CN113899564A - Measuring method, measuring device, computer equipment and storage medium - Google Patents
Measuring method, measuring device, computer equipment and storage medium Download PDFInfo
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Abstract
The invention is applicable to the technical field of vehicle detection, and provides a measuring method, a measuring device, computer equipment and a storage medium. The measuring method comprises the following steps: acquiring real-time running speed, deflection time, a vehicle body yaw angle and a vehicle wheel base when a vehicle deflects, and acquiring a swing angle of a steering wheel when the vehicle deflects; and obtaining the real-time transmission ratio of the vehicle according to the real-time running speed, the deflection time, the vehicle body yaw angle, the wheel base and the swing angle. According to the measuring method, the measuring device, the computer equipment and the storage medium, auxiliary equipment such as a suspension is not needed, so that the measurement of the transmission ratio of the vehicle is simpler, the measurement efficiency of the transmission ratio of the vehicle is improved, and the measuring method and the measuring device are suitable for measuring the transmission ratio of mass production vehicles; in addition, the measuring method is used for measuring when the vehicle is in a moving state, the transmission ratio obtained through measurement is guaranteed to be the transmission ratio when the vehicle actually moves, and the transmission ratio obtained through measurement has high accuracy.
Description
Technical Field
The invention belongs to the technical field of vehicle detection, and particularly relates to a measuring method, a measuring device, computer equipment and a storage medium.
Background
At present, with continuous progress and development of society, people have higher requirements on life convenience, wherein unmanned express delivery has a wide application scene, and relatively higher requirements on vehicle control in the application scene are also provided, especially the accuracy of vehicle control precision and vehicle dynamic parameters. However, the dynamic parameters of the vehicle are not precise and completely published, i.e. the specific values are ambiguous and require hands-on measurements.
A conventional measurement method of a dynamic parameter of a vehicle, specifically, a conventional measurement method of a vehicle transmission ratio, is to hover the vehicle on a suspension to measure a swing angle (heel angle) of a steering wheel and a rotation angle (tire angle) of a tire, and to obtain a vehicle transmission ratio (transform ratio) according to a ratio of the swing angle of the steering wheel and the rotation angle of the tire, and this measurement method is relatively complicated and inefficient, and is not suitable for mass production. Moreover, since the measurement method is performed based on the state where the vehicle is suspended on the suspension, that is, the conventional measurement method is performed in a static environment, but the vehicle control is performed based on a motion state, there is a certain degree of deviation between the vehicle transmission ratio measured in the static environment and the vehicle transmission ratio used in the motion state, and the accuracy is not high.
Disclosure of Invention
The invention aims to provide a measuring method, a measuring device, computer equipment and a storage medium, and aims to solve the technical problems of low efficiency and poor accuracy of the vehicle transmission ratio measuring method in the prior art.
In order to solve the technical problem, the invention provides a measuring method, which adopts the following technical scheme:
the measuring method comprises the following steps:
acquiring real-time running speed, deflection time, a vehicle body yaw angle, a vehicle wheel base and a steering wheel swing angle when a vehicle deflects;
and obtaining the real-time transmission ratio of the vehicle according to the real-time running speed, the deflection time, the vehicle body yaw angle, the wheel base and the swing angle.
Optionally, the step of obtaining the real-time transmission ratio of the vehicle according to the real-time running speed, the yaw time, the vehicle body yaw angle, the wheel base and the swing angle specifically includes:
obtaining the deflection radius of the vehicle according to the real-time running speed, the deflection time and the vehicle body yaw angle;
and obtaining the real-time transmission ratio according to the wheel base, the deflection radius and the swing angle of the vehicle.
Optionally, the step of obtaining the yaw radius of the vehicle according to the real-time running speed, the yaw time, and the vehicle body yaw angle specifically includes:
and determining the ratio of the product to the vehicle body yaw angle as the yaw radius based on the product of the real-time running speed and the yaw time.
Optionally, the step of obtaining the wheel base of the vehicle specifically includes:
based on a spacing between a front axle center and a rear axle center of the vehicle, the spacing is the wheelbase.
