CN114936423A - Tire quasi-steady state data processing method and device - Google Patents

Tire quasi-steady state data processing method and device Download PDF

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CN114936423A
CN114936423A CN202210513938.8A CN202210513938A CN114936423A CN 114936423 A CN114936423 A CN 114936423A CN 202210513938 A CN202210513938 A CN 202210513938A CN 114936423 A CN114936423 A CN 114936423A
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force
tire
longitudinal
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卢磊
黄朝胜
杨冬生
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Tsinghua University
BYD Auto Co Ltd
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BYD Auto Co Ltd
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Abstract

The application discloses a tire quasi-steady state data processing method and device, wherein the method comprises the following steps: collecting tire quasi-steady state test data of a vehicle; calculating and estimating longitudinal force, lateral force and aligning moment according to the quasi-steady-state test data of the tire; the steady state longitudinal force, the steady state lateral force, and the steady state aligning torque of the vehicle are generated based on the estimated longitudinal force, the estimated lateral force, and the estimated aligning torque. Therefore, the technical problem that the steady-state mechanical characteristics of the tire are difficult to extract in the testing process and the accuracy of the established tire dynamic model is poor due to the tire-based dynamic testing method in the related technology is solved.

Description

Tire quasi-steady state data processing method and device
Technical Field
The application relates to the technical field of tire dynamics steady-state mechanical characteristic analysis, in particular to a tire quasi-steady-state data processing method and device.
Background
The tire is the only part of the vehicle contacting with the road surface, the interaction force between the tire and the road surface is the root cause of the vehicle movement, and the mechanical properties of the tire have very important influence on the vehicle dynamic property, the steering stability, the smoothness and the like. Therefore, accurate acquisition of tire steady-state mechanical property data is the basis for building a tire steady-state model, and data representing tire steady-state properties can be obtained by processing tire quasi-steady-state mechanical property test data.
In the related art, a tire dynamics model may be established by extracting steady-state characteristics based on quasi-steady-state test results, where the quasi-steady-state characteristics may include tire slip angle sweep or tire roll angle sweep and tire longitudinal slip rate sweep tests, and the quasi-steady-state characteristics may include steady-state characteristics of the tire and tire transient characteristics. The quasi-steady-state characteristic test has the remarkable advantages of high efficiency, low cost and the like.
However, in the related art, the steady-state characteristics extracted based on the quasi-steady-state test result are approximate values of the steady-state longitudinal force, the lateral force and the aligning moment of the tire, and in the test process of the tire, because the vertical load of the tire has a fluctuation amount in a certain range due to the dynamic test method of the tire, the related art cannot obtain the high-precision steady-state characteristics of the tire, and therefore a high-precision dynamic model of the tire cannot be obtained, and needs to be improved.
Disclosure of Invention
The application provides a tire quasi-steady-state data processing method and device, which are used for solving the technical problems that steady-state mechanical characteristics of a tire are difficult to extract in a testing process and an established tire dynamic model is poor in precision due to a tire-based dynamic testing method in the related technology.
The embodiment of the first aspect of the application provides a tire quasi-steady-state data processing method, which comprises the following steps: collecting tire quasi-steady state test data of a vehicle; calculating an estimated longitudinal force, an estimated lateral force and an estimated aligning moment according to the tire quasi-steady-state test data; and generating a steady-state longitudinal force, a steady-state lateral force, and a steady-state aligning moment of the vehicle based on the estimated longitudinal force, the estimated lateral force, and the estimated aligning moment.
Optionally, in one embodiment of the present application, the tire quasi-steady state test data includes time, longitudinal slip rate, lateral slip rate, roll angle, longitudinal force, lateral force, vertical force, aligning moment.
