CN115703457A

CN115703457A - Wheel radius correction method, device, equipment and storage medium

Info

Publication number: CN115703457A
Application number: CN202110932810.0A
Authority: CN
Inventors: 柳少康
Original assignee: Beijing CHJ Automobile Technology Co Ltd
Current assignee: Beijing CHJ Automobile Technology Co Ltd
Priority date: 2021-08-13
Filing date: 2021-08-13
Publication date: 2023-02-17

Abstract

The present disclosure relates to a wheel radius correction method, apparatus, device, and storage medium. The method comprises the following steps: when the wheel radius of a first group of wheels of the vehicle is not equal to that of a second group of wheels, the average rotation number of turns of the second group of wheels is detected when the first group of wheels rotates for every one circle, one group of the first group of wheels and the second group of wheels is a front wheel, the other group of wheels is a rear wheel, the wheel radius of the second group of wheels is a preset wheel radius, and the wheel radius of the first group of wheels is determined and corrected according to the average rotation number and the wheel radius of the second group of wheels.

Description

Wheel radius correction method, device, equipment and storage medium

Technical Field

The present disclosure relates to the field of vehicle control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for correcting a wheel radius.

Background

During the running of the vehicle, the vehicle may calculate a running parameter using the wheel radius to control a running state of the vehicle according to the running parameter. Thus, the wheel radius is a key parameter for vehicle control.

However, the wheel radius of some wheels of the vehicle may become larger or smaller under different driving environments or different driving conditions, and if the vehicle still calculates the driving parameters based on the original wheel radius, the calculated driving parameters may be inaccurate. In order to ensure the accuracy of the wheel radius, the wheel radius is generally corrected to calculate accurate driving parameters. However, the conventional wheel radius correction method needs to use complex parameters for correction, so that the calculation amount in the process of correcting the wheel radius is large, and the correction result cannot be responded in time, so that the driving parameters cannot be calculated accurately in time to accurately control the driving state of the vehicle, and further the driving safety of the vehicle cannot be ensured well.

Disclosure of Invention

To solve the technical problems described above or at least partially solve the technical problems, the present disclosure provides a wheel radius correction method, apparatus, device, and storage medium.

In a first aspect, the present disclosure provides a wheel radius correction method, the method comprising:

when the wheel radius of a first group of wheels of the vehicle is not equal to that of a second group of wheels, detecting the average rotation number of the second group of wheels when the first group of wheels rotates for one circle, wherein one group of the first group of wheels and the second group of wheels is a front wheel, the other group of wheels is a rear wheel, and the wheel radius of the second group of wheels is a preset wheel radius;

and determining and correcting the wheel radius of the first group of wheels according to the average rotation number and the wheel radius of the second group of wheels.

In a second aspect, the present disclosure provides a wheel radius correction apparatus, including:

the average rotating circle number detection module is used for detecting the average rotating circle number of the second group of wheels when the first group of wheels rotates for one circle when the wheel radius of the first group of wheels is not equal to the wheel radius of the second group of wheels, one group of the first group of wheels and the second group of wheels is a front wheel, the other group of wheels is a rear wheel, and the wheel radius of the second group of wheels is a preset wheel radius;

and the wheel radius correction module is used for determining and correcting the wheel radius of the first group of wheels according to the average rotation number and the wheel radius of the second group of wheels.

In a third aspect, an embodiment of the present disclosure further provides a wheel radius correction apparatus, including:

one or more processors;

a storage device for storing one or more programs,

when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the wheel radius correction method provided by the first aspect.

In a fourth aspect, the disclosed embodiments further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the wheel radius correction method provided in the first aspect.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

the wheel radius correction method, the device, the equipment and the storage medium can detect the average rotation number of the second group of wheels when the first group of wheels and the second group of wheels of the vehicle rotate for one week when the wheel radius of the first group of wheels is not equal to the wheel radius of the second group of wheels, wherein one group of the first group of wheels and the second group of wheels is the front wheel, the other group of wheels is the rear wheel, the wheel radius of the second group of wheels is the preset wheel radius, and the wheel radius of the first group of wheels is determined and corrected according to the average rotation number and the wheel radius of the second group of wheels.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

FIG. 1 is an architectural diagram illustrating a wheel radius correction provided in accordance with an embodiment of the present disclosure;

FIG. 2 is a schematic flow chart illustrating a method for correcting a radius of a wheel according to an embodiment of the present disclosure;

FIG. 3 is a schematic flow chart diagram illustrating another method for wheel radius correction provided by an embodiment of the present disclosure;

FIG. 4 is a schematic flow chart illustrating another method for wheel radius correction provided by an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a wheel radius correction apparatus provided in an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a wheel radius correction apparatus provided in an embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

During the running of the vehicle, the vehicle may calculate a running parameter using the wheel radius to control the running state of the vehicle according to the running parameter. Thus, the wheel radius is a key parameter for vehicle control.

However, the wheel radius of some wheels may become larger or smaller under different driving environments or different driving conditions of the vehicle, and if the vehicle still calculates the driving parameters based on the original wheel radius, the calculated driving parameters may be inaccurate. For example, in winter, when a vehicle travels on a snow-covered road in winter, an anti-skid device is required to be installed on the driving wheels to increase the adhesion force of the driving wheels, so that traffic accidents can be prevented.

However, the radius of the drive wheel to which the antiskid device is attached is large, the rotation speed of the drive wheel to which the antiskid device is attached is smaller than the rotation speed of the drive wheel to which the antiskid device is attached when the speeds of the drive wheel before the antiskid device is attached and the drive wheel before the antiskid device is attached are the same, and calculating the wheel speed of the drive wheel using the rotation speed of the drive wheel to which the antiskid device is attached and the radius of the drive wheel before the antiskid device is attached may make the calculated wheel speed of the drive wheel small. Because the anti-lock braking System (ABS) calculates the slip rate according to the reference vehicle speed of each wheel and the wheel speed of each wheel, and the Traction Control System (TCS) calculates the slip rate according to the reference vehicle speed of each wheel and the wheel speed of each wheel, if the calculated wheel speed of the driving wheel is smaller, the wheel speed of each wheel is smaller, and then the slip rate calculated by the ABS is smaller, leading to the ABS being triggered in advance, and the slip rate calculated by the TCS is larger, leading to the TCS being triggered later.

Alternatively, the slip ratio may be calculated by:

wherein s is ₁ For slip ratio, u is the reference speed for each wheel, u _w For each wheel speed, w comprises the rotational speed of the first set of wheels and the rotational speed of the first set of wheels.

Alternatively, the slip ratio may be calculated as:

wherein s is ₂ Is the slip rate.

Therefore, when the ABS and the TCS of the vehicle are controlled based on the larger radius of the first group of wheels, the control precision is lower, traffic accidents can be caused by early ABS triggering and delayed TCS triggering, and the driving safety of the vehicle is reduced.

In order to solve the above problems, the conventional wheel radius correction method needs to correct and correct the wheel radius by using complex factors such as wheel speed, yaw rate, correction factor, and the like, so that the calculation amount in the process of correcting the wheel radius is large, and the correction result cannot be responded in time, and therefore, the driving parameters cannot be calculated in time and accurately to accurately control the driving state of the vehicle, and further, the safety of vehicle driving cannot be ensured well.

Therefore, in order to correct the wheel radius and reduce the calculation amount in the wheel radius correction process, the disclosed embodiments provide a vehicle wheel radius correction method, device, apparatus and storage medium capable of accurately and simply correcting the wheel radius.

In the disclosed embodiment, the wheel radius correction device may be a chassis domain controller, an electronic stability controller, or other controller, and is not limited herein.

In the disclosed embodiment, the chassis domain controller may be a domain controller of a vehicle that integrates a plurality of Electronic Control Units (ECUs) having similar functions.