Optionally, the step of obtaining the real-time transmission ratio according to the wheel base, the yaw radius, and the swing angle of the vehicle specifically includes:
determining a front wheel corner according to the wheel base of the vehicle and the deflection radius;
and obtaining the real-time transmission ratio of the vehicle according to the swing angle and the front wheel rotation angle.
Optionally, the step of obtaining the corner of the front wheel according to the wheel base and the deflection radius of the vehicle specifically includes:
based on the ratio of the wheelbase and the deflection radius, and an ackermann steering geometry calculation formula:
∠A＝Arc(L/r)
to determine the front wheel turning angle; wherein L is the wheelbase, r is the deflection radius, and angle A is the front wheel rotation angle.
Optionally, the step of obtaining the swing angle specifically includes:
and acquiring the maximum swing angle of the steering wheel, wherein the maximum swing angle is the swing angle.
Optionally, the step of obtaining the real-time transmission ratio of the vehicle according to the swing angle and the front wheel rotation angle specifically includes:
and based on the ratio of the swing angle to the front wheel rotation angle, the ratio is the real-time transmission ratio.
Optionally, after the step of obtaining a real-time transmission ratio of the vehicle according to the real-time running speed, the yaw time, the body yaw angle, the wheel base and the swing angle, the method further includes:
acquiring a plurality of groups of different real-time running speeds, the real-time transmission ratio corresponding to each real-time running speed and the given running speed of the vehicle;
inquiring two groups of real-time running speeds adjacent to the given running speed and the real-time transmission ratio corresponding to the two adjacent groups of real-time running speeds according to the plurality of groups of real-time running speeds so as to determine the slope of the interval of the two groups of real-time running speeds;
and obtaining a target transmission ratio corresponding to the given running speed according to the slope, any group of real-time running speeds adjacent to the given running speed and the real-time transmission ratio corresponding to the real-time running speeds.
Optionally, the step of querying, according to the plurality of sets of real-time running speeds, two sets of real-time running speeds adjacent to the given running speed and the real-time transmission ratio corresponding to the two adjacent sets of real-time running speeds to determine the slope of the interval between the two sets of real-time running speeds specifically includes:
determining two sets of the real-time running speeds adjacent to the given running speed as a first real-time running speed and a second real-time running speed respectively, the second real-time running speed being greater than the given running speed, the first real-time running speed being less than the given running speed, and
determining that the real-time transmission ratio corresponding to the first real-time running speed is a first real-time transmission ratio, the real-time transmission ratio corresponding to the second real-time running speed is a second real-time transmission ratio, the second real-time transmission ratio is greater than the given running speed, and the first real-time transmission ratio is smaller than the given running speed;
determining a difference between the second real-time travel speed and the first real-time travel speed as a first difference value, an
Determining a difference between the second live gear ratio and the first live gear ratio as a second difference;
based on a ratio of the first difference to the second difference, the ratio is the slope.
Optionally, the step of obtaining the target gear ratio corresponding to the given running speed according to the slope, any group of the real-time running speeds adjacent to the given running speed, and the real-time gear ratio corresponding to the real-time running speed specifically includes:
determining a ratio of the difference to the slope based on the difference between the given travel speed and the first live travel speed to determine a sum of the ratio and the first live transmission ratio to be the target transmission ratio;
or, based on a difference between the second real-time running speed and the given running speed, and a ratio of the difference to the slope, determining that the sum of the ratio and the second real-time transmission ratio is the target transmission ratio.
In order to solve the above technical problem, the present invention further provides a measuring device, which adopts the following technical scheme:
the measuring device includes:
an acquisition module: the system comprises a control module, a control module and a control module, wherein the control module is used for acquiring real-time running speed, deflection time, a vehicle body yaw angle, a vehicle wheel base and a swing angle of a steering wheel when a vehicle deflects;
an obtaining module: and the vehicle yaw radius is obtained according to the real-time running speed, the yaw time, the vehicle body yaw angle, the wheelbase and the swing angle.
