is generated with electric cylinder control algolithm, and host computer 3 is by six degree of freedom platform control signal
By being transferred to six degree of freedom platform 5 in ring experimental bench 4, six degree of freedom platform 5 is made to realize the control to 1 posture of driver's simulator
System, so that obtaining controller 2 to be calibrated runs fed back vehicle body Comfort Evaluation information, packet in the case where simulating true road surface road conditions
Vertical acceleration, longitudinal acceleration, side acceleration are included, and then is that calibrating parameters are given a mark (according to ISO according to these information
2631-1-1997 " mechanical oscillation and impact the evaluation of whole body vibration --- human body receiving --- first part: General Requirement " into
Row marking).
In above-mentioned technical proposal, the test calibration step includes the following steps:
201:D grades of crawlings of step, 1 simulating vehicle of driver's simulator is static, steps on brake, and gear is suspended to D grades by N grades,
Throttle is unclamped when 13~16km/h of speed, until speed is stabilized to 13~16km/h, records following evaluation parameter, vehicle is vertical to be added
Speed, longitudinal acceleration and side acceleration；
202:R grades of crawlings of step, stationary vehicle step on brake, and gear switches to R grades by N grades, speed -12~-
Throttle is unclamped when 16km/h, until speed is stabilized to -12~-16km/h, records following evaluation parameter, vehicle vertical acceleration,
Longitudinal acceleration and side acceleration evaluation parameter；
Step 203:D 0~60km/h of shelves accelerates, stationary vehicle, steps on brake and hangs D grades, and full throttle accelerates to 60km/h, note
Record following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and side acceleration；Stationary vehicle steps on brake and hangs D grades,
50% throttle accelerates to 60km/h, records following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and side acceleration；
Stationary vehicle steps on brake and hangs D grades, and 0~30% throttle accelerates to 60km/h, records following evaluation parameter, the vertical acceleration of vehicle
Degree, longitudinal acceleration and side acceleration；
Step 204:D 60~100km/h of shelves accelerates, stationary vehicle, steps on brake and hangs D grades, slides after speed to 60km/h,
Then full throttle accelerates to 100km/h, records following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and lateral acceleration
Degree；Stationary vehicle steps on brake and hangs D grades, slides after speed to 60km/h, and 50% throttle accelerates to 100km/h, and record is commented as follows
Valence parameter, vehicle vertical acceleration, longitudinal acceleration and side acceleration；Stationary vehicle steps on brake and hangs D grades, and speed is extremely
It is slided after 60km/h, 0~30% throttle accelerates to 100km/h, records following evaluation parameter, vehicle vertical acceleration, Zong Xiangjia
Speed and side acceleration；
Step 205:R 0~20km/h of shelves accelerates, stationary vehicle, steps on brake and hangs R grades, and full throttle accelerates to -20km/h,
Record following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and side acceleration；Stationary vehicle steps on brake and hangs R
Shelves, 50% throttle accelerate to -20km/h, record following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and lateral acceleration
Degree；Stationary vehicle steps on brake and hangs R grades, and 0~30% throttle accelerates to -20km/h, records appraisal parameter；
Step 206: full throttle accelerates, stationary vehicle, steps on brake, hangs D grades, releasing of brake, full throttle accelerates to 60km/
H records following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and side acceleration；
Step 207: full throttle braking, stationary vehicle step on brake, hang D grades, releasing of brake, cunning after speed to 60km/h
Row, maximum value of stepping on of braking, until stationary vehicle, records following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and side
To acceleration.
To above-mentioned evaluation parameter, according to ISO 2631-1-1997, " mechanical oscillation and impact --- human body bears whole body vibration
Evaluation --- first part: General Requirement " give a mark: including 0~5 point, score more it is low it is above-mentioned feel to be more obvious, evaluation side
Method is used as Basic Evaluation method using " root mean square of weighed acceleration ", gives the corresponding vertical acceleration of each group of calibrating parameters respectively
Degree, longitudinal acceleration, side acceleration carry out evaluation marking.