Optionally, the chassis domain controller may be configured to perform service brake control, parking brake control, electronic stability control, electronic power steering control, active suspension control, and the like on the vehicle.

The service brake control can be to control a foot brake in the running process of the vehicle so as to decelerate the vehicle. The parking brake control can be to control the hand ladle when the vehicle brake fails or to control the hand brake after the vehicle is stationary to prevent the vehicle from slipping forward and backward. Electronic stability control may be an active safety technique that assists the driver in controlling the vehicle, correcting for instability in the vehicle body, and helping to prevent accidents. The electronic power steering control may be direct reliance on the electric machine to provide vehicle assist torque. Active suspension control can be to control the body height for the vehicle compromises ride comfort and handling stability.

In the disclosed embodiment, the Electronic Stability controller may be a controller that runs an Electronic Stability Program (ESP).

In the embodiment of the present disclosure, the electronic stability controller may utilize an electronic stability program to improve the control performance of the vehicle and prevent the vehicle from being out of control when the vehicle reaches its dynamic limit, so as to improve the safety and controllability of the vehicle.

Based on the above description, taking the wheel radius correction device as an example of a chassis domain controller, when the wheel radius of a first group of wheels of a vehicle is not equal to the wheel radius of a second group of wheels, the average number of revolutions of the second group of wheels per revolution of the first group of wheels is detected, one of the first group of wheels and the second group of wheels is a front wheel, the other is a rear wheel, and the wheel radius of the second group of wheels is a preset wheel radius.

FIG. 1 illustrates an architecture diagram for a wheel radius correction provided by an embodiment of the present disclosure.

As shown in fig. 1, the architecture diagram includes a wheel radius correction apparatus 10, a brake anti-lock apparatus 20, and a traction control apparatus 30.

In the disclosed embodiment, the wheel radius correction apparatus 10 may be a chassis domain controller, an electronic stability controller, or other controller, without limitation.

In the disclosed embodiment, the brake anti-lock device 20 may be a device that operates with an ABS.

In the disclosed embodiment, the traction control device 30 may be a device operating with a TCS.

Based on the above-described configuration, the wheel radius correction apparatus 10 may detect an average number of revolutions of the second group of wheels per one revolution of the first group of wheels when the wheel radius of the first group of wheels of the vehicle is not equal to the wheel radius of the second group of wheels, one of the first group of wheels and the second group of wheels being the front wheel and the other being the rear wheel, the wheel radius of the second group of wheels being the wheel radius set in advance, determine the wheel radius of the first group of wheels based on the average number of revolutions and the wheel radius of the second group of wheels and correct to further calculate the actual rotational speed of the first group of wheels based on the vehicle running speed and the actual wheel radius, and calculate the rotational speed of the second group of wheels based on the vehicle running speed and the wheel radius of the second group of wheels, send the actual rotational speed of the first group of wheels and the wheel radius of the corrected first group of wheels to the anti-lock braking apparatus 20 and the traction control apparatus 30. The anti-lock brake device 20 may calculate an actual speed of the first set of wheels through the ABS according to the actual rotational speed of the first set of wheels and the corrected wheel radius of the first set of wheels, calculate a wheel speed of the second set of wheels according to the rotational speed of the second set of wheels and the wheel radius of the second set of wheels, obtain a wheel speed of each wheel, and further calculate a target slip ratio according to the wheel speed of each wheel and a reference speed of each wheel, and the anti-lock brake device 20 transmits the target slip ratio to the wheel radius correction device 10, so that the wheel radius correction device 10 takes the target slip ratio as a slip ratio corresponding to a current driving road surface, and triggers the ABS according to the target slip ratio to control the vehicle to operate. The traction control device 30 may calculate an actual speed of the first group of wheels according to the actual rotation speed of the first group of wheels and the corrected wheel radius of the first group of wheels through the TCS, calculate a wheel speed of the second group of wheels according to the rotation speed of the second group of wheels and the wheel radius of the second group of wheels, obtain a wheel speed of each wheel, and further calculate a target slip ratio according to the wheel speed of each wheel and the reference speed of each wheel, and the traction control device 30 transmits the target slip ratio to the wheel radius correction device 10, so that the wheel radius correction device 10 takes the target slip ratio as a slip ratio corresponding to the current traveling road surface, and triggers the TCS according to the target slip ratio to control the vehicle to operate.

Alternatively, the first set of wheels may be fitted with anti-skid devices such that the wheel radius of the first set of wheels is not equal to the wheel radius of the second set of wheels.

Therefore, based on the above framework, after the wheel radius of the first group of wheels is corrected, the wheel radius correction device can accurately control the ABS and the TCS of the vehicle based on the corrected wheel radius of the first group of wheels, so that the control precision is improved, the ABS and the TCS are normally triggered, the traffic accident is avoided, and the driving safety of the vehicle is improved.

Based on the above-mentioned architecture, the following describes a wheel radius correction method provided by the embodiment of the present disclosure with reference to fig. 2 to 4. In the disclosed embodiment, the wheel radius correction method may be performed by a wheel radius correction apparatus. The wheel radius correction device may be a chassis domain controller, an electronic stability controller, or other controller, without limitation.

Fig. 2 shows a schematic flow chart of a wheel radius correction method provided by an embodiment of the present disclosure.

As shown in fig. 2, the wheel radius correction method may include the following steps.

S210, when the wheel radius of the first group of wheels of the vehicle is not equal to that of the second group of wheels, detecting the average rotation number of the second group of wheels when the first group of wheels rotates every week.

In the disclosed embodiment, one of the first set of wheels and the second set of wheels is a front wheel, the other set of wheels is a rear wheel, and the wheel radius of the second set of wheels is a predetermined wheel radius.

Specifically, the vehicle may determine in real time whether the wheel radius of the first group of wheels is equal to the wheel radius of the second group of wheels, if not, determine that the wheel radius of the first group of wheels is not equal to the preset wheel radius, and if the wheel radius of the first group of wheels needs to be corrected, detect an average number of revolutions of the second group of wheels per revolution of the first group of wheels, so as to determine and correct the wheel radius of the first group of wheels based on the average number of revolutions and the wheel radius of the second group of wheels.

In the disclosed embodiment, the first set of wheels may be drive wheels and the second set of wheels may be driven wheels. If the first set of wheels is a front wheel and the second set of wheels is a rear wheel, the front wheel of the vehicle is a driving wheel and the rear wheel is a driven wheel.

The driving wheels may be wheels for converting energy provided by an engine of the vehicle into kinetic energy to drive the vehicle to move, and may also output power and torque. The driven wheel may be a wheel that is supported and driven by the drive wheel.

In embodiments of the present disclosure, the first set of wheels may have an anti-skid device mounted thereon such that a wheel radius of the first set of wheels is not equal to a wheel radius of the second set of wheels. Wherein the anti-skid device may be a device for providing anti-skid function to a first set of wheels of the vehicle. Alternatively, the anti-skid device may be a snow chain, a snow belt, or the like, without limitation.

In the disclosed embodiment, the preset wheel radius may be a preset true wheel radius.

It will be appreciated that if the wheel radius of the first set of wheels is not equal to the wheel radius of the second set of wheels, the second set of wheels rotates more or less than one revolution per revolution of the first set of wheels at the same vehicle speed.

Specifically, the wheel radius correction apparatus may control the vehicle to record an average number of revolutions of the second group of wheels per revolution of the first group of wheels at a preset vehicle speed to correct the wheel radius of the first group of wheels based on the average number of revolutions of the second group of wheels.

And S220, determining the wheel radius of the first group of wheels and correcting according to the average rotation number and the wheel radius of the second group of wheels.

