WO2023286750A1 - タイヤ挙動推定装置、タイヤ挙動推定方法、及びプログラム - Google Patents
タイヤ挙動推定装置、タイヤ挙動推定方法、及びプログラム Download PDFInfo
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- WO2023286750A1 WO2023286750A1 PCT/JP2022/027319 JP2022027319W WO2023286750A1 WO 2023286750 A1 WO2023286750 A1 WO 2023286750A1 JP 2022027319 W JP2022027319 W JP 2022027319W WO 2023286750 A1 WO2023286750 A1 WO 2023286750A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/02—Tyres
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C19/00—Tyre parts or constructions not otherwise provided for
Definitions
- the present disclosure relates to a tire behavior estimation device, a tire behavior estimation method, and a program.
- vehicle travel simulations have been performed to simulate vehicle travel through various numerical analyzes using computers.
- vehicle running simulation the behavior of the vehicle model determined by the vehicle specifications is analyzed with respect to various forces due to the running state simulating the running of the vehicle.
- the tire that transmits the force received from the road surface to the vehicle body is an important element, and a tire model that simulates the behavior of the tire is important for highly accurate running simulation of the vehicle.
- a tire model a tire model called a magic formula is known, which is represented by a linear sum of a plurality of mathematical expressions representing various forces generated in the tire and a plurality of coefficients.
- the tire behavior estimation device of the present disclosure includes: A tire behavior estimation device for estimating physical quantities relating to tire behavior from tire design information using a tire model that outputs physical quantities relating to tire behavior according to input parameters, wherein the tire design information and the tire model A storage unit that stores a correspondence relationship with input parameters, an acquisition unit that acquires tire design information, and based on the correspondence relationship stored in the storage unit, acquires the tire design information acquired by the acquisition unit. A conversion unit that converts parameters to be input to the tire model, and an input unit that inputs the parameters converted by the conversion unit to the tire model.
- the tire behavior estimation method of the present disclosure includes: A tire behavior estimation method in which a computer estimates physical quantities related to tire behavior from tire design information using a tire model that outputs physical quantities related to tire behavior according to input parameters, wherein the tire design information is acquired. and converting the obtained tire design information into parameters to be input to the tire model based on the correspondence stored in the storage unit storing the correspondence between the tire design information and the parameters to be input to the tire model. and input the converted parameters to the tire model.
- the program of the present disclosure is A program for estimating physical quantities related to tire behavior from tire design information using a tire model that outputs physical quantities related to tire behavior according to input parameters, wherein the computer acquires tire design information, Converting the obtained tire design information into parameters to be input to the tire model based on the correspondence stored in the storage unit storing the correspondence between the tire design information and the parameters to be input to the tire model. and inputting the converted parameters into the tire model.
- the storage medium that stores the program of the present disclosure is not particularly limited, and may be a hard disk or a ROM. Storage media such as CD-ROMs, DVD discs, magneto-optical discs, and IC cards may also be used. Furthermore, the program may be downloaded from a server or the like connected to a network.
- FIG. 1 is a block diagram showing an example of a schematic configuration of a computer capable of functioning as an analysis device according to a first embodiment
- FIG. 4 is a flow chart showing an example of the flow of analysis processing by an analysis program executed by the computer according to the first embodiment
- It is a figure which shows an example of the relationship of the input-output in the tire information conversion part of the analysis apparatus which concerns on 1st Embodiment.
- It is a figure which shows an example of the relationship of the input-output in the tire information conversion part of the analysis apparatus which concerns on 2nd Embodiment.
- FIG. 8 is a diagram showing an example of transient characteristics related to the relaxation length of the tire according to the second embodiment
- FIG. 11 is a schematic configuration diagram showing an example of an analysis device according to a third embodiment
- It is a figure which shows an example of the relationship of the input-output in the tire information conversion part of the analysis apparatus which concerns on 3rd Embodiment.
- the parameters for determining the coefficients used in the magic formula have little direct relationship with tire design information such as cornering stiffness. is difficult.
- using a special formula applying tire design information as a tire model requires defining a tire model using a special formula. For example, it is difficult to use a general-purpose tire model such as a magic formula. and the convenience is lost. Therefore, there is room for improvement in analyzing tire behavior in detail while considering tire design information without using data obtained by actually measuring tires.
- the present disclosure facilitates tire behavior analysis using tire design information without using actual tire measurement data.
- tire behavior analysis can be easily performed using tire design information without using data obtained by actually measuring tires.
- FIG. 1 shows the configuration of an analysis device 1 that analyzes the behavior of a vehicle as an example of a system including the tire behavior estimation device of the present disclosure.
- the analysis device 1 performs a simulation (for example, vehicle motion analysis) relating to running of a vehicle using a vehicle model provided with a tire model determined using tire design information.
- a simulation for example, vehicle motion analysis
- a tire is a continuous material that does not undergo a phase change when energy is applied at room temperature, and includes at least an elastic body.
- the elastic body may be formed by continuously forming an elastic material, such as a rubber material, a polyurethane material, a polymer material, or the like.
- an elastic material such as a rubber material, a polyurethane material, a polymer material, or the like.
- Tire design information is a concept that includes data on tire specifications and data indicating characteristics related to the force generated by the tire.
- tire specification data include data indicating the structure, shape, and material of a tire.
- An example of the data indicating characteristics related to tire force generation includes data indicating tire characteristics such as cornering stiffness, road surface friction coefficient, and self-aligning torque.
- a tire model is a model that simulates tire behavior and conditions, and is a concept that includes models for deriving various tire behaviors and conditions using numerical analysis techniques.
- a tire model that outputs physical quantities related to tire behavior according to input parameters is applied to the tire model.
- a model that expresses a tire by a function that inputs tire-related parameters and outputs the generated force and moment (for example, lateral force) of the tire is applied (details will be described later).
- a vehicle model is a model that simulates vehicle behavior and conditions based on vehicle specifications and driving conditions, and is a model for determining various vehicle behavior and conditions using numerical analysis methods. Since the vehicle model is a well-known technique, detailed explanation is omitted.
- the analysis device 1 includes a tire information conversion unit 10, a tire model identification unit 20, and a vehicle simulation unit 30.