In order to solve the above technical problem, the present invention further provides a computer device, which adopts the following technical scheme:
the computer device comprises a memory in which a computer program is stored and a processor which, when executing the computer program, carries out the steps of the measurement method as described above.
In order to solve the above technical problem, the present invention further provides a computer-readable storage medium, which adopts the following technical solutions:
the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the measurement method as described above.
Compared with the prior art, the invention mainly has the following beneficial effects:
when the measuring method is used for measuring the transmission ratio of the vehicle, the real-time transmission ratio of the vehicle is obtained according to the real-time running speed, the deflection time, the body yaw angle, the wheel base and the swing angle of the vehicle. Therefore, the measuring method does not need to depend on auxiliary equipment such as a suspension and the like, so that the measurement of the transmission ratio of the vehicle is simpler, the measurement efficiency of the transmission ratio of the vehicle is improved, and the method is suitable for measuring the transmission ratio of mass production vehicles. In addition, the measuring method is used for measuring under any speed deflection of the vehicle, namely, the vehicle is in a moving state, the transmission ratio obtained through measurement is guaranteed to be the transmission ratio when the vehicle actually moves, and the transmission ratio obtained through measurement has high accuracy.
Drawings
FIG. 1 is a flow chart of one embodiment of a measurement method of the present invention;
FIG. 2 is a flow chart of another embodiment of a measurement method of the present invention;
FIG. 3 is a schematic structural diagram of a measuring device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device provided according to an embodiment of the present invention.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It should be noted that the technical features related to the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first" and "second" used herein do not limit the data and execution order, but distinguish the same items or similar items having substantially the same functions and actions.
It should be noted that, in order to facilitate understanding of the trajectory and orientation of the vehicle deflection during the measurement of the vehicle gear ratio, the vehicle is set to be located in the three-dimensional space coordinate system XYZ, wherein the plane on which the vehicle travels is the plane XoY in the three-dimensional space coordinate system XYZ, and the direction perpendicular to the vehicle is the Z-axis direction in the three-dimensional space coordinate system XYZ.
As shown in fig. 1, a measurement method is provided for the embodiment of the present invention, and is applied to the measurement of dynamic parameters of a vehicle, in particular to the measurement of a transmission ratio of the vehicle. The measuring method comprises the following steps:
step S100, acquiring real-time running speed, deflection time, a vehicle body yaw angle, a vehicle wheel base and a swing angle of a steering wheel during vehicle deflection.
As will be understood, with respect to the real-time travel speed: the vehicle is set to rotate around the Z axis at a speed, which is the real-time travel speed of the vehicle.
With respect to the deflection time: the time that the vehicle is rotating around the Z axis at the real-time travel speed is the yaw time.
Regarding the yaw angle (yaw angle): and the deflection angle formed by the rotation deflection time of the vehicle around the Z axis at the real-time running speed is the vehicle body yaw angle.
Regarding the wheel base: the wheelbase of the vehicle can be obtained by means of measurements or by searching on a detailed description of the vehicle.
Regarding the swing angle: the vehicle is deflected by swinging the steering wheel, and after the vehicle rotates around the Z axis to the vehicle body yaw angle, the rotating angle of the steering wheel is the swinging angle of the steering wheel. No matter what the real-time running speed is, the steering wheel always rotates to the same swing angle.
And S200, obtaining the real-time transmission ratio of the vehicle according to the real-time running speed, the deflection time, the vehicle body yaw angle, the wheel base and the swing angle.
When measuring the transmission ratio of a vehicle in motion, the measurement is always performed in a state where the steering wheel is turned to the same swing angle regardless of the real-time running speed of the vehicle, that is, the swing angle of the steering wheel is a fixed amount. The wheelbase is determined before the vehicle leaves the factory, so the wheelbase is also quantitative. The deflection time, the vehicle body yaw angle and the real-time running speed are all variables. In addition, the measurement method of the embodiment determines the real-time transmission ratio corresponding to the real-time running speed by collecting the real-time running speed of the vehicle, that is, it is known that the real-time transmission ratio of the vehicle is mainly related to the real-time running speed of the vehicle.