Optionally, in an embodiment of the present application, the calculation formula of the estimated longitudinal force is:
Figure BDA0003638852640000021
wherein the content of the first and second substances,
Figure BDA0003638852640000022
to optimize the longitudinal force after treatment, D x Is the longitudinal force peak factor, B x Is a longitudinal force stiffness factor, C x Is a longitudinal force form factor, E x Is a longitudinal force curvature factor, S x To test the longitudinal slip ratio, F z To test vertical loads, F z0 Rated load of the tire, p dx1 、p dx2 、p bx 、p ex1 And p ex2 Is the pending identification parameter.
Optionally, in an embodiment of the present application, the calculation formula of the estimated lateral force is:
Figure BDA0003638852640000023
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003638852640000024
to optimize the lateral force after treatment, D y As a peak factor of the lateral force, B y As lateral force stiffness factor, C y As a lateral force form factor, E y Is a lateral force curvature factor, S y To test the longitudinal slip ratio, F z To test vertical loads, F z0 Rated load of the tire, p dy1 、p dy2 、p by 、p ey1 And p ey2 Is the pending identification parameter.
Optionally, in an embodiment of the present application, the calculation formula of the estimated aligning moment is:
Figure BDA0003638852640000025
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003638852640000026
to optimize the longitudinal aligning force after treatment, D t Is the longitudinal aligning force arm peak factor, C t Is the longitudinal aligning force arm shape factor, B t And E t For longitudinal aligning the force arm curvature factor, S y To test the lateral slip ratio, F z To test vertical loads, F z0 For the rated load of the tire, p dt1 、p dt2 、p bt1 、p bt2 、p et1 And p et2 Is the pending identification parameter.
An embodiment of the second aspect of the present application provides a tire quasi-steady-state data processing device, including: the acquisition module is used for acquiring tire quasi-steady-state test data of the vehicle; the calculation module is used for calculating and estimating longitudinal force, lateral force and aligning moment according to the tire quasi-steady-state test data; and a generating module for generating a steady-state longitudinal force, a steady-state lateral force, and a steady-state aligning torque of the vehicle based on the estimated longitudinal force, the estimated lateral force, and the estimated aligning torque.
Optionally, in one embodiment of the present application, the tire quasi-steady state test data includes time, longitudinal slip rate, lateral slip rate, roll angle, longitudinal force, lateral force, vertical force, aligning moment.
Optionally, in an embodiment of the present application, the calculation formula of the estimated longitudinal force is:
Figure BDA0003638852640000031
wherein the content of the first and second substances,
Figure BDA0003638852640000032
to optimize the longitudinal force after treatment, D x Is the longitudinal force peak factor, B x Is a longitudinal force stiffness factor, C x Is a longitudinal force form factor, E x Is a longitudinal force curvature factor, S x To test the longitudinal slip ratio, F z To test the vertical load, F z0 Rated load of the tire, p dx1 、p dx2 、p bx 、p ex1 And p ex2 Is the pending identification parameter.
Optionally, in an embodiment of the present application, the calculation formula of the estimated lateral force is:
Figure BDA0003638852640000033
wherein the content of the first and second substances,
Figure BDA0003638852640000034
to optimize the lateral force after treatment, D y As a peak factor of the lateral force, B y As lateral force stiffness factor, C y As a lateral force form factor, E y Is a lateral force curvature factor, S y To test the longitudinal slip ratio, F z To test vertical loads, F z0 Rated load of the tire, p dy1 、p dy2 、p by 、p ey1 And p ey2 Is the pending identification parameter.
Optionally, in an embodiment of the present application, the calculation formula of the estimated aligning moment is:
Figure BDA0003638852640000035
wherein the content of the first and second substances,
Figure BDA0003638852640000036
to optimize the longitudinal aligning force after treatment, D t Is the longitudinal aligning force arm peak factor, C t Is the longitudinal aligning force arm shape factor, B t And E t For longitudinal aligning the force arm curvature factor, S y To test the lateral slip ratio, F z To test vertical loads, F z0 For the rated load of the tire, p dt1 、p dt2 、p bt1 、p bt2 、p et1 And p et2 Is the pending identification parameter.