- the analysis device 1 By inputting parameters related to tire design information into the tire model, the analysis device 1 identifies a tire model that reflects the tire design information, and uses the identified tire model to perform vehicle simulation with the vehicle model. Specifically, the analysis device 1 converts the tire design information into tire model parameters in the tire information conversion unit 10, and identifies the tire model using the converted parameters in the tire model identification unit 20. , a tire model in which the tire design information is reflected is determined, and the vehicle simulation unit 30 performs vehicle simulation using the tire model.
- the tire information conversion unit 10 is a functional unit that converts tire design information into parameters to be input to a tire model. Details of the tire information conversion unit 10 will be described later.
- the vehicle simulation unit 30 is a functional unit that performs vehicle simulation using a tire model in which tire design information is reflected. It should be noted that the processing executed by the vehicle simulation unit 30 is a well-known technology, and detailed description thereof will be omitted.
- the tire model identification unit 20 is a functional unit that identifies a tire model using the parameters converted by the tire information conversion unit 10, thereby defining a tire model that reflects tire design information.
- the tire model identification unit 20 derives the force generated by the tire using a tire model in which the tire design information is reflected.
- a model called Magic Formula hereinafter referred to as MF is applied as an example of a tire model.
- An example of the MF model used as a tire model is represented by the following formula (1).
- Equation (1) is an example of modeling the lateral force Fyp , which is the force generated by the tire during pure lateral slip, and is an example of physical characteristics in a single slip state (pure slip).
- ⁇ y is the input such as slip angle and slip ratio
- Cy is the shape coefficient indicating the lateral stiffness
- Dy is the peak value
- Ey is the curve coefficient
- SVy is the vertical direction.
- MF coefficient of the above equation (1) it is possible to model the lateral force Fyp .
- the MF model instead of using the MF coefficient as the eigenvalue of the tire, by using parameters related to tires such as p Dy1 , p Dy2 , p Ky1 , p Ky2 , and the load change amount dfz (a parameter indicating), Improve the simulation accuracy of the tire model.
- p Dy1 and p Dy2 are parameters indicating lateral friction coefficients
- p Ky1 and p Ky2 are parameters indicating tire stiffness coefficients.
- the lateral force F yp generated in the tire can be derived with high accuracy. It is possible.
- p Dy1 , p Dy2 , p Ky1 and p Ky2 may be identified as MF parameters, and other parameters are constants indicating standard values. can be set.
- the MF parameter is a parameter obtained by deriving a predetermined characteristic indicated by an actual measured value of the tire or the like, and it is considered that the tire design information is implicitly reflected in the tire model. That is, it is difficult for the MF parameters to explicitly reflect tire design information in the tire model (that is, the MF model).
- the tire information conversion unit 10 converts the tire design information into MF parameters, thereby enabling the tire design information to be explicitly reflected in the MF model.
- the tire information conversion section 10 includes an acquisition section 12 , a conversion section 14 , an output section 16 and a storage section 18 .
- the storage unit 18 stores information indicating correspondence between tire design information and MF parameters as a correspondence table.
- the correspondence table may store mathematical expressions, and the values may be calculated using the stored mathematical expressions.
- the acquisition unit 12 is a functional unit that acquires data indicating tire design information.
- the conversion unit 14 is a functional unit that converts data representing tire design information acquired by the acquisition unit 12 into data representing MF parameters based on the correspondence table stored in the storage unit 18 .
- the output unit 16 is a functional unit that outputs the data representing the MF parameters converted by the conversion unit 14 to the tire model identification unit 20 in order to input the data to the tire model.
- the tire information conversion unit 10 is an example of the tire behavior estimation device of the present disclosure
- the acquisition unit 12 is an example of the acquisition unit of the present disclosure
- the conversion unit 14 is an example of the conversion unit of the present disclosure
- the output unit 16 is an example of the input unit of the present disclosure
- the storage unit 18 is an example of the storage unit of the present disclosure.
- the shape factor Cy corresponds to normalized cornering stiffness (an example of tire design information), and normalized cornering stiffness can be expressed by the following equation (2).
- F'z0 in the formula indicates the specified load
- pky4 is the MF parameter
- the normalized cornering stiffness is as follows: (7), and the load dependency of the normalized cornering stiffness can be expressed by the following equation (8).
- the storage unit 18 stores the tire design information of the normalized cornering stiffness Wa and the load dependence Wb of the normalized cornering stiffness, which are shown by the above formulas (11) and (12), and the MF parameters p Ky1 , What is necessary is to memorize
- the storage unit 18 may store a function that inputs Wa and Wb expressed by the above equations (11) and (12) and outputs pKy1 and pKy2 . Further, a large number of data sets having a correspondence relationship between Wa, Wb and p Ky1 and p Ky2 derived using the above equations (11) and (12) are derived, and the derived correspondence relationship A data set may be stored in the storage unit 18 .
- Tables 1 and 2 below show an example of the information (correspondence table) indicating the correspondence relationship stored in the storage unit 18.
- Table 1 is a correspondence table of the relational expressions given by the above equations (11) and (12) as information indicating the correspondence between the tire design information and the MF parameters.
- Table 2 is a correspondence table of input/output data derived using equations (11) and (12), that is, a plurality of data sets having a correspondence relationship between tire design information and MF parameters. is.
- the load change amount dfz can be expressed by the following equation (14).
- F'Z0 in the formula can be represented by the following formula (15).
- ⁇ in the equation indicates the scale factor of the maximum coefficient of friction with respect to lateral force.
- the MF parameter p Dy2 can be expressed by the following equation (17) using the MF parameter p Dy1 .
- the correspondence relationship between the tire design information of the road surface friction coefficient ⁇ y and the MF parameters p Dy1 and p Dy2 should be stored in the storage unit 18. . That is, the correspondence relationship between the road surface friction coefficient ⁇ y as tire design information and the MF parameter p Dy1 related to the road surface friction coefficient, and the tire load dependence of the road surface friction coefficient indicated by the load change amount dfz as tire design information
- the correspondence relationship between the design information and the MF parameter p Dy2 related to the load dependency of the road surface friction coefficient may be stored.
- the storage unit 18 may store a function that inputs ⁇ y represented by the above equations (16) and (17) and outputs p Dy1 and p Dy2 .
- a large number of data sets having a correspondence relationship between ⁇ y derived using the above equations (16) and (17) and p Dy1 and p Dy2 are derived, and the derived data having a correspondence relationship A set may be stored in the storage unit 18 .