In an embodiment of the present disclosure, S220 may include:

when the first group of wheels rotate for a preset number of revolutions, acquiring the average number of revolutions of the second group of wheels;

multiplying the average number of revolutions of the second set of wheels by the wheel radius of the second set of wheels;

and determining the wheel radius of the first group of wheels and correcting according to the quotient of the obtained product divided by the preset rotation number.

Wherein the preset number of revolutions may be a minimum number of revolutions for correcting a wheel radius of the first set of wheels.

Specifically, when the first group of wheels rotates for a preset number of revolutions, the wheel radius correction device multiplies the average number of revolutions of the second group of wheels by the wheel radius of the second group of wheels, divides the obtained product by the preset number of revolutions, replaces the wheel radius of the first group of wheels with the obtained quotient, corrects the wheel radius of the first group of wheels to obtain the corrected wheel radius of the first group of wheels, and finishes the wheel radius correction process of the first group of wheels.

In the disclosed embodiment, the first set of wheels may be equipped with anti-skid devices, and the wheel radius of the modified first set of wheels may be the true radius of the drive wheel equipped with the snow chain.

Alternatively, the preset number of rotations may be 3, 4, 5, etc., and is not limited herein.

In the embodiment of the present disclosure, optionally, when the preset number of rotations is 3, the formula for calculating the wheel radius of the modified first set of wheels may be:

wherein R is ₁ The corrected wheel radius of the first set of wheels, and N may be the second set of wheels when the first set of wheels rotates for a preset number of revolutionsThe average number of revolutions of the wheel, R, is the wheel radius of the second set of wheels.

Therefore, in the embodiment of the present disclosure, when the first set of wheels rotates for the preset number of revolutions, the average number of revolutions of the second set of wheels is obtained, the average number of revolutions of the second set of wheels is multiplied by the wheel radius of the second set of wheels, the wheel radius of the first set of wheels is determined and corrected by dividing the obtained product by the quotient of the preset number of revolutions, the corrected wheel radius of the first set of wheels is obtained, the obtained quotient is used for replacing the wheel radius of the first set of wheels, and the wheel radius of the first set of wheels is corrected.

In the embodiment of the disclosure, when the wheel radius of the first group of wheels of the vehicle is not equal to the wheel radius of the second group of wheels, the average number of revolutions of the second group of wheels per revolution of the first group of wheels is detected, wherein one group of the first group of wheels and the second group of wheels is a front wheel, the other group of wheels is a rear wheel, and the wheel radius of the second group of wheels is a preset wheel radius.

In another embodiment of the present disclosure, in order to accurately determine whether the wheel radius of the first group of wheels and the wheel radius of the second group of wheels of the vehicle are equal, the wheel radius correction apparatus may acquire a wheel parameter of the vehicle, the wheel parameter including at least one of a tire pressure of the first group of wheels, a tire pressure of the second group of wheels, a driving range, a vehicle speed, and a pulsation frequency of the first group of wheels, and may determine whether the wheel radius of the first group of wheels and the wheel radius of the second group of wheels are equal according to the wheel parameter of at least one dimension to correct the wheel radius of the first group of wheels in a case where the wheel radius of the first group of wheels and the wheel radius of the second group of wheels are not equal.

Fig. 3 is a schematic flow chart illustrating another wheel radius correction method provided by the embodiment of the present disclosure.

As shown in fig. 3, the wheel radius correction method may include the following steps.

And S310, acquiring wheel parameters of the vehicle.

In embodiments of the present disclosure, the wheel parameters may be used to characterize physical and kinematic parameters of the first and second sets of wheels.

The physical parameter may be used, among other things, to characterize status data of the wheel component. The motion parameters may be used to characterize the motion data of the wheels during vehicle driving.

Alternatively, the wheel components may comprise tyres of a first set of wheels and tyres of a second set of wheels, etc.

Alternatively, the motion data may include, without limitation, a driving gear, a vehicle speed, a pulsation frequency of the first set of wheels, and the like.

As is apparent from the above description, the wheel parameter may include at least one of a tire pressure of the first set of wheels, a tire pressure of the second set of wheels, a driving gear, a vehicle speed, and a pulsation frequency of the first set of wheels.

And S320, when the wheel parameters meet wheel radius judgment conditions, determining that the wheel radius of the first group of wheels of the vehicle is not equal to that of the second group of wheels.

In the embodiment of the present disclosure, in order to accurately determine whether the wheel radius of the first group of wheels is equal to the wheel radius of the second group of wheels, whether the two groups of wheel radii are equal may be determined according to the wheel parameters of multiple dimensions, such as the tire pressure of the first group of wheels, the tire pressure of the second group of wheels, the driving gear, the vehicle speed, and the pulsation frequency of the first group of wheels.

In the embodiment of the present disclosure, the wheel radius determination condition may include that the tire pressure of the first group of wheels and the tire pressure of the second group of wheels are both in a preset tire pressure range, the driving gear is a preset gear, the vehicle speed is greater than a preset vehicle speed, and the pulsation frequency is an integral multiple of the rotation speed of the first group of wheels.

The tire pressure of the first group of wheels and the tire pressure of the second group of wheels can be the real tire pressure of the wheels in the running process of the vehicle.

The preset tire pressure range can be a normal tire pressure range of wheels in the running process of the vehicle, and the preset tire pressure range can ensure that the radius of each group of wheels is the same.

The preset gears can be gears used for judging whether the radiuses of the two groups of wheels are equal or not, and the preset gears can guarantee that the running distance of the vehicle is long enough in a short time period, so that the judgment of whether the radiuses of the two groups of wheels are equal or not is facilitated. Alternatively, the preset gear may be a driving gear (Drive gear, D gear).

The preset vehicle speed can be the minimum vehicle speed for judging whether the radiuses of the two groups of wheels are equal, and when the preset vehicle speed is large enough, the rotating speed of the vehicle can be guaranteed to be large enough, so that the pulsation frequency of the first group of wheels is obvious. Alternatively, the preset vehicle speed may be 20km/h.

The pulsation frequency may be a fluctuation frequency of the speed of the first group of wheels falling, rising and falling within a preset time period during the running of the vehicle, and a difference between a maximum value of the speed of the first group of wheels and a minimum value of the speed of the first group of wheels is smaller than a preset value within the preset time period. Optionally, the preset time period may be 0.05s, or may be other values. The preset value can be 2km/s, and can also be other values.

Taking the first set of wheels to install the anti-skid device and the first set of wheels to be the driving wheel for example, when the anti-skid device is installed on the driving wheel, for example, a chain is installed on the driving wheel, the chain of the chain is an integer. The wheel radius correction apparatus may acquire the pulsation frequency of the drive wheel during a preset time period, and determine whether the pulsation frequency is an integral multiple of the rotation speed of the drive wheel.

Thus, in the disclosed embodiment, the wheel radius correction apparatus may determine whether the two sets of wheel radii are equal or not according to the wheel parameters of at least one dimension of the tire pressures of the two sets of wheels, the driving range, the vehicle speed, and the pulsation frequency of the first set of wheels, to ensure that the wheel radius of the first set of wheels is corrected in the case where the wheel radius of the first set of wheels is not equal to the wheel radius of the second set of wheels.

S330, when the wheel radius of the first group of wheels of the vehicle is not equal to that of the second group of wheels, detecting the average rotation number of the second group of wheels when the first group of wheels rotates every week.

In the disclosed embodiment, one of the first set of wheels and the second set of wheels is a front wheel, the other set is a rear wheel, and the wheel radius of the second set of wheels is a predetermined wheel radius.

And S340, determining and correcting the wheel radius of the first group of wheels according to the average rotation number and the wheel radius of the second group of wheels.

S330-S340 are similar to S210-S220 described above, and are not described herein again.