An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the tire quasi-steady state data processing method as described in the above embodiments.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the tire quasi-steady-state data processing method according to the above embodiment.
According to the tire dynamic model building method and device, the tire simplified longitudinal force, lateral force and aligning moment estimated values can be calculated based on tire quasi-steady-state test data, the estimated value with the minimum error between the estimated result and the test result is solved through a parameter optimization algorithm and is used for representing the steady-state characteristics of the tire, the data processing method is simple to operate, the workload is small, the influence of tire load change is considered, the estimation precision is high, and therefore the high-precision tire dynamic model is built. Therefore, the technical problem that the steady-state mechanical characteristics of the tire are difficult to extract in the testing process and the accuracy of the established tire dynamic model is poor due to the tire-based dynamic testing method in the related technology is solved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
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The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a tire quasi-steady state data processing method according to an embodiment of the present application;
FIG. 2 is a graph illustrating quasi-steady state test curves and estimated steady state results of a tire quasi-steady state data processing method according to one embodiment of the present application;
FIG. 3 is a flow chart of a method of tire quasi-steady state data processing according to one embodiment of the present application;
FIG. 4 is a schematic structural diagram of a tire quasi-steady-state data processing device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The tire quasi-steady state data processing method and apparatus according to the embodiments of the present application are described below with reference to the drawings. In the method, the tire simplified longitudinal force, lateral force and aligning moment estimated values can be calculated based on the tire quasi-steady state test data, and the estimated value with the minimum error between the estimation result and the test result is solved through a parameter optimization algorithm and used for representing the steady-state characteristic of the tire. Therefore, the technical problem that the established tire dynamic model is poor in precision due to the fact that steady-state mechanical characteristics of the tire are difficult to extract in the testing process due to the tire-based dynamic testing method in the related technology is solved.
Specifically, fig. 1 is a schematic flow chart of a tire quasi-steady-state data processing method according to an embodiment of the present application.
As shown in fig. 1, the tire quasi-steady state data processing method includes the following steps:
in step S101, tire quasi-steady state test data of the vehicle is collected.
In the actual execution process, the tire quasi-steady-state test data of the vehicle can be collected, the longitudinal force estimation, the lateral force estimation and the aligning moment estimation can be conveniently calculated subsequently, the steady-state characteristic of the tire can be obtained based on the quasi-steady-state test data, and the purpose of establishing a high-precision tire dynamic model is achieved.
Optionally, in one embodiment of the present application, the tire quasi-steady state test data includes time, longitudinal slip rate, lateral slip rate, roll angle, longitudinal force, lateral force, vertical force, aligning moment.
It is understood that the tire quasi-steady state test data in the embodiments of the present application may include: time, longitudinal slip rate, lateral slip rate, roll angle, longitudinal force, lateral force, vertical force, aligning moment. According to the tire quasi-steady-state testing method and device, the estimation values of the related parameters can be calculated according to the tire quasi-steady-state testing data, and then comparison with the testing results is facilitated, so that the change rule is found out, and the steady-state mechanical data of the tire is obtained.
In step S102, an estimated longitudinal force, an estimated lateral force, and an estimated aligning moment are calculated from the tire quasi-steady state test data.
As a possible implementation manner, the embodiment of the present application may substitute the data into the longitudinal force, lateral force, and aligning moment estimation models respectively according to the tire quasi-steady-state test data, and separately estimate the tire quasi-steady-state data under different loads by using a minimum error between a model result and a test result as a target, so as to obtain the estimated steady-state longitudinal force, steady-state lateral force, and steady-state aligning moment.
Optionally, in an embodiment of the present application, the calculation formula for estimating the longitudinal force is:
Figure BDA0003638852640000051
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003638852640000052
to optimize the longitudinal force after treatment, D x Is the longitudinal force peak factor, B x Is a longitudinal force stiffness factor, C x Is a longitudinal force form factor, E x Is a longitudinal force curvature factor, S x To test the longitudinal slip ratio, F z To test vertical loads, F z0 For the rated load of the tire, p dx1 、p dx2 、p bx 、p ex1 And p ex2 Is the pending identification parameter.