Compared with the prior art, the measuring method provided by the embodiment of the invention mainly has the following beneficial effects:
by adopting the measuring method, the dependence on auxiliary equipment such as a suspension and the like is not needed, so that the measurement of the transmission ratio of the vehicle is simpler, the measurement efficiency of the transmission ratio of the vehicle is improved, and the method is suitable for measuring the transmission ratio of mass production vehicles. In addition, the measuring method is used for measuring under any speed deflection of the vehicle, namely, the vehicle is in a moving state, the transmission ratio obtained through measurement is guaranteed to be the transmission ratio when the vehicle actually moves, and the transmission ratio obtained through measurement has high accuracy.
In some optional implementations of this embodiment, the step of obtaining the real-time transmission ratio of the vehicle according to the real-time driving speed, the yaw time, the body yaw angle, the wheel base, and the swing angle, that is, step S200 specifically includes:
and step S210, obtaining the deflection radius of the vehicle according to the real-time running speed, the deflection time and the vehicle body yaw angle.
With respect to the deflection radius: when the vehicle rotates around the Z axis at a real-time running speed, the pose of the vehicle can be collected, and sharp and isolated noise is filtered by median filtering; and fitting the filtered signals to form a circle, wherein the circle is the deflection track of the vehicle, and the radius of the circle is the deflection radius. Also, the real-time traveling speed of the vehicle affects the magnitude of the yaw radius.
And S220, acquiring a real-time transmission ratio according to the wheel base, the deflection radius and the swing angle of the vehicle.
In some optional implementations of this embodiment, the step of obtaining the yaw radius of the vehicle according to the real-time running speed, the yaw time, and the vehicle body yaw angle, that is, step S210 specifically includes:
and step S210, determining the ratio of the product to the vehicle body yaw angle as a yaw radius based on the product of the real-time running speed and the yaw time.
As can be appreciated, the real-time travel speed is the product of the real-time travel angular velocity and the yaw radius, i.e.:
v＝ω*r
wherein v is a real-time running speed, ω is a real-time running angular speed, and r is a deflection radius;
the real-time driving angular speed is the ratio of the yaw angle of the vehicle body to the yaw time, namely:
ω＝∠yaw/t
wherein, the angle yaw is the yaw angle of the vehicle body, and t is the deflection time;
the calculation formula of the deflection radius can be derived from the two formulas:
r＝(v*t)/∠yaw
that is, the yaw radius of the vehicle can be accurately calculated by substituting the acquired real-time running speed into the yaw radius calculation formula.
In some optional implementations of this embodiment, the step of obtaining the wheel base of the vehicle specifically includes:
the distance is the wheelbase based on the distance between the front axle center and the rear axle center of the vehicle.
It is understood that the axial center line of the axle connecting the two front wheels of the vehicle is the front axle center, and correspondingly, the axial center line of the axle connecting the two rear wheels of the vehicle is the rear axle center.
In some optional implementations of this embodiment, the step of obtaining the real-time transmission ratio according to the wheel base, the yaw radius, and the swing angle of the vehicle, that is, step S220 specifically includes:
and step S221, determining the corner of the front wheel according to the wheel base and the deflection radius of the vehicle.
Regarding the front wheel turning angle: when the vehicle deflects at a real-time running speed and the steering wheel rotates to a set swing angle, the front wheel of the vehicle rotates by a certain angle, and the angle is the rotating angle of the front wheel of the vehicle.
And step S222, obtaining the real-time transmission ratio of the vehicle according to the swing angle and the front wheel rotation angle.
The real-time transmission ratio of the vehicle is substantially related to the swing angle of the steering wheel and the front wheel rotation angle of the vehicle, so that when the swing angle of the steering wheel is obtained, the real-time transmission ratio of the vehicle can be obtained after the swing angle of the vehicle is determined.