In still another embodiment of the present disclosure, in a case where it is detected that the wheel radius of the first group of wheels of the vehicle is not equal to the wheel radius of the second group of wheels, it may be determined whether the first group of wheels satisfies a preset wheel radius correction condition according to a driving parameter of the vehicle, the driving parameter may include at least one of a driving range, a vehicle speed, an accelerator pedal opening, a brake pedal opening, a steering wheel angle, and an obstacle distance, and it may be accurately determined whether the first group of wheels satisfies the preset wheel radius correction condition according to the driving parameter of at least one dimension to correct the wheel radius of the first group of wheels to ensure reliability of the wheel radius correction in a case where the first group of wheels satisfies the preset wheel radius correction condition.

Fig. 4 shows a schematic flow chart of another wheel radius correction method provided by the embodiment of the present disclosure.

As shown in fig. 4, the wheel radius correction method may include the following steps.

S410, when the wheel radius of the first group of wheels of the vehicle is not equal to that of the second group of wheels, the running parameters of the vehicle are obtained.

Specifically, when the vehicle determines that the wheel radius of the first group of wheels of the vehicle is not equal to the wheel radius of the second group of wheels, the driving parameter of the vehicle may be obtained, so as to determine whether to correct the wheel radius of the first group of wheels according to the driving parameter.

In the disclosed embodiment, the driving parameters may include physical parameters and motion parameters of the vehicle.

The physical parameters can be used, among other things, to characterize status data of structural components of the vehicle. The motion parameters may be used to characterize driving data during vehicle driving.

Alternatively, the structural component may include an accelerator pedal, a brake pedal, a steering wheel, etc. of the vehicle. Accordingly, the state data may include an opening degree of an accelerator pedal, an opening degree of a brake pedal, a steering wheel angle, and the like.

Alternatively, the driving data may include a driving gear, a vehicle speed, an obstacle distance, and the like, which is not limited herein.

As apparent from the above description, the driving parameter may include at least one of a driving gear, a vehicle speed, an accelerator pedal opening, a brake pedal opening, a steering wheel angle, and an obstacle distance.

In this embodiment of the present disclosure, before S410, the method may further include:

acquiring wheel parameters of a vehicle, wherein the wheel parameters comprise at least one of tire pressure of a first group of wheels, tire pressure of a second group of wheels, driving gear, vehicle speed and pulse frequency of the first group of wheels;

and when the wheel parameters meet the wheel radius judgment condition, determining that the wheel radius of the first group of wheels of the vehicle is not equal to that of the second group of wheels.

And S420, judging that the driving parameters meet the preset wheel radius correction condition, if so, executing S430, otherwise, returning to execute S410.

In some embodiments of the present disclosure, the driving parameters may include driving gear, vehicle speed, accelerator pedal opening, brake pedal opening, steering wheel angle, and obstacle distance.

Accordingly, S420 may include:

and if the driving gear is a preset gear, the vehicle speed is greater than the preset vehicle speed, the opening degree of an accelerator pedal is a first preset opening degree, the opening degree of a brake pedal is a second preset opening degree, the steering wheel angle is smaller than the preset rotation angle, and the barrier distance is greater than the barrier distance threshold value, determining that the driving parameters meet the preset wheel radius correction condition.

The preset gear can be a gear used for judging whether to correct the wheel radius of the first group of wheels, and the preset gear can ensure that the running distance of the vehicle is long enough in a short time period, so that the correction process of the wheel radius of the first group of wheels is guaranteed. Alternatively, the preset gear may be a driving gear (Drive gear, D gear).

The preset vehicle speed may be a minimum vehicle speed for correcting the wheel radius of the first group of wheels, and when the preset vehicle speed is large enough, it may be ensured that the rotation speed of the first group of wheels is large enough, so that the wheel radius correction device may correct the wheel radius of the first group of wheels at a larger vehicle speed. Alternatively, the preset vehicle speed may be 20km/h.

The first preset opening degree may be an accelerator opening degree used for determining whether to correct the wheel radius of the first group of wheels. Optionally, the first preset opening degree may be 0%.

Wherein the second preset opening degree may be a brake pedal opening degree used for determining whether to correct the wheel radius of the first group of wheels. Optionally, the second preset opening degree may also be 0%.

It should be noted that the first preset opening and the second preset opening may be pedal openings in a vehicle coasting state, so that the wheel radius of the first set of wheels is corrected during vehicle coasting, and vehicle driving is not affected. In addition, the first preset opening degree and the second preset opening degree are both set to be 0%, so that no torque exists in the accelerator pedal and the brake pedal, and the correction accuracy of the radius of the first group of wheels due to the fact that the torque exists in the accelerator pedal and the brake pedal is avoided.

Wherein the preset turning angle may be a maximum turning angle for correcting a wheel radius of the first group of wheels. Alternatively, the preset rotational angle may be 10 °.

It should be noted that, controlling the steering wheel angle to be smaller than the preset angle can prevent the inner and outer wheel speeds from being inconsistent to influence the correction result when the vehicle turns.

Wherein the obstacle distance threshold may be a minimum distance of the obstacle for correcting a wheel radius of the first set of wheels.

In the disclosed embodiment, the wheel radius correction apparatus may control the radar of the vehicle to detect an obstacle distance between the vehicle and the obstacle in real time and determine whether the obstacle distance is greater than an obstacle distance threshold value while the vehicle is running.

It is understood that when the vehicle is running and the vehicle speed is high, the obstacle distance threshold may be large, and when the vehicle speed is low, the obstacle distance threshold may be small, and the obstacle distance threshold may ensure that the vehicle slides for a long time and the driving safety of the vehicle is ensured, so that the wheel radius of the first group of wheels is corrected when the vehicle is in a sliding state and the vehicle is safely driven.

In an embodiment of the present disclosure, a method of calculating an obstacle distance threshold may include:

calculating a speed difference between a vehicle speed of the vehicle and an obstacle speed;

calculating the quotient of the preset safety time and a preset value;

and multiplying the quotient and the speed difference to obtain the obstacle distance threshold value.

The vehicle speed of the vehicle may be the running speed of the first set of wheels and the second set of wheels, i.e., the running speed of the vehicle. Alternatively, the vehicle speed of the vehicle may be acquired from a vehicle speed calculation device of the vehicle.

The obstacle can be a front vehicle or other obstacles which obstruct the vehicle from running. The obstacle speed may be an operating speed of the obstacle. Alternatively, the obstacle speed may be detected by the radar of the vehicle.

Wherein the preset safe time may be a minimum safe time for calculating the obstacle distance threshold. Alternatively, the preset safe time may be 5s, 10s, 20s, etc., and is not limited herein.

The preset value may be a preset value used for calculating the obstacle distance threshold. Alternatively, the preset value may be 3.6, or some other value.

Optionally, when the preset value is 3.6, the calculation formula of the obstacle distance threshold may be:

wherein D is an obstacle distance threshold value and has a unit of m; v is the speed of the vehicle, and the unit is km/h; vf is the speed of the barrier, and the unit is km/h; t is preset safe time with the unit of s;3.6 is a preset value.

Therefore, in the embodiment of the disclosure, whether the first group of wheels meets the preset wheel radius correction condition can be accurately determined according to the running parameters of multiple dimensions, such as the driving gear, the vehicle speed, the accelerator pedal opening, the brake pedal opening, the steering wheel angle, the obstacle distance and the like, so as to ensure the reliability of the wheel radius correction of the first group of wheels, and the obstacle distance threshold value can be calculated in real time according to the running condition of the vehicle, so that the wheel radius of the first group of wheels can be corrected under the condition that the vehicle is safely driven.

In order to avoid that the skid resistance influences the correction precision of the wheel radius, after the driving parameter is judged to meet the preset wheel radius correction condition, the method can further comprise the following steps:

and controlling the vehicle to cancel the sliding anti-drag resistance.