Further, the embodiment of the present application may be implemented according to the formula:
Figure BDA0003638852640000053
wherein the content of the first and second substances,
Figure BDA0003638852640000054
to optimize the longitudinal force after treatment, D x Is the longitudinal force peak factor, B x Is a longitudinal force stiffness factor, C x Is a longitudinal force form factor, E x Is a longitudinal force curvature factor, S x To test the longitudinal slip ratio, F z To test vertical loads, F z0 For the rated load of the tire, p dx1 、p dx2 、p bx 、p ex1 And p ex2 Is the pending identification parameter.
According to the embodiment of the application, p can be obtained by solving through a parameter optimization algorithm according to the longitudinal slip rate, the vertical load and the longitudinal force result of test data dx1 、p dx2 、p bx 、p ex1 And p ex2 The values of the individual parameters are used to solve for the longitudinal force after the optimization process.
Optionally, in an embodiment of the present application, the calculation formula for estimating the lateral force is:
Figure BDA0003638852640000061
wherein the content of the first and second substances,
Figure BDA0003638852640000062
to optimize the lateral force after treatment, D y As a peak factor of the lateral force, B y Is a lateral force stiffness factor, C y As a lateral force form factor, E y Is a lateral force curvature factor, S y To test the longitudinal slip ratio, F z To test the vertical load, F z0 For the rated load of the tire, p dy1 、p dy2 、p by 、p ey1 And p ey2 Is the pending identification parameter.
Further, the embodiment of the present application may be implemented according to the formula:
Figure BDA0003638852640000063
wherein the content of the first and second substances,
Figure BDA0003638852640000064
to optimize lateral forces after treatment, D y As a peak factor of the lateral force, B y As lateral force stiffness factor, C y Is a lateral force shape factor, E y Is a lateral force curvature factor, S y To test the longitudinal slip ratio, F z To test vertical loads, F z0 For the rated load of the tire, p dy1 、p dy2 、p by 、p ey1 And p ey2 Is the pending identification parameter.
According to the embodiment of the application, p can be obtained by solving the lateral slip rate, the vertical load and the lateral force result of test data by adopting a parameter optimization algorithm dy1 、p dy2 、p by 、p ey1 And p ey2 The values of the parameters are obtained, and therefore the lateral force after the optimization processing is solved.
Optionally, in an embodiment of the present application, the calculation formula of the estimated aligning moment is:
Figure BDA0003638852640000065
wherein the content of the first and second substances,
Figure BDA0003638852640000066
to optimize the longitudinal aligning force after treatment, D t Is the longitudinal aligning force arm peak factor, C t Is the longitudinal aligning force arm shape factor, B t And E t For longitudinal aligning the force arm curvature factor, S y To test the lateral slip ratio, F z To test vertical loads, F z0 Rated load of the tire, p dt1 、p dt2 、p bt1 、p bt2 、p et1 And p et2 Is the pending identification parameter.
Further, the embodiment of the present application may be implemented according to the formula:
Figure BDA0003638852640000071
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003638852640000072
to optimize the longitudinal aligning force after treatment, D t Is the longitudinal aligning force arm peak factor, C t Is the longitudinal aligning force arm shape factor, B t And E t For longitudinal aligning the force arm curvature factor, S y To test the lateral slip ratio, F z To test the vertical load, F z0 For the rated load of the tire, p dt1 、p dt2 、p bt1 、p bt2 、p et1 And p et2 Is the pending identification parameter.
According to the embodiment of the application, p can be obtained by solving through a parameter optimization algorithm according to the lateral slip rate, the vertical load and the aligning moment result of the test data dt1 、p dt2 、p bt1 、p bt2 、p et1 And p et2 And (4) solving the aligning moment after the optimization processing by using the parameter values.