- Tables 3 and 4 below show an example of the information (correspondence table) indicating the correspondence relationship stored in the storage unit 18.
- Table 3 is a correspondence table of the relational expressions given by the above equations (16) and (17) as information indicating the correspondence between the tire design information and the MF parameters.
- Table 4 is a correspondence table of input/output data derived using equations (16) and (17), that is, a plurality of data sets having a correspondence relationship between tire design information and MF parameters. is.
- the analysis device 1 described above can be realized by a computer system including a control section configured by a general-purpose computer.
- FIG. 2 shows a schematic configuration of a computer 40 that can function as the analysis device 1.
- a computer 40 functioning as the analysis device 1 shown in FIG. 2 includes a computer main body 40A.
- the computer main body 40A has a CPU 40B, a RAM 40C, a ROM 40D, and an input/output interface (I/O) 40F. These CPU 40B, RAM 40C, ROM 40D, and I/O 40F are connected via a bus 40G so as to exchange data and commands with each other.
- An auxiliary storage device 40E functioning as an auxiliary storage device such as a hard disk drive (HDD) is also connected to the bus 40G.
- An input unit 40H such as a keyboard, a display unit 40J such as a display, and a communication unit 40K for communicating with an external device are connected to the I/O 40F.
- the auxiliary storage device 40E stores an analysis program 40P for causing the computer main body 40A to function as an analysis device.
- the CPU 40B reads the analysis program 40P from the auxiliary storage device 40E, develops it in the RAM 40C, and executes processing.
- the computer main body 40A that has executed the analysis program 40P operates as the analysis device 1 according to this embodiment.
- the analysis program 40P stored in the auxiliary storage device 40E includes a tire information conversion program 40PA, a tire model identification program 40PB, and a vehicle simulation program 40PC.
- the tire information conversion program 40PA is an example of a processing routine showing processes executed in the tire information conversion section 10.
- the tire model identification program 40PB is an example of a processing routine showing processes executed in the tire model identification section 20.
- the vehicle simulation program 40PC is an example of a processing routine indicating a process executed by the vehicle simulation section 30.
- FIG. Various data used for analysis processing are stored as data 40PD in the auxiliary storage device 40E.
- the data 40PD stores a table 40PT including the correspondence tables (see Tables 1 to 4) described above. Note that the auxiliary storage device 40E can function as the storage unit 18 shown in FIG.
- At least a part of the analysis program 40P and the data 40PD may be provided externally via a recording medium such as a CD-ROM, or may be obtained from an external device via the communication unit 40K. good.
- FIG. 3 shows an example of the flow of analysis processing by the analysis program 40P executed in the computer 40. As shown in FIG. The analysis processing shown in FIG. 3 is executed by the CPU 40B when the computer 40 is powered on.
- step S102 the CPU 40B performs control to acquire tire design information.
- control may be performed to obtain the tire design information stored in advance in the data 40PD of the auxiliary storage device 40E, or control may be performed to obtain from an external device via the communication section 40K. Further, control may be performed to acquire data input by the input unit 40H as tire design information.
- the process of step S ⁇ b>102 is an example of the process executed by the acquisition unit 12 of the tire information conversion unit 10 .
- step S104 the CPU 40B performs control to acquire the correspondence table.
- control is performed to acquire the correspondence table (see Tables 1 to 4) stored as the table 40PT in the data 40PD of the auxiliary storage device 40E.
- the correspondence table is not limited to the correspondence table stored in the auxiliary storage device 40E, and the CPU 40B may control acquisition of the correspondence table from an external device via the communication unit 40K. Further, the CPU 40B may perform control to acquire the data input by the input unit 40H as a correspondence table.
- step S106 the CPU 40B uses the acquired tire design information and correspondence table to perform control for deriving MF parameters, that is, control for converting tire design information into MF parameters.
- the processing of steps S ⁇ b>104 and S ⁇ b>106 is an example of processing executed in the conversion unit 14 of the tire information conversion unit 10 .
- step S108 the CPU 40B performs control to output the MF parameters obtained in the process of step S106 described above to the tire model identification section 20.
- the CPU 40B may perform control to display the MF parameters on the display section 40J, or may perform control to output the MF parameters to an external device via the communication section 40K.
- the processing of step S106 is an example of processing executed in the output section 16 of the tire information conversion section 10 .
- step S102 to step S108 described above is an example of the process executed in the tire information conversion unit 10.
- step S110 the CPU 40B performs control to identify the tire model, that is, the MF model, based on the MF parameters.
- the processing of step S110 is an example of processing executed in the tire model identification section 20 .
- step S112 the CPU 40B controls the vehicle simulation using the MF model identified at step S110.
- the processing of step S ⁇ b>112 is an example of processing executed in the vehicle simulation unit 30 .
- FIG. 4 shows the result of analyzing the input/output relationship of the tire information conversion unit 10 when analyzing the behavior of the vehicle in the analyzing apparatus 1 according to the present embodiment, that is, the tire characteristics and the MF parameter characteristics indicating tire design information.
- An example of the relationship between FIG. 4 shows the relationship between the normalized cornering stiffness and the load dependency of the normalized cornering stiffness as the tire characteristics indicating tire design information.
- the MF parameter properties show the relationship between the MF parameters p Ky1 and p Ky2 .
- the tire characteristics are randomly distributed in the relationship between the normalized cornering stiffness and the load dependence of the normalized cornering stiffness.
- the characteristic of the MF parameter has a conical or bell-shaped range distribution in which the range of the MF parameter pKy1 widens as the value of the MF parameter pKy2 increases.
- the analysis device of the present embodiment it is possible to easily analyze the behavior of a tire using the MF model using tire design information without using data obtained by actually measuring the tire. Further, by using a tire model based on the MF model, vehicle simulation can be easily performed while reflecting tire design information.
- the parameters for determining the coefficients used in the magic formula have little direct relationship with the tire design information, and it is difficult to explicitly reflect the tire design information in the tire model. .
- using a special formula applying tire design information as a tire model requires defining a tire model using a special formula. For example, it is difficult to use a general-purpose tire model such as a magic formula. and the convenience is lost. Therefore, the behavior of the tire is analyzed in detail while considering the tire design information without using data obtained by actually measuring the tire.