Subjective assessment from centrifugal force, push away back, rock, these human feelings that jolt give a mark, including 0~5 point, score is got over
It is more low above-mentioned to feel to be more obvious.
Evaluation score quantitative analysis calibrating parameters quality, help select calibrating parameters, subjective and objective score summation highest
Person is Optimal Calibration value.
Calibration crawling torque MAP need to only complete 201,202 steps, and ten groups of calibrating parameters is selected to test on replicating machine, comprehensive
It closes subjective assessment and objectively evaluates, determine optimal calibration value
Similarly, accelerator open degree torque MAP calibration need to only complete 203,205,206 steps, select ten groups of calibrating parameters imitative
It tests, comprehensive subjective evaluation and objectively evaluates on prototype, determine optimal calibration value.
Similarly, braking recycling torque MAP need to only complete 206,207 steps, and ten groups of calibrating parameters is selected to survey on replicating machine
Examination, comprehensive subjective evaluation and objectively evaluates, and determines optimal calibration value.
Similarly, 204,206,207 steps need to only be completed by sliding torque recycling MAP, select ten groups of calibrating parameters in replicating machine
Upper test, comprehensive subjective evaluation and objectively evaluates, and determines optimal calibration value.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (6)
1. a kind of assemblage on-orbit calibration system of entire car controller, it is characterised in that: it includes driver's simulator (1), wait mark
Determine entire car controller (2), host computer (3), in ring experimental bench (4) and six degree of freedom platform (5), wherein driver's simulation
The cockpit seat and scene of device (1) show that equipment is fixed on six degree of freedom platform (5), and the acceleration of driver's simulator (1) is stepped on
Board status signal output end, brake pedal status signal output end, gear signal output end, key signal output end and steering wheel
Angular signal output end is separately connected the correspondence signal input part of entire car controller to be calibrated (2), the controller mark of host computer (3)
Determine the controller nominal data input terminal that data output end connects entire car controller (2) to be calibrated, ring experimental bench (4) six from
By degree platform control signal output end connection six degree of freedom platform (5) control signal input, six degree of freedom platform (5) it is whole
Vehicle attitude parameter output end is connected to the vehicle attitude parameter input terminal of ring experimental bench (4), the torsion of entire car controller (2) to be calibrated
Square signal output end and steering wheel angle signal output end are connected to the torque signal input terminal of ring experimental bench (4) and steering wheel turns
Angle signal input terminal, it is defeated in the speed signal that the speed signal output end of ring experimental bench (4) connects entire car controller (2) to be calibrated
Enter end.
2. the assemblage on-orbit calibration system of entire car controller according to claim 1, it is characterised in that: described to be tested in ring
The vehicle attitude parameter three-dimensional animation of platform (4) shows that the three-dimensional animation of signal output end connection connection host computer (3) shows signal
Input terminal.
3. the assemblage on-orbit calibration system of entire car controller according to claim 1, it is characterised in that: described to be tested in ring
Platform (4) downloads vehicle moving model from host computer (3).
4. the assemblage on-orbit calibration system of entire car controller according to claim 1, it is characterised in that: in ring experimental bench
(4) six degree of freedom platform control signal is also obtained from host computer (3).