In some optional implementations of the present embodiment, the step of obtaining the front wheel turning angle according to the wheel base and the yaw radius of the vehicle, namely step S221 specifically includes:
step S221, based on the ratio of the wheel base and the deflection radius and the Ackerman steering geometry calculation formula:
∠A＝Arc(L/r)
to determine the front wheel turning angle. Wherein, L is the wheelbase and angle A is the front wheel rotation angle.
That is, the wheel base obtained by measurement or reference and the calculated yaw radius are substituted into the ackermann steering geometry calculation formula, and the front wheel turning angle can be accurately calculated.
In some optional implementations of this embodiment, the step of obtaining the swing angle specifically includes:
and acquiring the maximum swing angle of the steering wheel, wherein the maximum swing angle is the swing angle.
Regarding the maximum swing angle: when the steering wheel is swung to enable the vehicle to deflect around the Z axis, the steering wheel is completely turned to a dead state, and when the steering wheel is in the dead state, the rotating angle of the steering wheel is the maximum swinging angle of the steering wheel. The steering wheel is turned to the dead-beat state every time the transmission ratio of the vehicle is measured, and the accuracy of the swing angle as a fixed amount can be ensured.
In some optional implementations of the present embodiment, the step of obtaining the real-time transmission ratio of the vehicle according to the swing angle and the front wheel rotation angle, namely step S222, specifically includes:
step S222, based on the ratio of the swing angle to the front wheel rotation angle, the ratio is the real-time transmission ratio.
It will be appreciated that the real-time transmission ratio of the vehicle is calculated by the formula:
i＝∠a/∠A
wherein i is a real-time transmission ratio, angle a is a swing angle, and angle A is a front wheel rotation angle.
That is, the real-time gear ratio of the vehicle can be accurately calculated by taking the obtained swing angle and the calculated front wheel steering angle into the real-time gear ratio calculation formula.
In some optional implementations of the present embodiment, after the step of obtaining the real-time transmission ratio of the vehicle according to the real-time driving speed, the yaw time, the body yaw angle, the wheel base, and the swing angle, i.e. after step S200, the method further includes:
and step S300, acquiring a plurality of groups of different real-time running speeds, real-time transmission ratios corresponding to the real-time running speeds and given running speeds of the vehicle.
The multiple groups of real-time running speeds can be in an increasing or decreasing trend, and further can be in a uniformly increasing or decreasing trend; accordingly, the real-time transmission ratio corresponding to each of the real-time running speeds is also the same trend. For example, six sets of real-time travel speeds are obtained, which in turn are: 5m/s, 15m/s, 25m/s, 35m/s, 45m/s and 55m/s, six groups of real-time transmission ratios corresponding to the six groups of real-time running speeds are as follows in sequence: 13. 14, 15, 16, 17, 18. According to the given running speed of the vehicle, two groups of real-time running speeds connected with the fixed running speed are inquired in the plurality of groups of real-time running speeds, namely the fixed running speed falls into the interval of the two groups of real-time running speeds.
And S400, inquiring two groups of real-time running speeds adjacent to the given running speed and real-time transmission ratios corresponding to the two adjacent groups of real-time running speeds according to the plurality of groups of real-time running speeds to determine the slope of the interval of the two groups of real-time running speeds.
And S500, obtaining a target transmission ratio corresponding to the given running speed according to the slope, any group of real-time running speeds adjacent to the given running speed and the real-time transmission ratio corresponding to the real-time running speed.
That is, after obtaining a plurality of sets of real-time transmission ratio data at different real-time running speeds which are sufficiently wide and have sufficient ranges, if it is necessary to determine the transmission ratios corresponding to other running speeds within the plurality of sets of real-time running speeds, the determination is performed only according to the given running speed and the slope of the interval to which the given running speed belongs, and the step S100 and the step S200 do not need to be repeated, so that the efficiency and the accuracy of measuring the vehicle transmission ratio are further improved.