In step S103, a steady-state longitudinal force, a steady-state lateral force, and a steady-state aligning torque of the vehicle are generated based on the estimated longitudinal force, the estimated lateral force, and the estimated aligning torque.
In the actual implementation process, the embodiment of the application can obtain the standard deviation by combining the test data according to the estimated longitudinal force, the estimated lateral force and the estimated aligning moment obtained in the steps, and set a threshold value for the standard deviation, and when the value of the standard deviation exceeds the threshold value, the calculation steps are repeated to perform repeated iterative calculation; when the standard deviation value is less than or equal to the threshold value, terminating the iteration, replacing the corresponding column of the original data with the estimated longitudinal force, the estimated lateral force and the estimated aligning moment to obtain corresponding steady-state characteristic result data, and applying the corresponding steady-state characteristic result data to the establishment of a high-precision tire dynamics model, wherein the specific comparison is shown in fig. 2. According to the embodiment of the application, the high-precision tire steady-state result can be obtained through the rule of influence of load change on the longitudinal force, the lateral force and the aligning moment of the tire in the testing process, so that a data basis can be provided for high-precision tire steady-state characteristic modeling, the data processing method is simple to operate, and the data processing workload is reduced.
It should be noted that the threshold may be set by a person skilled in the art according to practical situations, and is not limited in particular here.
The tire quasi-steady-state data processing method according to the embodiment of the present application is described in detail with reference to fig. 2 and 3.
As shown in fig. 3, the embodiment of the present application may include the following steps:
step S301: and obtaining a quasi-steady-state test result. In the actual execution process, the tire quasi-steady-state test data of the vehicle can be collected, the longitudinal force estimation, the lateral force estimation and the aligning moment estimation can be conveniently calculated subsequently, the steady-state characteristic of the tire can be obtained based on the quasi-steady-state test data, and the purpose of establishing a high-precision tire dynamic model is achieved.
The tire quasi-steady state test data in the embodiments of the present application may include: time, longitudinal slip rate, lateral slip rate, roll angle, longitudinal force, lateral force, vertical force, aligning moment.
Step S302: the tire longitudinal force estimation model, the lateral force estimation model and the aligning moment estimation model are simplified.
Step S303: and estimating a model result. Further, the embodiment of the present application may be implemented according to the formula:
Figure BDA0003638852640000081
wherein the content of the first and second substances,
Figure BDA0003638852640000082
to optimize the longitudinal force after treatment, D x Is the longitudinal force peak factor, B x Is a longitudinal force stiffness factor, C x Is a longitudinal force form factor, E x Is a longitudinal force curvature factor, S x To test the longitudinal slip ratio, F z To test vertical loads, F z0 For the rated load of the tire, p dx1 、p dx2 、p bx 、p ex1 And p ex2 Is the pending identification parameter.
According to the embodiment of the application, p can be obtained by solving the longitudinal slip rate, the vertical load and the longitudinal force result of test data by adopting a parameter optimization algorithm dx1 、p dx2 、p bx 、p ex1 And p ex2 The values of the individual parameters are used to solve for the longitudinal force after the optimization process.
Further, the embodiment of the present application may be implemented according to the formula:
Figure BDA0003638852640000083
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003638852640000084
to optimize lateral forces after treatment, D y As a peak factor of the lateral force, B y As lateral force stiffness factor, C y As a lateral force form factor, E y Is a lateral force curvature factor, S y To test the longitudinal slip ratio, F z To test vertical loads, F z0 Rated load of the tire, p dy1 、p dy2 、p by 、p ey1 And p ey2 Is the pending identification parameter.
According to the embodiment of the application, p can be obtained by solving the lateral slip rate, the vertical load and the lateral force result of test data by adopting a parameter optimization algorithm dy1 、p dy2 、p by 、p ey1 And p ey2 And (4) solving the lateral force after the optimization treatment by using the parameter values.