- tire design information is a concept that includes data on tire specifications and data indicating characteristics related to the force generated by the tire.
- tire specification data include data indicating the structure, shape, and material of a tire.
- An example of the data indicating characteristics related to tire force generation includes data indicating tire characteristics such as cornering stiffness, road surface friction coefficient, and self-aligning torque.
- the tire design information includes data indicating the relaxation length and the load dependency of the relaxation length.
- the transient characteristics of a tire are dynamic characteristics caused by forces acting on the tire.
- the slip angle and lateral force dynamic characteristics of a tire are described by a parameter called relaxation length.
- the relaxation length varies depending on factors such as load, and the longer the relaxation length, the more delayed the generation of lateral force, which affects the deterioration of steering performance. Therefore, the relaxation length of the tire can be treated as information representing the transient characteristics of the tire. Further, since the relaxation length of the tire changes according to the load, it is preferable to consider the relaxation length of the tire and the load dependence of the relaxation length of the tire when considering the transient characteristics of the tire.
- the relationship between the tire relaxation length and the load indicates a characteristic (load dependency) in which the relaxation length increases as the tire load increases.
- the load dependence indicates the tendency of load fluctuation, and the load dependence increases as the tendency of load fluctuation, for example, the load fluctuation rate increases.
- each piece of information on the relaxation length of the tire and the load dependency of the relaxation length of the tire is used as tire design information. Therefore, it is possible to analyze the behavior of the tire by reflecting the tire design information in consideration of the transient characteristics of the tire including the relaxation length and the load dependence of the relaxation length of the tire. Also, it becomes possible to use general-purpose tire models such as magic formulas.
- a tire model that outputs physical quantities relating to tire behavior in accordance with input parameters is applied.
- the vehicle model as in the above embodiment, a model for determining various behaviors and states of the vehicle using a numerical analysis method is applied.
- the tire information conversion unit 10 converts the tire design information into tire model parameters
- the tire model identification unit 20 converts the tire design information into A reflected tire model is determined
- the vehicle simulation unit 30 performs vehicle simulation using the tire model.
- An MF model is used as the tire model.
- MF model represented by the formula (1) described above and identifying the MF coefficient of the formula (1), it is possible to model the lateral force Fyp .
- the simulation accuracy of the tire model is improved.
- p Ty1 and p Ty2 are parameters related to the relaxation length of the tire. Therefore, in the MF model, by inputting parameters such as p Ty1 and p Ty2 (hereinafter referred to as MF parameters), it is possible to derive the lateral force F yp generated in the tire with high accuracy.
- p Ty1 and p Ty2 may be identified as the MF parameters, and the other parameters are standard values. can be set to a constant that indicates
- the MF parameter is a parameter obtained by deriving a predetermined characteristic indicated by actual measurement values of the tire, etc., and it is considered that the tire design information is implicitly reflected in the tire model. That is, it is difficult for the MF parameters to explicitly reflect tire design information in the tire model (that is, the MF model).
- the tire information conversion unit 10 converts the tire design information into MF parameters, thereby enabling the tire design information to be explicitly reflected in the MF model.
- the tire information conversion unit 10 includes an acquisition unit 12, a conversion unit 14, an output unit 16, and a storage unit 18, as in the above embodiment.
- the tire information conversion unit 10 is an example of the tire behavior estimation device of the present disclosure
- the storage unit 18 is an example of the storage unit of the present disclosure.
- the acquisition unit 12 is an example of a functional unit that performs processing for acquiring tire design information in the tire behavior estimation device of the present disclosure.
- the conversion unit 14 is an example of a functional unit that performs a process of converting data between tire design information and parameters used for a tire model in the tire behavior estimation device of the present disclosure.
- the correspondence relationship between the tire design information including the information representing the transient characteristics of the tire stored in the storage unit 18 as a correspondence table and the MF parameters will be described.
- the tire design information including information representing the transient characteristics of the tire a case where the relaxation length of the tire is applied will be described.
- the relaxation length of the tire under a predetermined specified load is also applied.
- the shape factor C y corresponds to the lateral stiffness during rolling (an example of tire design information), and the relaxation length ( ⁇ y ) of the tire can be expressed by the following equation (18).
- K y ⁇ in the formula is tire design information called cornering stiffness.
- FZ in the formula indicates the load
- F'z0 indicates the specified load
- p Ty1 and p Ty2 are MF parameters related to the relaxation length of the tire.
- the relaxation length (q 1 ) under the prescribed load can be expressed by the MF parameters (p Ty1 , p Ty2 ).
- the relaxation length under the specified load may be referred to as the relaxation length q1 .
- the load dependence of the relaxation length of the tire in the tire design information will be described.
- the load dependence of the tire relaxation length can be derived by partially differentiating the tire relaxation length ( ⁇ y ) with the load (F Z ), as shown in the following equation (22).
- formula (22) can be expressed by the following formula (23), and as shown in formula (24), Load dependence of tire relaxation length at this time is q2 , the load dependence of the relaxation length can be expressed by equation (25).
- the relaxation length q1 of the tire can be expressed by the following equation (27).
- the MF parameter p TY1 can be expressed by equation (28).
- the MF parameter p Ty2 is a positive numerical value
- the MF parameter p Ty2 can be expressed by the following equation (32).
- the MF parameter p Ty1 can be expressed by the following equation (33) using the above equation (21). Therefore, the MF parameter p Ty1 can be derived using the MF parameter p Ty2 .
- the storage unit 18 stores the tire design information of the tire relaxation length q 1 and the load dependency q 2 of the tire relaxation length shown in the above equations (32) and (33), and the MF parameter p It is sufficient to store the correspondence between Ty1 and p Ty2 . That is, the correspondence relationship between the tire relaxation length q1 as tire design information and the MF parameter p Ty1 related to the load dependence q2 of the tire relaxation length, and the load dependence of the tire relaxation length as tire design information.
- the correspondence between the tire design information of q2 and the MF parameter p_Ty2 related to the load dependency q2 of the relaxation length q1 of the tire may be stored.
- the storage unit 18 may store a function that inputs q 1 and q 2 given by the above equations (32) and (33) and outputs p Ty1 and p Ty2 . Further, a large number of data sets having a correspondence relationship between q 1 and q 2 and p Ty1 and p Ty2 derived using the above equations (32) and (33) are derived, and the derived correspondence relationship may be stored in the storage unit 18 .