In some optional implementations of this embodiment, the step of querying, according to the multiple sets of real-time traveling speeds, two sets of real-time traveling speeds adjacent to the given traveling speed and a real-time transmission ratio corresponding to the two adjacent sets of real-time traveling speeds to determine a slope of an interval of the two sets of real-time traveling speeds, that is, the step S400 specifically includes:
and S410, determining two groups of real-time running speeds adjacent to the given running speed as a first real-time running speed and a second real-time running speed respectively, wherein the second real-time running speed is greater than the given running speed, the first real-time running speed is less than the given running speed, determining a real-time transmission ratio corresponding to the first real-time running speed as a first real-time transmission ratio, determining a real-time transmission ratio corresponding to the second real-time running speed as a second real-time transmission ratio, the second real-time transmission ratio is greater than the given running speed, and the first real-time transmission ratio is less than the given running speed.
Specifically, a plurality of groups of real-time running speeds are inquired to determine a real-time running speed which is closest to and less than a given running speed as a first running speed; and querying a plurality of groups of real-time running speeds to determine a real-time running speed which is closest to and greater than the given running speed as a second running speed.
Step S420, determining a difference between the second real-time running speed and the first real-time running speed as a first difference value, and determining a difference between the second real-time transmission ratio and the first real-time transmission ratio as a second difference value.
Due to the fact that
Step S430, a ratio of the first difference to the second difference is determined as a slope.
As will be appreciated, the slope calculation formula is:
k＝(v2-v1)/(i2-i1)
wherein v1 is the first real-time running speed, v2 is the second real-time running speed, i1 is the first real-time transmission ratio, i2 is the second real-time transmission ratio, and k is the slope.
In some optional implementations of the present embodiment, the step of obtaining the target gear ratio corresponding to the given running speed according to the slope, any set of real-time running speeds adjacent to the given running speed, and the real-time gear ratio corresponding to the real-time running speed, that is, the step S500 specifically includes:
as an implementation of step S500,
step S500a, based on the difference between the given running speed and the first real-time running speed, the ratio of the difference to the slope, to determine the sum of the ratio and the first real-time transmission ratio as the target transmission ratio.
It will be appreciated that, by substituting the given travel speed, the first real-time travel speed, and the slope into the slope equation, the slope equation is specifically:
k＝(v’-v1)/(i’-i1)
where v 'is a given travel speed and i' is a target gear ratio.
The calculation formula of the target gear ratio can be deduced:
i’＝[(v’-v1)/k]+i1
alternatively, as another implementation of step S500,
step S500b, determining the second immediate transmission ratio and the difference between the ratios as the target transmission ratio based on the difference between the second immediate driving speed and the given driving speed and the ratio of the difference to the slope.
It will be appreciated that, by substituting the given travel speed, the second real-time travel speed, and the slope into the slope equation, the slope equation is specifically:
k＝(v2-v’)/(i2-i’)
the calculation formula of the target gear ratio can be deduced:
i’＝[(v2-v’)/k]+i2
in order to better understand the specific implementation process of the steps S300 to S500 of the measurement method, the following is described in detail by way of the first embodiment:
acquiring a plurality of groups of different real-time running speeds and real-time transmission ratios corresponding to the real-time running speeds, wherein the real-time transmission ratios are specifically shown in the following table one:
| real time gear ratio | 13 | 14 | 15 | 16 | 17 | 18 |
| Real-time driving speed | 5m/s | 15m/s | 25m/s | 35m/s | 45m/s | 55m/s |
Watch 1
And obtaining a given running speed v 'of 8m/s, wherein the given running speed v' is located in an interval that a first real-time running speed v1 is 5m/s and a second real-time running speed v2 is 15m/s, a first real-time transmission ratio i1 corresponding to the first real-time running speed v1 is 13, and a first real-time transmission ratio i1 corresponding to the second real-time running speed v2 is 14.
Substituting the values of the given running speed v', the first real-time running speed v1, the second real-time running speed v2, the first real-time transmission ratio i1 and the second real-time running speed v2 into a slope formula to obtain an interval slope k from the first real-time running speed v1 to the second real-time running speed v2, wherein the slope k is 10.