Specifically, after the wheel radius correction device acquires the driving parameter, the vehicle is controlled to cancel the anti-drag resistance when the driving parameter is judged to meet the preset wheel radius correction condition, so that the wheel radius of the first group of wheels is corrected when the anti-drag resistance is cancelled.

In the disclosed embodiment, the coasting anti-drag resistance may be a resistance for providing torque to the wheels for preventing the vehicle from coasting forward, such that the vehicle speed gradually decreases, in the case where the vehicle engine is not outputting power.

Wherein, controlling the vehicle to cancel the anti-drag resistance may include:

controlling the clutch of the vehicle to be disconnected, and/or adjusting the torque of the generator of the vehicle to 0.

In some embodiments, for a fuel-powered vehicle, the wheel radius correction device may generate request information for cancellation of coasting anti-drag resistance and transmit the request information to an interaction device communicatively connected to the wheel radius correction, the request information being displayed by the interaction device to remind a user to lift the clutch, the wheel radius correction device acquiring a clutch off operation and controlling the vehicle to cancel coasting anti-drag resistance in response to the clutch off operation.

In other embodiments, for an electric vehicle, the wheel radius correction apparatus may directly adjust the torque of the generator of the vehicle to 0, and control the vehicle to cancel the coasting anti-drag resistance.

Therefore, in the embodiment of the present disclosure, when it is detected that the wheel radius of the first group of wheels of the vehicle is not equal to the wheel radius of the second group of wheels of the vehicle, and under the condition that whether the driving parameter meets the preset wheel radius correction condition, the wheel radius correction device may cancel the sliding anti-drag resistance in a human-vehicle interaction manner for the fuel-powered vehicle, and cancel the sliding anti-drag resistance in an automatic manner for the electric vehicle, so as to avoid the sliding anti-drag resistance from affecting the correction accuracy of the wheel radius of the first group of wheels.

And S430, detecting the average rotation number of the second group of wheels when the first group of wheels rotates every week.

And S440, determining and correcting the wheel radius of the first group of wheels according to the average rotation number and the wheel radius of the second group of wheels.

S430 to S440 are similar to S210 to S220, and are not described herein.

In yet another embodiment of the present disclosure, after the wheel radius correction apparatus obtains the corrected wheel radius of the first set of wheels, the wheel radius correction apparatus may correct the speed of the first set of wheels to ensure that the vehicle runs at a real speed; in addition, after the corrected wheel radius of the first group of wheels is obtained, the target slip rate and the target slip rate of the vehicle can be recalculated, and the wheel radius correction equipment can control the vehicle to run according to the target slip rate and the target slip rate so as to improve the control precision of the vehicle and further improve the driving safety of the vehicle; in addition, the wheel radius correction device can also recover the sliding anti-drag resistance, so that the vehicle speed is controlled to slowly decrease by using the sliding anti-drag resistance under the condition that the engine does not provide power; and thirdly, after the corrected wheel radius of the first group of wheels is obtained, if the vehicle running end is detected, the corrected wheel radius of the first group of wheels is cleared, so that the wheel radius of the first group of wheels is corrected again in different running periods of the vehicle, and the accuracy of the corrected wheel radius of the first group of wheels in each running period is ensured.

In some embodiments of the present disclosure, after determining and correcting the wheel radius of the first set of wheels, the wheel radius correction apparatus may further correct the speed of the first set of wheels according to the corrected wheel radius of the first set of wheels and the rotational speed of the first set of wheels, resulting in a corrected speed of the first set of wheels;

and/or the presence of a gas in the gas,

and determining the target slip rate and the target slip rate of the vehicle corresponding to the first group of corrected wheels, and controlling the vehicle according to the target slip rate and the target slip rate.

In the disclosed embodiment, the rotation speed of the first group of wheels may be an actual rotation speed of the first group of wheels during operation of the vehicle. Wherein the actual rotational speed of the first set of wheels may be calculated based on the vehicle operating speed and the actual wheel radius.

For example, the first set of wheels is driving wheels of the vehicle, and the anti-skid device is mounted on the driving wheels, so that the actual wheel radius of the driving wheels is increased, and the actual rotating speed of the driving wheels calculated according to the vehicle running speed and the actual wheel radius is smaller.

In the disclosed embodiment, the corrected speed of the first set of wheels may be an actual operating speed of the first set of wheels calculated from the wheel radius of the corrected first set of wheels and the actual rotational speed of the first set of wheels during operation of the vehicle.

Specifically, the corrected wheel radius of the first group of wheels may be multiplied by the actual rotation speed of the first group of wheels, and the product is used as the actual running speed of the corrected first group of wheels, so as to obtain the corrected speed of the first group of wheels.

For example, the first group of wheels is a driving wheel of the vehicle, and an anti-skid device is mounted on the driving wheel, so that the actual wheel radius of the driving wheel is increased, the actual rotating speed of the driving wheel calculated according to the vehicle running speed and the actual wheel radius is smaller, the actual rotating speed of the driving wheel is multiplied by the corrected wheel radius of the driving wheel according to the actual rotating speed of the driving wheel, and the product is used as the corrected actual running speed of the first group of wheels, so that the corrected speed of the first group of wheels is obtained.

Therefore, in the embodiment of the present disclosure, the wheel radius correction apparatus may correct the speed of the first group of wheels according to the corrected wheel radius of the first group of wheels and the actual rotation speed of the first group of wheels, so as to obtain the corrected speed of the first group of wheels, that is, the actual operation speed of the first group of wheels, so as to ensure that the vehicle operates at the actual speed.

In order to ensure the correction accuracy of the first group of wheels, before correcting the speed of the first group of wheels according to the wheel radius of the corrected first group of wheels and the rotating speed of the first group of wheels to obtain the corrected speed of the first group of wheels, whether the wheel radius of the corrected first group of wheels meets the correction accuracy or not can be verified, so that the speed of the first group of wheels is corrected under the condition that the wheel radius of the corrected first group of wheels meets the correction accuracy.

For the above reasons, in the embodiment of the present disclosure, before the speed of the first group of wheels is corrected according to the wheel radius of the first group of wheels and the rotation speed of the first group of wheels, the following method may be further performed:

determining a corrected difference value of the first group of wheels according to the corrected wheel radius of the first group of wheels and a preset wheel radius;

and under the condition that the corrected difference value of the first group of wheels is smaller than or equal to a preset difference threshold value, determining that the radius of the corrected wheels of the first group of wheels meets the correction precision.

The preset wheel radius may be a maximum radius used for determining whether the wheel radius of the first group of wheels after correction meets the correction accuracy.

The corrected difference value of the first group of wheels can be the difference between the radius of the corrected first group of wheels and the radius of a preset wheel radius or the quotient of the radii. Accordingly, the preset difference threshold may be a radius difference threshold or a radius quotient threshold.

Specifically, after the wheel radius correction apparatus obtains the wheel radius of the corrected first set of wheels, it may calculate a difference between the radii or a quotient of the radii based on the wheel radius of the corrected first set of wheels and a preset wheel radius, and determine whether the difference between the radii is less than or equal to a radius difference threshold, or determine whether the quotient of the radii is less than or equal to a radius quotient threshold, determine that the wheel radius of the corrected first set of wheels satisfies the correction accuracy if the difference between the radii is less than or equal to a radius difference threshold, and determine that the wheel radius of the corrected first set of wheels does not satisfy the correction accuracy if the difference between the radii is greater than the radius difference threshold, or determine that the quotient of the radii is greater than the radius quotient threshold, and re-correct the wheel radius of the first set of wheels until the obtained wheel radius of the corrected first set of wheels satisfies the correction accuracy, so as to further correct the speed of the first set of wheels based on the wheel radius of the corrected first set of wheels and the true rotational speed of the first set of wheels, to obtain the speed of the corrected first set of wheels.