- Tables 5 and 6 below show an example of the information (correspondence table) indicating the correspondence stored in the storage unit 18.
- Table 5 is a correspondence table of the relational expressions given by the above equations (32) and (33) as information indicating the correspondence between the tire design information and the MF parameters.
- Table 6 is a correspondence table of input/output data derived using equations (32) and (33), that is, a plurality of data sets having a correspondence relationship between tire design information and MF parameters. is.
- the CPU 40B performs control to acquire tire design information in step S102.
- step S104 the CPU 40B performs control to acquire the correspondence table.
- control is performed to acquire the correspondence table (see Tables 5 and 6) stored as the table 40PT in the data 40PD of the auxiliary storage device 40E.
- the CPU 40B uses the acquired tire design information and correspondence table to perform control for deriving MF parameters, that is, control for converting tire design information into MF parameters.
- step S108 the CPU 40B performs control to output the MF parameters obtained in the process of step S106 described above to the tire model identification section 20.
- the CPU 40B performs control to identify the tire model, that is, the MF model, based on the MF parameters.
- the CPU 40B controls the vehicle simulation using the MF model identified at step S110.
- FIG. 5 is a diagram showing an example of the input/output relationship in the tire information conversion unit of the analysis device according to the present embodiment.
- FIG. 5 shows an example of the result of analyzing the input/output relationship of the tire information conversion unit 10 when analyzing the behavior of the vehicle in the analysis device 1, that is, the relationship between the tire characteristics indicating the tire design information and the characteristics of the MF parameters. It is shown.
- the tire properties show the relationship between the relaxation length of the tire and the load dependence of the relaxation length.
- the MF parameter properties show the relationship between the MF parameters p Ty1 and p Ty2 .
- the tire characteristics are randomly distributed in the relationship between the relaxation length of the tire and the load dependence of the relaxation length.
- the characteristic of the MF parameter is that the distribution tends to converge such that the range of the MF parameter p Ty1 narrows as the value of the MF parameter p Ty2 increases, for example, a triangular and conical range distribution.
- FIG. 6 shows the analysis device 1 according to this embodiment, considering the transient characteristics of the tire (in this embodiment, the relaxation length of the tire and the load dependence of the relaxation length of the tire), the relaxation length of the tire and The result of verifying the relationship with the load is shown.
- the black dots in FIG. 6 indicate the relationship between the relaxation length and the load obtained by experiments using actual tires.
- the solid line in FIG. 6 represents the dynamic characteristics of the tire representing the relationship between the relaxation length and the load as the behavior of the tire derived from the tire design information using the tire information conversion unit 10 in the analysis device 1 according to the present embodiment. show. Specifically, the solid line in FIG. 6 indicates the relationship between the relaxation length and the load derived by the MF model by estimating the MF parameters described above and using the estimation results.
- the relaxation length of the center load is used as the tire relaxation length q1
- the gradient between the maximum load and the minimum load is used as the load dependency q2 of the tire relaxation length.
- the experimental result of measuring the actual tire has a distribution very close to the relationship between the relaxation length and the load in the analysis device 1 according to this embodiment.
- the tire design information into the parameters of the MF model reflecting the tire design information using the tire information conversion unit 10
- the tire transient characteristics due to the tire relaxation length and the load dependence of the tire relaxation length It can be confirmed that it is possible to analyze the behavior of the tire by reflecting it. That is, even when using a general-purpose tire model such as the magic formula, the tire design information that takes into account the transient characteristics of the tire, including the relaxation length and the load dependence of the tire relaxation length, is reflected in the tire design. Behavior can be analyzed.
- the analysis device of the present embodiment it is possible to easily analyze the behavior of a tire using the MF model using tire design information without using data obtained by actually measuring the tire. Further, by using a tire model based on the MF model, vehicle simulation can be easily performed while reflecting tire design information.
- tire behavior analysis can be easily performed using tire design information including information representing the transient characteristics of the tire without using data obtained by actually measuring the tire.
- the MF model described above When the MF model described above is used as a tire model, there are a plurality of parameters other than the parameters described above for determining the coefficients used in the MF model, but the direct relationship between the tire design information and the parameters is weak. It is difficult to explicitly reflect the design information in the MF model.
- the above-mentioned MF model has been repeatedly improved by adding new parameters so that the applicable range simulated by the MF model can be applied to a wider range than the previous MF model.
- the improved MF model can be treated as different types of MF models, indicated as different versions, and different parameters depending on the type of MF model indicated by the versions. Therefore, the parameters in the MF model indicated by the version have little direct relationship with the tire design information, and it is difficult to explicitly reflect the tire design information in the MF model.
- FIG. 7 shows the configuration of an analysis device 1A, which is an example of a system including the tire behavior estimation device according to this embodiment.
- the analysis device 1A includes a tire information conversion section 10A, a tire model identification section 20, and a vehicle simulation section 30.
- the analysis device 1A identifies a tire model in which the tire design information is reflected by inputting parameters related to tire design information into the tire model, and uses the identified tire model to design a vehicle. Vehicle simulation is performed using the model.
- the tire information conversion unit 10A further includes a selection unit 17 in addition to the tire information conversion unit 10 described above. That is, the tire information conversion unit 10A includes an acquisition unit 12, a conversion unit 14, an output unit 16, a selection unit 17, and a storage unit 18. The tire information conversion unit 10 shown in FIG. 1 and the tire information conversion unit 10A shown in FIG.
- the storage unit 18 stores information indicating the correspondence between tire design information and MF parameters as a correspondence table in correspondence with the type of MF model.
- types of MF models a standard general-purpose MF model and an improved MF model obtained by improving the general-purpose MF model are applied.
- An example of a general-purpose MF model includes the MF model of a given version (MF-Tyre 5.2), and an example of an improved MF model is a later version (MF-Tyre 6.0 or later) of the MF model. mentioned.
- a general-purpose MF model of MF-Tyre 5.2 is referred to as a first MF model
- an improved MF model of MF-Tyre 6.0 or later is referred to as a second MF model.
- the first MF model is assumed to be the target MF model.
- the second MF model is also described in documents such as MF-Tyre/MF-Swift 6.2 Equation manual and Help manual.