And then, the value of the slope k and the given running speed v 'is substituted into a calculation formula of the target transmission ratio, so that the target transmission ratio i' corresponding to the given running speed v 'can be obtained, and the target transmission ratio i' is 13.3.
To solve the above technical problem, an embodiment of the present invention further provides a measuring apparatus 100, as shown in fig. 3, where the measuring apparatus 100 includes:
the acquisition module 101: the method is used for acquiring real-time running speed, deflection time, vehicle body yaw angle, vehicle wheelbase and steering wheel swing angle when the vehicle deflects.
The obtaining module 102: and the method is used for obtaining the deflection radius of the vehicle according to the real-time running speed, the deflection time, the vehicle body yaw angle, the wheel base and the swing angle.
In order to solve the above technical problem, an embodiment of the present invention further provides a computer device, as shown in fig. 4, the computer device 200 includes a memory 201, a processor 202, and a network interface 203, which are communicatively connected to each other through a system bus. It is noted that only a computer device 200 having components 21-23 is shown, but it is understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead. As will be understood by those skilled in the art, the computer device is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The computer device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The computer equipment can carry out man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch panel or voice control equipment and the like.
The memory 201 includes at least one type of readable storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the storage 201 may be an internal storage unit of the computer device 200, such as a hard disk or a memory of the computer device 200. In other embodiments, the memory 201 may also be an external storage device of the computer device 200, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the computer device 200. Of course, the memory 201 may also include both internal and external storage devices of the computer device 200. In this embodiment, the memory 201 is generally used for storing an operating system installed in the computer device 200 and various types of application software, such as program codes of the X method. Further, the memory 201 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 202 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip in some embodiments. The processor 202 is generally operative to control overall operation of the computer device 200. In this embodiment, the processor 202 is configured to execute the program code stored in the memory 201 or process data, for example, execute the program code of the X method.
The network interface 203 may comprise a wireless network interface or a wired network interface, and the network interface 203 is generally used for establishing communication connection between the computer device 200 and other electronic devices.
In order to solve the above technical problem, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the measurement method are implemented as described above.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention without limiting its scope. This invention may be embodied in many different forms and, on the contrary, these embodiments are provided so that this disclosure will be thorough and complete. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and modifications can be made, and equivalents may be substituted for elements thereof. All equivalent structures made by using the contents of the specification and the attached drawings of the invention can be directly or indirectly applied to other related technical fields, and are also within the protection scope of the patent of the invention.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (14)
1. A method of measurement, comprising the steps of:
acquiring real-time running speed, deflection time, a vehicle body yaw angle, a vehicle wheel base and a steering wheel swing angle when a vehicle deflects;
and obtaining the real-time transmission ratio of the vehicle according to the real-time running speed, the deflection time, the vehicle body yaw angle, the wheel base and the swing angle.
2. The measurement method according to claim 1, wherein the step of obtaining the real-time transmission ratio of the vehicle from the real-time running speed, the yaw time, the body yaw angle, the wheel base, and the swing angle specifically comprises:
obtaining the deflection radius of the vehicle according to the real-time running speed, the deflection time and the vehicle body yaw angle;
and obtaining the real-time transmission ratio according to the wheel base, the deflection radius and the swing angle of the vehicle.
3. The method according to claim 2, wherein the step of obtaining the yaw radius of the vehicle from the real-time running speed, the yaw time, and the body yaw angle specifically comprises:
and determining the ratio of the product to the vehicle body yaw angle as the yaw radius based on the product of the real-time running speed and the yaw time.
4. The measuring method according to claim 1, characterized in that said step of acquiring the wheelbase of the vehicle comprises in particular:
based on a spacing between a front axle center and a rear axle center of the vehicle, the spacing is the wheelbase.
5. The measurement method according to claim 2, wherein the step of obtaining the real-time transmission ratio based on the wheel base, the yaw radius and the swing angle of the vehicle specifically comprises:
determining a front wheel corner according to the wheel base of the vehicle and the deflection radius;
and obtaining the real-time transmission ratio of the vehicle according to the swing angle and the front wheel rotation angle.