Therefore, in the embodiment of the present disclosure, before the speed of the first group of wheels is corrected according to the wheel radius of the first group of wheels and the rotation speed of the first group of wheels, a corrected difference value of the first group of wheels may be determined according to the wheel radius of the first group of wheels and a preset wheel radius, and when the corrected difference value of the first group of wheels is smaller than or equal to a preset difference threshold, the speed of the first group of wheels is corrected according to the wheel radius of the first group of wheels and the actual rotation speed of the first group of wheels, so as to obtain the corrected speed of the first group of wheels, so that the corrected accuracy of the speed of the first group of wheels may be ensured, and the vehicle may be ensured to operate at the actual speed.

In some embodiments of the present disclosure, after determining and correcting the wheel radius of the first set of wheels, the wheel radius correction apparatus may further perform the following operations:

Specifically, with continued reference to fig. 1, the wheel radius correction apparatus calculates the actual rotational speed of the first set of wheels based on the vehicle running speed and the actual wheel radius after obtaining the corrected wheel radius of the first set of wheels, and transmits the actual rotational speed of the first set of wheels and the corrected wheel radius of the first set of wheels to the anti-lock brake apparatus 20 and the traction control apparatus 30. The anti-lock braking device 20 may calculate a target slip rate according to the actual rotation speed of the first set of wheels and the corrected wheel radius of the first set of wheels through the ABS, and the anti-lock braking device 20 sends the target slip rate to the wheel radius correction device 10, so that the wheel radius correction device 10 takes the target slip rate as a slip rate corresponding to the current driving road surface, and triggers the ABS according to the target slip rate to control the vehicle to operate. The traction control device 30 may calculate a target slip rate according to the actual rotation speed of the first set of wheels and the corrected wheel radius of the first set of wheels through the TCS, and the traction control device 30 transmits the target slip rate to the wheel radius correction device 10, so that the wheel radius correction device 10 takes the target slip rate as a slip rate corresponding to the current driving road surface, and triggers the TCS according to the target slip rate to control the vehicle to operate.

In summary, after the corrected wheel radius of the first group of wheels is obtained, the target slip rate and the target slip rate of the vehicle can be recalculated, and the wheel radius correction device can control the vehicle to operate according to the target slip rate and the target slip rate, so as to improve the control precision of the vehicle and further improve the driving safety of the vehicle.

In order to improve the calculation accuracy of the target slip rate and the target slip rate, before determining the target slip rate and the target slip rate, it may be further verified whether the wheel radius of the corrected first group of wheels meets the correction accuracy, so that the target slip rate and the target slip rate are calculated under the condition that the wheel radius of the corrected first group of wheels meets the correction accuracy.

For the above reasons, in the embodiment of the present disclosure, before determining the target slip ratio and the target slip ratio, the method may further include:

The preset wheel radius may be a maximum radius used for determining whether the wheel radius of the first group of corrected wheels meets the correction accuracy.

The corrected difference value of the first group of wheels may be a difference between the radius of the first group of wheels after correction and a preset radius of the wheels or a quotient of the radii. Accordingly, the preset difference threshold may be a radius difference threshold or a radius quotient threshold.

Specifically, after the wheel radius correction apparatus obtains the wheel radius of the corrected first set of wheels, it may calculate a difference between the radii or a quotient of the radii based on the wheel radius of the corrected first set of wheels and a preset wheel radius, and determine whether the difference between the radii is less than or equal to a radius difference threshold, or determine whether the quotient of the radii is less than or equal to a radius quotient threshold, if the difference between the radii is less than or equal to a radius difference threshold, or the quotient of the radii is less than or equal to a radius quotient threshold, determine that the wheel radius of the corrected first set of wheels satisfies the correction accuracy, determine that the wheel radius of the corrected first set of wheels does not satisfy the correction accuracy if the difference between the radii is greater than the radius difference threshold, or the quotient of the radii is greater than the radius quotient threshold, re-correct the wheel radius of the first set of wheels until the obtained wheel radius of the corrected first set of wheels satisfies the correction accuracy, further calculate a target slip ratio and a target slip ratio of the vehicle, use the target slip ratio as a slip ratio corresponding to the current driving road surface, and use the target slip ratio as a slip ratio corresponding to the current driving surface, and control the driving vehicle based on the target slip ratio and the target slip ratio.

Therefore, in the embodiment of the present disclosure, before determining the target slip ratio and the target slip ratio, a corrected difference value of the first group of wheels may be determined according to the corrected wheel radius of the first group of wheels and a preset wheel radius, and when the corrected difference value of the first group of wheels is smaller than or equal to a preset difference threshold, the corrected wheel radius of the first group of wheels is determined to meet the correction accuracy, and the target slip ratio are accurately calculated according to the corrected wheel radius of the first group of wheels, so as to further improve the accuracy of determining the target slip ratio and the target slip ratio, and ensure that the vehicle runs at a real speed.

In some embodiments of the present disclosure, after determining and correcting the wheel radius of the first set of wheels, the wheel radius correction apparatus may further perform the following method:

and controlling the vehicle to recover the sliding anti-drag resistance.

Wherein, controlling the vehicle to recover the anti-drag resistance of sliding can include:

controlling the clutch of the vehicle to be engaged and adjusting the torque of the generator of the vehicle to the preset torque, and/or adjusting the torque of the generator of the vehicle to the preset torque and controlling the vehicle to adjust the anti-drag resistance to the preset anti-drag resistance.

The preset sliding anti-drag resistance can be resistance before the sliding anti-drag resistance is cancelled. The preset torque may be a torque before the coast back drag resistance is cancelled.

In some embodiments, for a fuel-powered vehicle, the wheel radius correction device may generate request information for resumption of coasting anti-drag resistance and transmit the request information to an interaction device communicatively connected to the wheel radius correction, the request information being displayed by the interaction device to remind a user to depress the clutch, the wheel radius correction device acquiring a clutch engagement operation, and adjusting the coasting anti-drag resistance to a preset coasting anti-drag resistance in response to the clutch engagement operation, so that the vehicle resumes the coasting anti-drag resistance.

In other embodiments, for an electric vehicle, the wheel radius correction apparatus may directly adjust the torque of the generator of the vehicle to a preset torque so that the vehicle recovers the rolling anti-drag resistance.

Thus, in the disclosed embodiment, the wheel radius correction device recovers the coast back-drag resistance in a human-vehicle interaction manner for the fuel powered vehicle and recovers the coast back-drag resistance in an automatic manner for the electric vehicle after obtaining the corrected wheel radius of the first set of wheels, so that the vehicle controls the vehicle speed to slowly decrease using the coast back-drag resistance without the engine providing power.

In order to ensure that the sliding anti-drag resistance of the vehicle is recovered under the condition that the wheel radius of the first group of wheels meets the correction precision, before the sliding anti-drag resistance of the vehicle is recovered, whether the wheel radius of the first group of wheels after correction meets the correction precision or not can be verified, so that the sliding anti-drag resistance of the vehicle is further recovered under the condition that the wheel radius of the first group of wheels after correction meets the correction precision.

For the above reasons, in the embodiment of the present disclosure, after determining and correcting the wheel radius of the first set of wheels, and before restoring the sliding anti-drag resistance of the vehicle, the method may further include:

and under the condition that the corrected difference value of the first group of wheels is smaller than or equal to a preset difference threshold value, determining that the radius of the corrected first group of wheels meets the correction precision.