- the conversion unit 14 converts the data representing the tire design information acquired by the acquisition unit 12 into data representing the MF parameter corresponding to the type of MF model, based on the correspondence table stored in the storage unit 18 .
- Convert to The selection unit 17 is a functional unit that selects a correspondence table designated as the type of MF model from among the correspondence tables corresponding to the types of MF models stored in the storage unit 18 .
- the type of the MF model can be specified by acquiring input information from the input unit 40H (FIG. 2) by the user and specifying the type of the MF model based on the acquired input information.
- information indicating the type of MF model determined by the tire model identification unit 20 is acquired from the tire model identification unit 20, and the acquired information is used to specify the type of the MF model. It can be specified by information indicating the type of MF model.
- the output unit 16 inputs the data indicating the MF parameters corresponding to the type of the MF model converted by the conversion unit 14 to the MF model corresponding to the type (that is, outputs the data to the tire model identification unit 20).
- Self-aligning torque stiffness will be described as a first example of tire design information according to the present embodiment.
- normalized self-aligning torque stiffness at a predetermined specified load is applied.
- Self-aligning torque (SAT) is a moment (generated torque) generated when a tire is tilted sideways.
- the MF parameters q Dz1 and q Dz2 are used in place of the tire eigenvalues for the MF coefficients, thereby improving the simulation accuracy of the tire model.
- q Dz1 and q Dz2 are parameters related to self-aligning torque stiffness of the tire. Therefore, in the MF model, by inputting these q Dz1 , q Dz2 , and MF parameters, it is possible to derive the lateral force F yp generated in the tire with high accuracy.
- the lateral force F yp according to the MF model described above is represented by the above equation (1).
- the self aligning torque moment (SAT: Self Aligning Torque) is expressed by the following equation (34).
- Equation (34) is an example showing SAT in the first MF model (MF-Tyre 5.2).
- t is a value determined in conjunction with the lateral force Fy and indicates the pneumatic trail associated with cornering stiffness (eg, the point at which the moment of the lateral force distribution becomes zero).
- S Vyk indicates a coefficient called shift amount.
- M zr denotes the residual self-aligning moment.
- s indicates a coefficient that determines the amount of shift.
- Fx indicates the longitudinal force.
- F y0 ⁇ G yk0 represents the lateral force at zero camber angle and zero turn slip.
- the normalized self-aligning torque stiffness can be approximated by the following equation (37) using the normalized cornering stiffness C y ⁇ (denoted as Wa in the above embodiment).
- Equation (38) is expressed as follows: The following equation (39) can be used for simplification. Note that Dt is a coefficient indicating a peak value.
- the tire information conversion unit 10 acquires tire design information and converts it into MF parameters.
- equations (40) and (41) in order to clearly indicate the tire design information to be acquired, if the above variables at the specified load are given symbols (*), they are represented by the following (42) and (43).
- the self-attaching torque stiffness C Mz * of the tire and its load dependence ⁇ Mz * have correspondence with the MF parameters q Dz1 and q Dz2 . Therefore, in the storage unit 18, the tire design information of the tire self-attaining torque stiffness C Mz * and its load dependency ⁇ Mz * shown in the above equations (44) and (45), and the MF parameter What is necessary is to memorize
- the correspondence relationship between the normalized self-attaching torque stiffness C Mz * as tire design information and the MF parameter q Dz1 related to the normalized self-attaching torque stiffness C Mz * , and the normalized self-attachment torque stiffness C Mz * as tire design information may be stored.
- Table 7 is a correspondence table of the relational expressions given by the above equations (44) and (45) as information indicating the correspondence between the tire design information and the MF parameters.
- input/output data derived using equations (44) and (45), that is, tire design information and a plurality of data sets having a correspondence relationship with MF parameters are It may be stored as a correspondence table. Further, it is also possible to derive an inverse function of a function that takes tire design information as input and MF parameters as output, and use the inverse function to derive tire design information from the MF parameters.
- canvas stiffness will be described as a second example of tire design information.
- normalized canvas stiffness at a predetermined specified load is applied.
- the canvas stiffness differs depending on the type of MF model.
- each of the first MF model and the second MF model will be described.
- the canvas stiffness can be derived by identifying the force generated when the tire is tilted using the MF model that can be modeled by the formula (1) described above.
- the MF parameters p Vy3 and p Vy4 are used instead of the tire eigenvalues for the MF coefficients, thereby improving the simulation accuracy of the tire model.
- p Vy3 and p Vy4 are parameters related to the tire canvas stiffness. Therefore, in the first MF model, by inputting these MF parameters p Vy3 and p Vy4 , it is possible to derive the force generated when the tire is tilted with high accuracy.
- the MF parameters p Ky6 and p Ky7 are used instead of the tire eigenvalues for the MF coefficients, thereby improving the simulation accuracy of the tire model.
- p Ky6 and p Ky7 are parameters related to the tire canvas stiffness. Therefore, in the second MF model, by inputting these p Ky6 , p Ky7 and MF parameters, it is possible to derive the force generated when the tire is tilted with high accuracy.
- Normalized canvas stiffness is defined by the following equation (46).
- the first MF model is represented by the following formula (47), and the second MF model is represented by the formula (48).
- the tire canvas stiffness C y ⁇ * and its load dependence ⁇ y ⁇ * have a correspondence relationship with the MF parameters p Vy3 and p Vy4 . Therefore, the storage unit 18 stores the tire design information of the tire canvas stiffness C y ⁇ * and its load dependence ⁇ y ⁇ * represented by the above equations (56) and (57), and the MF parameters p Vy3 , What is necessary is to memorize
- the tire canvas stiffness C y ⁇ * and its load dependency ⁇ y ⁇ * have a correspondence relationship with the MF parameters p Ky6 and p Ky7 . Therefore, the storage unit 18 stores the tire design information of the tire canvas stiffness C y ⁇ * and its load dependency ⁇ y ⁇ * represented by the above equations (56) and (57), the MF parameters p Ky6 , What is necessary is to memorize
- Table 8 shows an example of the information (correspondence table) indicating the correspondence relationship stored in the storage unit 18 regarding the first MF model.
- Table 8 is a correspondence table of the relational expressions given by the above equations (56) and (57) as information indicating the correspondence between the tire design information and the MF parameters.