6. The measuring method according to claim 5, wherein said step of obtaining a front wheel turning angle from a wheelbase of said vehicle and said yaw radius comprises in particular:
based on the ratio of the wheelbase and the deflection radius, and an ackermann steering geometry calculation formula:
∠A＝Arc(L/r)
to determine the front wheel turning angle; wherein L is the wheelbase, r is the deflection radius, and angle A is the front wheel rotation angle.
7. The measurement method according to claim 1, wherein the step of obtaining the swing angle specifically comprises:
and acquiring the maximum swing angle of the steering wheel, wherein the maximum swing angle is the swing angle.
8. The measuring method according to claim 5, wherein said step of obtaining a real-time transmission ratio of said vehicle from said oscillation angle and said front wheel rotation angle comprises in particular:
and based on the ratio of the swing angle to the front wheel rotation angle, the ratio is the real-time transmission ratio.
9. The measurement method according to claim 1, further comprising, after the step of obtaining a real-time transmission ratio of the vehicle from the real-time running speed, the yaw time, the body yaw angle, the wheel base, and the swing angle:
acquiring a plurality of groups of different real-time running speeds, the real-time transmission ratio corresponding to each real-time running speed and the given running speed of the vehicle;
inquiring two groups of real-time running speeds adjacent to the given running speed and the real-time transmission ratio corresponding to the two adjacent groups of real-time running speeds according to the plurality of groups of real-time running speeds so as to determine the slope of the interval of the two groups of real-time running speeds;
and obtaining a target transmission ratio corresponding to the given running speed according to the slope, any group of real-time running speeds adjacent to the given running speed and the real-time transmission ratio corresponding to the real-time running speeds.
10. The method according to claim 9, wherein the step of querying the two sets of real-time traveling speeds adjacent to the given traveling speed and the real-time transmission ratios corresponding to the two adjacent sets of real-time traveling speeds according to the plurality of sets of real-time traveling speeds to determine the slope of the interval of the two sets of real-time traveling speeds specifically comprises:
determining two sets of the real-time running speeds adjacent to the given running speed as a first real-time running speed and a second real-time running speed respectively, the second real-time running speed being greater than the given running speed, the first real-time running speed being less than the given running speed, and
determining that the real-time transmission ratio corresponding to the first real-time running speed is a first real-time transmission ratio, the real-time transmission ratio corresponding to the second real-time running speed is a second real-time transmission ratio, the second real-time transmission ratio is greater than the given running speed, and the first real-time transmission ratio is smaller than the given running speed;
determining a difference between the second real-time travel speed and the first real-time travel speed as a first difference value, an
Determining a difference between the second live gear ratio and the first live gear ratio as a second difference;
based on a ratio of the first difference to the second difference, the ratio is the slope.
11. The method according to claim 10, wherein the step of obtaining the target gear ratio corresponding to the given running speed according to the slope and any set of the real-time running speeds adjacent to the given running speed and the real-time gear ratio corresponding to the real-time running speed specifically comprises:
determining a ratio of the difference to the slope based on the difference between the given travel speed and the first live travel speed to determine a sum of the ratio and the first live transmission ratio to be the target transmission ratio;
or, based on a difference between the second real-time running speed and the given running speed, and a ratio of the difference to the slope, determining that the sum of the ratio and the second real-time transmission ratio is the target transmission ratio.
12. A measuring device, comprising:
an acquisition module: the system comprises a control module, a control module and a control module, wherein the control module is used for acquiring real-time running speed, deflection time, a vehicle body yaw angle, a vehicle wheel base and a swing angle of a steering wheel when a vehicle deflects;
an obtaining module: and the vehicle yaw radius is obtained according to the real-time running speed, the yaw time, the vehicle body yaw angle, the wheelbase and the swing angle.
13. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, implements the steps of the measurement method according to any one of claims 1 to 11.
14. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the measurement method according to one of claims 1 to 11.
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