Specifically, after the wheel radius correction apparatus obtains the wheel radius of the corrected first set of wheels, it may calculate a difference between the radii or a quotient of the radii based on the wheel radius of the corrected first set of wheels and a preset wheel radius, and determine whether the difference between the radii is less than or equal to a radius difference threshold, or determine whether the quotient of the radii is less than or equal to a radius quotient threshold, determine that the wheel radius of the corrected first set of wheels satisfies the correction accuracy if the difference between the radii is less than or equal to the radius difference threshold, and determine that the wheel radius of the corrected first set of wheels does not satisfy the correction accuracy if the difference between the radii is greater than the radius difference threshold, or determine that the quotient of the radii is greater than the radius quotient threshold, and re-correct the wheel radius of the first set of wheels until the obtained wheel radius of the corrected first set of wheels satisfies the correction accuracy, to further control the clutch engagement of the vehicle and adjust the torque of the generator of the vehicle to a preset torque, and/or adjust the torque of the generator of the vehicle to a preset torque, and to restore the drag resistance of the vehicle.

Therefore, in the embodiment of the disclosure, before the vehicle is recovered to the sliding anti-drag resistance, the corrected difference value of the first group of wheels may be determined according to the corrected wheel radius of the first group of wheels and the preset wheel radius, and in the case that the corrected difference value of the first group of wheels is less than or equal to the preset difference threshold, the sliding anti-drag resistance of the vehicle is recovered when the corrected wheel radius of the first group of wheels meets the correction accuracy, so that the vehicle speed is controlled to slowly decrease by using the sliding anti-drag resistance when the engine does not provide power for the vehicle meeting the correction accuracy.

In some embodiments of the present disclosure, after determining and correcting the wheel radius of the first set of wheels, the method further comprises:

and clearing the wheel radius of the first group of corrected wheels at the end of the running of the vehicle.

Specifically, after obtaining the corrected wheel radius of the first group of wheels, the wheel radius correction device does not store the corrected wheel radius of the first group of wheels into an Electrically Erasable Programmable Read Only Memory (EEPROM), so that when the vehicle is finished running, that is, after the vehicle is powered off, the wheel radius of the first group of wheels is cleared, the vehicle is allowed to re-correct the wheel radius of the first group of wheels in different operation cycles, and the accuracy of the corrected wheel radius of the first group of wheels in each operation cycle is ensured.

The disclosed embodiment also provides a wheel radius correction device for implementing the wheel radius correction method, which is described below with reference to fig. 6. In the disclosed embodiment, the wheel radius correction apparatus may be a wheel radius correction device. The wheel radius correction device may include, but is not limited to, a chassis domain controller, an electronic stability controller, or other controller.

Fig. 5 is a schematic structural diagram illustrating a wheel radius correction apparatus provided in an embodiment of the present disclosure.

As shown in fig. 5, the wheel radius correction apparatus 500 may include: an average number of revolutions detection module 510 and a wheel radius correction module 520.

The average rotation number detection module 510 may be configured to detect an average rotation number of a second group of wheels when the first group of wheels rotates for one week when a wheel radius of the first group of wheels is not equal to a wheel radius of the second group of wheels, where one of the first group of wheels and the second group of wheels is a front wheel, the other one of the first group of wheels and the second group of wheels is a rear wheel, and the wheel radius of the second group of wheels is a preset wheel radius;

the wheel radius correction module 520 may be configured to determine and correct the wheel radius of the first set of wheels based on the average number of revolutions and the wheel radius of the second set of wheels.

In the embodiment of the disclosure, when the wheel radius of the first group of wheels of the vehicle is not equal to the wheel radius of the second group of wheels, the average number of revolutions of the second group of wheels per revolution of the first group of wheels is detected, wherein one group of the first group of wheels and the second group of wheels is a front wheel, the other group of wheels is a rear wheel, the wheel radius of the second group of wheels is a preset wheel radius, and the wheel radius of the first group of wheels is determined and corrected according to the average number of revolutions and the wheel radius of the second group of wheels.

Optionally, the apparatus further comprises: the device comprises a wheel parameter acquisition module and a wheel radius judgment module;

the wheel parameter acquiring module can be used for acquiring wheel parameters of a vehicle, wherein the wheel parameters comprise at least one of tire pressure of a first group of wheels, tire pressure of a second group of wheels, driving gear, vehicle speed and pulse frequency of the first group of wheels;

the wheel radius determination module may be configured to determine that a wheel radius of a first set of wheels of the vehicle is not equal to a wheel radius of a second set of wheels when the wheel parameter satisfies the wheel radius determination condition.

Optionally, the wheel parameters include a tire pressure of the first group of wheels, a tire pressure of the second group of wheels, a driving gear, a vehicle speed, and a pulsation frequency of the first group of wheels;

the wheel radius judgment conditions comprise that the tire pressure of the first group of wheels and the tire pressure of the second group of wheels are both in a preset tire pressure range, a driving gear is a preset gear, the vehicle speed is greater than a preset vehicle speed, and the pulse frequency is an integral multiple of the rotating speed of the first group of wheels.

Optionally, the apparatus further comprises: the device comprises a driving parameter acquisition module and a driving parameter judgment module;

the driving parameter acquisition module can be used for acquiring driving parameters of a vehicle, wherein the driving parameters comprise at least one of a driving gear, a vehicle speed, an accelerator pedal opening, a brake pedal opening, a steering wheel corner and an obstacle distance;

the driving parameter judgment module can be used for judging that the driving parameters meet preset wheel radius correction conditions.

Optionally, the driving parameters include a driving gear, a vehicle speed, an accelerator pedal opening, a brake pedal opening, a steering wheel angle and an obstacle distance;

the driving parameter judging module can be further used for determining that the driving parameters meet the preset wheel radius correction condition if the driving gear is a preset gear, the vehicle speed is greater than the preset vehicle speed, the opening degree of an accelerator pedal is a first preset opening degree, the opening degree of a brake pedal is a second preset opening degree, the corner of a steering wheel is smaller than the preset corner, and the distance between obstacles is greater than the distance threshold value of the obstacles.

Optionally, the apparatus further comprises: an obstacle distance threshold calculation module;

the obstacle distance threshold calculation module can be used for calculating the speed difference between the vehicle speed of the vehicle and the speed of the obstacle;

calculating the quotient of the preset safety time and a preset value;

Optionally, the wheel radius correction module 520 may be further configured to obtain an average number of revolutions of the second group of wheels when the first group of wheels rotates by a preset number of revolutions;

and determining the wheel radius of the first group of wheels according to the quotient of the obtained product divided by the preset rotation number and correcting.

Optionally, the apparatus further comprises: a sliding anti-drag resistance cancellation module;

the sliding anti-drag resistance cancelling module can be used for controlling the vehicle to cancel the sliding anti-drag resistance.

Optionally, the apparatus further comprises: a speed correction module and a vehicle control module;

the speed correction module can be used for correcting the speed of the first group of wheels according to the corrected wheel radius of the first group of wheels and the rotation speed of the first group of wheels to obtain the corrected speed of the first group of wheels;

and/or the presence of a gas in the gas,

the vehicle control module may be configured to determine a target slip ratio and a target slip ratio of the vehicle corresponding to the modified first set of wheels, and control the vehicle according to the target slip ratio and the target slip ratio.

Optionally, the apparatus further comprises: a wheel radius removal module;

the wheel radius clearing module can be used for clearing the corrected wheel radius of the first group of wheels when the vehicle runs.

It should be noted that the wheel radius correction apparatus 500 shown in fig. 5 may perform each step in the method embodiments shown in fig. 2 to 4, and implement each process and effect in the method embodiments shown in fig. 2 to 4, which are not described herein again.

Fig. 6 shows a schematic structural diagram of a wheel radius correction apparatus provided by an embodiment of the present disclosure.

As shown in fig. 6, the wheel radius correction apparatus may include a processor 601 and a memory 602 storing computer program instructions.

Specifically, the processor 601 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.