- Table 9 is a correspondence table of the relational expressions given by the above equations (58) and (59) as information indicating the correspondence relationship between the tire design information and the MF parameters for the second model. be.
- camber torque stiffness Next, camber torque stiffness will be described as a third example of tire design information.
- normalized camber torque stiffness at a predetermined specified load is applied.
- Camber torque like self-aligning torque (SAT), is a moment (torque generated) generated when a tire is tilted sideways.
- the camber torque is derived in consideration of the self-aligning torque (SAT) because the camber-related torque includes a portion determined according to the self-aligning torque (SAT).
- MF parameters by q Dz8 and q Dz9 are used in place of tire eigenvalues for the MF coefficients, thereby improving simulation accuracy of the tire model.
- q Dz8 and q Dz9 are parameters related to the camber torque stiffness of the tire. Therefore, in the MF model, by inputting these q Dz8 , q Dz9 , and MF parameters, it is possible to derive the lateral force F yp generated in the tire with high accuracy.
- the self-aligning torque (SAT) is represented by the formula (34) mentioned above.
- the self-aligning moment (M zr ) remaining when the tire is laterally tilted is expressed by the following equation (60). Note that ⁇ 7 is an internal coefficient of the MF.
- camber torque stiffness in order to clarify that it is the tire design information to be acquired, a symbol (*) is given to the above variables at the specified load, and the normalized camber torque stiffness and its load dependency are expressed as follows (65) and (66).
- the storage unit 18 stores tire design information such as the tire canvas stiffness C My * and its load dependency ⁇ M ⁇ * , which are expressed by the above equations (67) and (68), and the MF parameters q Dz8 , It is sufficient to store the correspondence with qDz9 .
- Table 10 shows an example of the information (correspondence table) indicating the correspondence stored in the storage unit 18.
- Table 10 is a correspondence table of the relational expressions given by the above equations (67) and (68) as information indicating the correspondence between the tire design information and the MF parameters.
- braking stiffness Next, braking stiffness will be described as a fourth example of tire design information. Here, normalized braking stiffness at a predetermined specified load is applied.
- MF parameters based on p Kx1 and p Kx2 are used instead of tire eigenvalues for the MF coefficients, thereby improving simulation accuracy of the tire model.
- p Kx1 and p Kx2 are parameters related to the braking stiffness of the tire. Therefore, in the MF model, by inputting these p Kx1 , p Kx2 and MF parameters, it is possible to derive the lateral force F yp generated in the tire with high accuracy.
- the normalized braking stiffness CxK is expressed by the following equation (69), and its load dependence is expressed by the following equation (70).
- the storage unit 18 stores the tire design information of the tire braking stiffness CxK * and its load dependency ⁇ xK * , and the MF parameter pKx1 , pKx2 is stored. That is, the correspondence relationship between the normalized braking stiffness CxK * as tire design information and the MF parameter pKx1 related to the normalized braking stiffness CxK * , and the load dependency ⁇ of the braking stiffness as tire design information. It suffices to store the correspondence relationship between the tire design information of xK * and the MF parameter pKx2 related to the load dependency ⁇ xK * of the normalized braking stiffness.
- Table 11 shows an example of the information (correspondence table) indicating the correspondence stored in the storage unit 18.
- Table 11 is a correspondence table of the relational expressions given by the above equations (73) and (74) as information indicating the correspondence between the tire design information and the MF parameters.
- the relaxation length expressed as an independent formula is applicable to the first MF model.
- the relaxation length is defined in consideration of cornering stiffness. Therefore, the relaxation length for the second MF model will be described in detail below.
- the relaxation length represented by the above formula (18) depends on the shape factor Cy indicating the lateral stiffness (hereinafter referred to as lateral stiffness Cy), and the lateral stiffness Cy is represented by the following formula (75),
- the load dependence is represented by the following quadratic equation (76). Note that p cfy1 and p cfy2 are internal coefficients of the MF.
- the derivation of the MF parameter relating to the relaxation length in the lateral direction has been described.
- the structure of the formula is the same for the longitudinal direction and can be treated in the same way, so detailed description will be omitted.
- the storage unit 18 stores the lateral stiffness Cy * related to the tire design information, the load dependency ⁇ Cy * , and the MF parameters p cy1 and p cy2 , which are shown in the above equations (82) and (83) . It is sufficient to store the correspondence relationship between . That is, it is only necessary to store the corresponding relationship between the tire lateral stiffness Cy * related to the relaxation length and the MF parameters p cy1 and p cy2 related to the load dependency ⁇ Cy* of the tire lateral stiffness as tire design information.
- Table 12 shows an example of information (correspondence table) indicating the correspondence stored in the storage unit 18.
- Table 12 is a correspondence table of the relational expressions given by the above equations (82) and (83) as information indicating the correspondence between the tire design information and the MF parameters.
- a road surface friction coefficient will be described as a sixth example of tire design information according to the present embodiment.
- the road surface friction coefficient with respect to a specified load like the load index, has been described.
- directionality is taken into account with respect to the road surface friction coefficient.
- the road friction coefficient in the lateral direction and the road friction coefficient in the longitudinal direction will be described.
- the MF parameters p Dy1 and p Dy2 regarding the road surface friction coefficient in the lateral direction and the MF parameters p Dx1 and p Dx2 regarding the road surface friction coefficient in the longitudinal direction are used to improve the simulation accuracy of the tire model. .
- the lateral road surface friction coefficient is expressed by the above equation (13), and the load change amount dfz is expressed by equation (14).
- the load change amount dfz is zero, the difference between the load and the specified load is zero, and the MF parameter p Dy1 is expressed by the above equation (16).
- the storage unit 18 stores the corresponding relationship between the tire design information of the lateral road surface friction coefficient ⁇ y and the MF parameters p Dy1 and p Dy2, which are shown in the above equations (84) and (86). do it. That is, the correspondence relationship between the road surface friction coefficient ⁇ y as tire design information and the MF parameter p Dy1 related to the road surface friction coefficient ⁇ y , and the load dependency ⁇ ⁇ y of the road surface friction coefficient ⁇ y as tire design information It suffices to store the correspondence between the design information and the MF parameter p_Dy2 related to the load dependence of the road surface friction coefficient ⁇ y .