Further, the embodiment of the present application may be implemented according to the formula:
Figure BDA0003638852640000085
wherein the content of the first and second substances,
Figure BDA0003638852640000086
to optimize the longitudinal aligning force after treatment, D t Is the longitudinal aligning force arm peak factor, C t Is the longitudinal aligning force arm shape factor, B t And E t For longitudinal aligning the force arm curvature factor, S y To test the lateral slip ratio, F z To test vertical loads, F z0 For the rated load of the tire, p dt1 、p dt2 、p bt1 、p bt2 、p et1 And p et2 Is the parameter to be identified.
According to the embodiment of the application, p can be obtained by solving through a parameter optimization algorithm according to the lateral slip rate, the vertical load and the aligning moment result of the test data dt1 、p dt2 、p bt1 、p bt2 、p et1 And p et2 And (4) solving the aligning moment after the optimization processing by using the parameter values.
Step S304: standard deviation of test result and simulation result.
Step S305: and judging an index by the standard deviation. When the result does not satisfy the criterion difference determination index, the embodiment of the present application may change the parameter, and repeat the iteration of step S302 and step S303.
Step S306: and (5) extracting a steady-state result in the quasi-steady-state test. When the result meets the criterion difference judgment index, the embodiment of the application can terminate iteration, and further obtain a steady-state result. Specifically, the embodiment of the present application may replace the corresponding column of the original data according to the estimated longitudinal force, the estimated lateral force, and the estimated aligning moment obtained in the above steps to obtain corresponding steady-state characteristic result data, and the specific comparison is shown in fig. 2.
According to the tire quasi-steady-state data processing method provided by the embodiment of the application, the tire simplified longitudinal force, lateral force and aligning moment estimated values can be calculated based on tire quasi-steady-state test data, the estimated value with the minimum error between the estimated result and the test result is solved through a parameter optimization algorithm and is used for representing the steady-state characteristic of the tire, the data processing method is simple to operate, the workload is small, the influence of tire load change is considered, the estimation precision is high, and therefore a high-precision tire dynamics model is established. Therefore, the technical problem that the steady-state mechanical characteristics of the tire are difficult to extract in the testing process and the accuracy of the established tire dynamic model is poor due to the tire-based dynamic testing method in the related technology is solved.
Next, a tire quasi-steady-state data processing device proposed according to an embodiment of the present application is described with reference to the drawings.
FIG. 4 is a block schematic diagram of a tire quasi-steady state data processing device according to an embodiment of the present application.
As shown in fig. 4, the tire quasi-steady-state data processing device 10 includes: an acquisition module 100, a calculation module 200 and a generation module 300.
Specifically, the acquisition module 100 is configured to acquire tire quasi-steady-state test data of a vehicle.
A calculation module 200 for calculating an estimated longitudinal force, an estimated lateral force and an estimated aligning moment from the tire quasi-steady state test data.
A generating module 300 for generating a steady state longitudinal force, a steady state lateral force and a steady state aligning moment of the vehicle based on the estimated longitudinal force, the estimated lateral force and the estimated aligning moment.
Optionally, in one embodiment of the present application, the tire quasi-steady state test data includes time, longitudinal slip rate, lateral slip rate, roll angle, longitudinal force, lateral force, vertical force, aligning moment.
Optionally, in an embodiment of the present application, the calculation formula for estimating the longitudinal force is:
Figure BDA0003638852640000101
wherein the content of the first and second substances,
Figure BDA0003638852640000102
to optimize the longitudinal force after treatment, D x Is the longitudinal force peak factor, B x Is a longitudinal force stiffness factor, C x Is a longitudinal force form factor, E x Is a longitudinal force curvature factor, S x To test the longitudinal slip ratio, F z To test the vertical load, F z0 For the rated load of the tire, p dx1 、p dx2 、p bx 、p ex1 And p ex2 Is the pending identification parameter.