Memory 602 may include a mass storage for information or instructions. By way of example, and not limitation, memory 602 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 602 may include removable or non-removable (or fixed) media, where appropriate. Memory 602 may be internal or external to the integrated gateway device, where appropriate. In a particular embodiment, the memory 602 is a non-volatile solid-state memory. In a particular embodiment, the Memory 602 includes Read-Only Memory (ROM). The ROM may be mask programmed ROM, programmable ROM (PROM), erasable PROM (Electrically Programmable ROM, EPROM), electrically Erasable PROM (Electrically Erasable PROM ROM, EEPROM), electrically Alterable ROM (Electrically Alterable ROM, EAROM), or flash memory, or a combination of two or more of these, where appropriate.

The processor 601 executes the steps of the wheel radius correction method provided by the disclosed embodiments by reading and executing the computer program instructions stored in the memory 602.

In one example, the vehicle may also include a transceiver 603 and a bus 604. As shown in fig. 6, the processor 601, the memory 602 and the transceiver 603 are connected via a bus 604 and perform communication with each other.

Bus 604 includes hardware, software, or both. By way of example and not limitation, a BUS may include an Accelerated Graphics Port (AGP) or other Graphics BUS, an Enhanced Industry Standard Architecture (EISA) BUS, a Front-Side BUS (Front Side BUS, FSB), a Hyper Transport (HT) Interconnect, an Industry Standard Architecture (ISA) BUS, an infiniband Interconnect, a Low Pin Count (LPC) BUS, a memory BUS, a microchannel Architecture (MCA) BUS, a Peripheral Control Interconnect (PCI) BUS, a PCI-Express (PCI-X) BUS, a Serial Advanced Technology Attachment (Attachment) BUS, a Local Electronics Standard Association (vldo) BUS, a Local Association BUS, a BUS, or a combination of two or more of these as appropriate. Bus 604 may include one or more buses, where appropriate. Although specific buses are described and shown in the embodiments of the application, any suitable buses or interconnects are contemplated by the application.

The following are embodiments of a computer-readable storage medium provided by the embodiments of the present disclosure, which belong to the same inventive concept as the wheel radius correction methods of the above embodiments, and reference may be made to the embodiments of the wheel radius correction method described above for details that are not described in detail in the embodiments of the computer-readable storage medium.

The present embodiments provide a storage medium containing computer-executable instructions that, when executed by a computer processor, are operable to perform a wheel radius correction method, the method comprising:

Of course, the embodiments of the present disclosure provide a storage medium containing computer-executable instructions, which are not limited to the above method operations, but can also perform related operations in the wheel radius correction method provided in any embodiments of the present disclosure.

From the above description of the embodiments, it is obvious for those skilled in the art that the present disclosure can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present disclosure may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer cloud platform (which may be a personal computer, a server, or a network cloud platform, etc.) to execute the wheel radius correction method provided in the embodiments of the present disclosure.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present disclosure and the technical principles employed. Those skilled in the art will appreciate that the present disclosure is not limited to the particular embodiments described herein, and that various obvious changes, adaptations, and substitutions are possible, without departing from the scope of the present disclosure. Therefore, although the present disclosure has been described in greater detail with reference to the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A wheel radius correction method, characterized by comprising:

when the wheel radius of a first group of wheels of a vehicle is not equal to the wheel radius of a second group of wheels, detecting the average rotation number of the second group of wheels when the first group of wheels rotates for one circle, wherein one group of the first group of wheels and the second group of wheels is a front wheel, the other group of the first group of wheels and the second group of wheels is a rear wheel, and the wheel radius of the second group of wheels is a preset wheel radius;

2. The method of claim 1, wherein prior to said detecting an average number of revolutions of said second set of wheels per revolution of said first set of wheels, said method further comprises:

acquiring wheel parameters of the vehicle, wherein the wheel parameters comprise at least one of tire pressure of the first group of wheels, tire pressure of the second group of wheels, driving gear, vehicle speed and pulse frequency of the first group of wheels;

and when the wheel parameters meet wheel radius judgment conditions, determining that the wheel radius of the first group of wheels of the vehicle is not equal to the wheel radius of the second group of wheels.

3. The method of claim 2, wherein the wheel parameters include a tire pressure of the first set of wheels, a tire pressure of the second set of wheels, the driving gear, the vehicle speed, a pulsation frequency of the first set of wheels;

the wheel radius judgment condition comprises that the tire pressure of the first group of wheels and the tire pressure of the second group of wheels are both in a preset tire pressure range, the driving gear is a preset gear, the vehicle speed is greater than a preset vehicle speed, and the pulse frequency is an integral multiple of the rotating speed of the first group of wheels.

4. The method of claim 1, wherein prior to said detecting an average number of revolutions of said second set of wheels per revolution of said first set of wheels, said method further comprises:

acquiring driving parameters of the vehicle, wherein the driving parameters comprise at least one of a driving gear, a vehicle speed, an accelerator pedal opening, a brake pedal opening, a steering wheel corner and an obstacle distance;

and judging that the driving parameters meet preset wheel radius correction conditions.

5. The method according to claim 4, characterized in that the driving parameters include the driving gear, the vehicle speed, the accelerator pedal opening, the brake pedal opening, the steering wheel angle, and the obstacle distance;

the judging that the driving parameters meet the preset wheel radius correction condition comprises the following steps:

and if the driving gear is a preset gear, the vehicle speed is greater than a preset vehicle speed, the opening degree of an accelerator pedal is a first preset opening degree, the opening degree of a brake pedal is a second preset opening degree, the steering wheel corner is smaller than a preset corner, and the barrier distance is greater than a barrier distance threshold value, determining that the driving parameters meet the preset wheel radius correction condition.

6. The method of claim 5, further comprising:

calculating the quotient of the preset safety time and a preset value;

and multiplying the quotient by the speed difference to obtain the obstacle distance threshold.

7. The method of claim 1, wherein said determining and modifying the wheel radius of the first set of wheels based on the average number of revolutions and the wheel radius of the second set of wheels comprises:

multiplying the average number of revolutions of the second set of wheels by a wheel radius of the second set of wheels;

and determining the radius of the wheels of the first group of wheels according to the quotient of dividing the obtained product by the preset rotation number and correcting the radius.

8. The method according to claim 4, wherein after the determining that the running parameter satisfies a preset wheel radius correction condition, the method further comprises:

and controlling the vehicle to cancel the sliding anti-drag resistance.

9. The method of claim 1, wherein after the determining and correcting the wheel radius of the first set of wheels, the method further comprises:

correcting the speed of the first group of wheels according to the corrected wheel radius of the first group of wheels and the rotation speed of the first group of wheels to obtain the corrected speed of the first group of wheels;

and/or the presence of a gas in the gas,

and determining a target slip rate and a target slip rate of the vehicle corresponding to the corrected first group of wheels, and controlling the vehicle according to the target slip rate and the target slip rate.

10. The method of claim 1, wherein after the determining and correcting the wheel radius of the first set of wheels, the method further comprises:

and clearing the wheel radius of the first group of corrected wheels when the vehicle runs.

11. A wheel radius correction apparatus, characterized by comprising:

the device comprises an average rotation number detection module, a first rotation number detection module and a second rotation number detection module, wherein the average rotation number detection module is used for detecting the average rotation number of the second group of wheels when the first group of wheels rotates for one week when the wheel radius of the first group of wheels is not equal to the wheel radius of the second group of wheels, one group of the first group of wheels and the second group of wheels is a front wheel, the other group of the first group of wheels and the second group of wheels is a rear wheel, and the wheel radius of the second group of wheels is a preset wheel radius;

12. A wheel radius correction apparatus, characterized by comprising:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the wheel radius correction method of any of claims 1-10.

13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a wheel radius correction method according to any one of claims 1 to 10.