5. a kind of assemblage on-orbit scaling method of the entire car controller of system described in claim 1, which is characterized in that it includes such as
Lower step:
Step 1: crawling torque MAP being carried out to entire car controller to be calibrated (2) via the calibration software in host computer (3) first
Table, accelerator open degree torque MAP table, the parameter braked recycling torque MAP table and slide torque recycling MAP table are demarcated in advance；
Step 2: after the completion of pre- calibration, tester is according to test calibration step operation driver simulator (1), driver at this time
Simulator (1) exports corresponding accelerator pedal status signal, braking to entire car controller to be calibrated (2) according to test calibration step
Pedal state signal, gear signal, key signal and steering wheel angle signal, meanwhile, vehicle is run into mould in ring experimental bench (4)
The vehicle speed information of type is fed back to entire car controller to be calibrated (2), and entire car controller (2) to be calibrated is according to the accelerator pedal received
Status signal, brake pedal status signal, gear signal, key signal, steering wheel angle signal and vehicle speed information calculate and work as
Preceding to export to the torque value of motor, which is delivered directly in ring experimental bench (4)；
Step 3: at this point, in ring experimental bench (4) according to torque signal and steering wheel angle signal the operation vehicle power received
It learns model and obtains vehicle attitude parameter model, vehicle attitude parameter model is conveyed on host computer (3) and shows, host computer (3) is right
Vehicle attitude parameter runs washout filter algorithm, inverse kinematic algorithm and electric cylinder control algolithm and generates corresponding six degree of freedom
Platform control signal, host computer (3) are flat by being transferred to six degree of freedom in ring experimental bench (4) by six degree of freedom platform control signal
Platform (5) makes six degree of freedom platform (5) to realize the control to driver's simulator (1) posture, to obtain controller to be calibrated
(2) fed back vehicle body Comfort Evaluation information is run in the case where simulating true road surface road conditions, and then is calibration according to these information
Parameter marking.
6. the assemblage on-orbit scaling method of entire car controller according to claim 5, it is characterised in that: the test calibration
Step includes the following steps:
Step 201: 1 simulating vehicle of driver's simulator is static, steps on brake, and gear is suspended to D grades by N grades, 13~16km/ of speed
Throttle is unclamped when h, until speed is stabilized to 13~16km/h, records following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration
Degree and side acceleration；
Step 202: stationary vehicle steps on brake, and gear switches to R grades by N grades, and speed unclamps oil in -12~-16km/h
Door records following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and side until speed is stabilized to -12~-16km/h
To acceleration evaluation parameter；
Step 203: stationary vehicle steps on brake and hangs D grades, and full throttle accelerates to 60km/h, records following evaluation parameter, and vehicle hangs down
To acceleration, longitudinal acceleration and side acceleration；Stationary vehicle steps on brake and hangs D grades, and 50% throttle accelerates to 60km/h,
Record following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and side acceleration；Stationary vehicle steps on brake and hangs D
Shelves, 0~30% throttle accelerates to 60km/h, records following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and it is lateral plus
Speed；
Step 204: stationary vehicle steps on brake and hangs D grades, slides after speed to 60km/h, then full throttle accelerates to 100km/
H records following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and side acceleration；Stationary vehicle steps on brake and hangs D
Shelves slide after speed to 60km/h, and 50% throttle accelerates to 100km/h, record following evaluation parameter, vehicle vertical acceleration,
Longitudinal acceleration and side acceleration；Stationary vehicle steps on brake and hangs D grades, slides after speed to 60km/h, 0~30% throttle
100km/h is accelerated to, following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and side acceleration are recorded；
Step 205: stationary vehicle steps on brake and hangs R grades, and full throttle accelerates to -20km/h, records following evaluation parameter, vehicle
Vertical acceleration, longitudinal acceleration and side acceleration；Stationary vehicle steps on brake and hangs R grades, and 50% throttle accelerates to -20km/
H records following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and side acceleration；Stationary vehicle steps on brake and hangs R
Shelves, 0~30% throttle accelerate to -20km/h, records appraisal parameter；
Step 206: stationary vehicle steps on brake, hangs D grades, and releasing of brake, full throttle accelerates to 60km/h, records following evaluation
Parameter, vehicle vertical acceleration, longitudinal acceleration and side acceleration；
Step 207: stationary vehicle steps on brake, hangs D grade, releasing of brake, slides after speed to 60km/h, maximum of stepping on of braking
Value, until stationary vehicle, records following evaluation parameter, vehicle vertical acceleration, longitudinal acceleration and side acceleration.
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| CN114301952A (en) * | 2021-11-16 | 2022-04-08 | 上海瓶钵信息科技有限公司 | Self-calibration system, method, device and medium |
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