Optionally, in an embodiment of the present application, the calculation formula for estimating the lateral force is:
Figure BDA0003638852640000103
wherein the content of the first and second substances,
Figure BDA0003638852640000104
to optimize the lateral force after treatment, D y As a peak factor of the lateral force, B y Is a lateral force stiffness factor, C y As a lateral force form factor, E y Is a lateral force curvature factor, S y To test the longitudinal slip ratio, F z To test the vertical load, F z0 Rated load of the tire, p dy1 、p dy2 、p by 、p ey1 And p ey2 Is the parameter to be identified.
Optionally, in an embodiment of the present application, the calculation formula of the estimated aligning moment is:
Figure BDA0003638852640000105
wherein the content of the first and second substances,
Figure BDA0003638852640000106
to optimize the longitudinal aligning force after treatment, D t Is the longitudinal aligning force arm peak factor, C t Is the longitudinal aligning force arm shape factor, B t And E t For longitudinal aligning the force arm curvature factor, S y To test the lateral slip ratio, F z To test vertical loads, F z0 For the rated load of the tire, p dt1 、p dt2 、p bt1 、p bt2 、p et1 And p et2 Is the parameter to be identified.
It should be noted that the explanation of the tire quasi-steady-state data processing method embodiment described above is also applicable to the tire quasi-steady-state data processing apparatus of this embodiment, and details are not repeated here.
According to the tire quasi-steady-state data processing device provided by the embodiment of the application, estimated values of simplified longitudinal force, lateral force and aligning moment of a tire can be calculated based on tire quasi-steady-state test data, the estimated value with the minimum error between the estimated result and the test result is solved through a parameter optimization algorithm and is used for representing steady-state characteristics of the tire, the data processing method is simple to operate, the workload is small, the influence of tire load change is considered, the estimation precision is high, and therefore a high-precision tire dynamics model is established. Therefore, the technical problem that the steady-state mechanical characteristics of the tire are difficult to extract in the testing process and the accuracy of the established tire dynamic model is poor due to the tire-based dynamic testing method in the related technology is solved.
Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
a memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502.
The processor 502, when executing the program, implements the tire quasi-steady state data processing method provided in the above-described embodiments.
Further, the vehicle further includes:
a communication interface 503 for communication between the memory 501 and the processor 502.
A memory 501 for storing computer programs that can be run on the processor 502.
The memory 501 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
Alternatively, in practical implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 may complete communication with each other through an internal interface.
The processor 502 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the tire quasi-steady-state data processing method as above.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims (12)

1. A method for processing quasi-steady state data of a tire, comprising the steps of:
collecting tire quasi-steady state test data of a vehicle;
calculating an estimated longitudinal force, an estimated lateral force and an estimated aligning moment according to the tire quasi-steady-state test data; and
generating a steady state longitudinal force, a steady state lateral force, and a steady state aligning moment of the vehicle based on the estimated longitudinal force, the estimated lateral force, and the estimated aligning moment.
2. The method of claim 1, wherein the tire quasi-steady state test data comprises time, longitudinal slip rate, lateral slip rate, roll angle, longitudinal force, lateral force, vertical force, aligning moment.
3. The method of claim 2, wherein the estimated longitudinal force is calculated by the formula:
Figure FDA0003638852630000011
wherein the content of the first and second substances,
Figure FDA0003638852630000012
to optimize the longitudinal force after treatment, D x Is the longitudinal force peak factor, B x Is a longitudinal force stiffness factor, C x Is a longitudinal force form factor, E x Is a longitudinal force curvature factor, S x To test the longitudinal slip ratio, F z To test vertical loads, F z0 For the rated load of the tire, p dx1 、p dx2 、p bx 、p ex1 And p ex2 Is the pending identification parameter.
4. The method of claim 3, wherein the estimated lateral force is calculated by the formula:
Figure FDA0003638852630000013
wherein the content of the first and second substances,
Figure FDA0003638852630000014
to optimize lateral forces after treatment, D y As peak factor of lateral force, B y Is a lateral force stiffness factor, C y Is a lateral force shape factor, E y Is a lateral force curvature factor, S y To test the longitudinal slip ratio, F z To test vertical loads, F z0 Rated load of the tire, p dy1 、p dy2 、p by 、p ey1 And p ey2 Is the pending identification parameter.
5. The method of claim 4, wherein the estimated aligning moment is calculated by:
Figure FDA0003638852630000015
wherein the content of the first and second substances,
Figure FDA0003638852630000016
to optimize the longitudinal aligning force after treatment, D t Is the longitudinal aligning force arm peak factor, C t Is the longitudinal aligning force arm shape factor, B t And E t For longitudinal aligning the force arm curvature factor, S y To test the lateral slip ratio, F z To test vertical loads, F z0 Rated load of the tire, p dt1 、p dt2 、p bt1 、p bt2 、p et1 And p et2 Is the pending identification parameter.
6. A tire quasi-steady state data processing apparatus, comprising:
the acquisition module is used for acquiring tire quasi-steady-state test data of the vehicle;
the calculation module is used for calculating and estimating longitudinal force, lateral force and aligning moment according to the tire quasi-steady-state test data; and
a generating module to generate a steady state longitudinal force, a steady state lateral force, and a steady state aligning torque of the vehicle based on the estimated longitudinal force, the estimated lateral force, and the estimated aligning torque.
7. The apparatus of claim 6, wherein the tire quasi-steady state test data comprises time, longitudinal slip rate, lateral slip rate, roll angle, longitudinal force, lateral force, vertical force, aligning moment.
8. The apparatus of claim 7, wherein the estimated longitudinal force is calculated by:
Figure FDA0003638852630000021
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003638852630000022
to optimize the longitudinal force after treatment, D x Is the longitudinal force peak factor, B x Is a longitudinal force stiffness factor, C x Is a longitudinal force form factor, E x Is a longitudinal force curvature factor, S x To test the longitudinal slip ratio, F z To test the vertical load, F z0 For the rated load of the tire, p dx1 、p dx2 、p bx 、p ex1 And p ex2 Is the pending identification parameter.
9. The apparatus of claim 8, wherein the estimated lateral force is calculated by the formula:
Figure FDA0003638852630000023
wherein the content of the first and second substances,
Figure FDA0003638852630000024
to optimize lateral forces after treatment, D y As a peak factor of the lateral force, B y As lateral force stiffness factor, C y Is a lateral force shape factor, E y Is a lateral force curvature factor, S y To test the longitudinal slip ratio, F z To test vertical loads, F z0 For the rated load of the tire, p dy1 、p dy2 、p by 、p ey1 And p ey2 Is the parameter to be identified.
10. The apparatus of claim 9, wherein the estimated aligning moment is calculated by:
Figure FDA0003638852630000025
wherein the content of the first and second substances,
Figure FDA0003638852630000031
to optimize the longitudinal aligning force after treatment, D t Is the longitudinal aligning force arm peak factor, C t Is the longitudinal aligning force arm shape factor, B t And E t For longitudinal aligning the force arm curvature factor, S y To test the lateral slip ratio, F z To test the vertical load, F z0 For the rated load of the tire, p dt1 、p dt2 、p bt1 、p bt2 、p et1 And p et2 Is the pending identification parameter.
11. A vehicle, characterized by comprising: memory, processor and computer program stored on said memory and executable on said processor, said processor executing said program to implement a tire quasi-steady state data processing method as claimed in any one of claims 1 to 5.
12. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a tire quasi-steady-state data processing method according to any one of claims 1 to 5.
CN202210513938.8A 2022-05-11 2022-05-11 Tire quasi-steady state data processing method and device Pending CN114936423A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024082213A1 (en) * 2022-10-20 2024-04-25 华为技术有限公司 Method and apparatus for constructing vehicle dynamics model, device, and storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024082213A1 (en) * 2022-10-20 2024-04-25 华为技术有限公司 Method and apparatus for constructing vehicle dynamics model, device, and storage medium

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