- Table 13 is a correspondence table of the relational expressions given by the above equations (84) and (86) as information indicating the correspondence between the tire design information and the MF parameters.
- the storage unit 18 stores the correspondence relationship between the tire design information of the road surface friction coefficient ⁇ x in the longitudinal direction and the MF parameters p Dx1 and p Dx2 , which are shown in the above equations (87) and (89). do it. That is, the correspondence relationship between the road surface friction coefficient ⁇ x as tire design information and the MF parameter p Dx1 related to the road surface friction coefficient ⁇ x , and the load dependence ⁇ ⁇ x * of the road surface friction coefficient ⁇ x as tire design information It suffices to store the correspondence between the design information and the MF parameter p Dx2 related to the load dependence of the road surface friction coefficient ⁇ x .
- Table 14 is a correspondence table of the relational expressions given by the above equations (87) and (89) as information indicating the correspondence between the tire design information and the MF parameters.
- the analysis device of the present embodiment it is possible to easily analyze the behavior of a tire using the MF model using tire design information without using data obtained by actually measuring the tire. Further, by using a tire model based on the MF model, vehicle simulation can be easily performed while reflecting tire design information.
- FIG. 8 is a diagram showing an example of the input/output relationship in the tire information conversion unit of the analysis device according to this embodiment.
- FIG. 8 shows the verification result of the vehicle behavior analysis performed by the analysis device according to the embodiment described above.
- FIG. 8 shows the results of verification of characteristics with respect to load when the slip angle (SA) is plotted on the horizontal axis and the lateral force (Fy) is plotted on the vertical axis.
- SA slip angle
- Fy lateral force
- IMF indicates a characteristic diagram related to the verification result using the analysis apparatus according to the above-described embodiment
- ST indicates a characteristic diagram regarding the verification result using a general analysis apparatus as a comparative example.
- the experimental results using the data obtained by actually measuring the tire are plotted, and the output characteristics of the MF model are indicated by line segments.
- the data obtained by actually measuring the tire under the first load (8 kN, for example) is indicated by circular points, and the output characteristics of the MF model are indicated by the solid line.
- the data obtained by actually measuring the tire under the second load is indicated by the triangular dots, and the output characteristics of the MF model are indicated by the one-dot chain line.
- the data obtained by actually measuring the tire under the third load (for example, 2 kN) is indicated by square dots, and the output characteristics of the MF model are indicated by dotted lines.
- the analysis device has characteristics that are better adapted to the experimental results based on the actually measured data than the normal analysis device that is the comparative example. That is, as shown in the diagram IMF of the characteristics obtained by the analysis apparatus according to the above-described embodiment, the experimental results obtained by measuring the actual tire have a distribution that is extremely close to the relationship derived by the analysis apparatus according to the above-described embodiment. there is Therefore, by converting the tire design information suitable for the tire information conversion unit according to the above-described embodiment into MF parameters, it is possible to use the MF model reflecting the tire design information.
- the analysis device of the embodiment described above it is possible to easily analyze the behavior of a tire using the MF model using tire design information without using data obtained by actually measuring the tire. Further, by using a tire model based on the MF model, vehicle simulation can be easily performed while reflecting tire design information.
- tire behavior analysis can be easily performed using tire design information including information representing the transient characteristics of the tire without using data obtained by actually measuring the tire.
- ⁇ Other embodiments> An example of analyzing a vehicle model using a tire model based on MF parameters derived from input of tire design information has been described above.
- the running state of the vehicle may be analyzed by partially changing the characteristics and configuration of the parts of the vehicle.
- the analysis device 1 described above physical quantities such as the tire force and moment (for example, lateral force) in the vehicle simulation are input, and the physical quantities are converted by inverse conversion using the tire model described above. It becomes possible to derive tire design information. That is, as described above, it is possible to reflect tire design information in a tire model capable of analyzing tire behavior, and it is also possible to consider tire design information in a vehicle simulation using a tire model. be.
- the analysis apparatus 1 includes the tire information conversion unit 10, the tire model identification unit 20, and the vehicle simulation unit 30, and the vehicle simulation is performed by reflecting the tire design information.
- the technology of the present disclosure is not limited to having the tire information conversion unit 10 , the tire model identification unit 20 and the vehicle simulation unit 30 .
- the tire information conversion unit 10, the tire model identification unit 20, and the vehicle simulation unit 30 may each be formed as an independent device, and the analysis processing may be performed by communicating between the devices.
- the tire information conversion unit 10 independently, for example, by forming it as a tire information conversion device, it becomes possible to apply the tire design information to various devices using the MF model.
- the display unit 40J is applied to a display device such as a display. good.
- the present disclosure makes it possible to analyze tire behavior using tire design information without using actual tire measurement data.
- the technology of the present disclosure includes the following technology, as it includes the realization of various processes by software configuration and hardware configuration using a computer.
- a first aspect of the present disclosure includes: A tire behavior estimation device that estimates physical quantities related to tire behavior from tire design information using a tire model that outputs physical quantities related to tire behavior according to input parameters, a storage unit that stores correspondence relationships between tire design information and parameters that are inputs to the tire model; an acquisition unit that acquires tire design information; a conversion unit that converts the tire design information acquired by the acquisition unit into parameters to be input to the tire model based on the correspondence stored in the storage unit; an input unit for inputting the parameters converted by the conversion unit into the tire model; It is a tire behavior estimation device provided with.
- tire behavior analysis can be performed using tire design information without using actual tire measurement data.
- a second aspect of the present disclosure is the tire behavior estimation device according to the first aspect,
- the tire model is a magic formula model.
- the tire design information can be applied to the magic formula model that models the force generated by the tire.
- a third aspect of the present disclosure is the tire behavior estimation device according to the second aspect,
- the physical quantity related to the behavior of the tire includes the force generated by the tire including the lateral force of the tire,
- the tire design information includes information indicating cornering stiffness.
- a fourth aspect of the present disclosure is the tire behavior estimation device according to the third aspect,
- Wa is the normalized cornering stiffness
- Wb is the load dependency of the normalized cornering stiffness
- parameters physical quantities related to the cornering stiffness of the tire are p Ky1 and p Ky2 .
- the parameter is derived from the tire design information by using the mathematical formula shown by.
- a fifth aspect of the present disclosure is the tire behavior estimation device according to the fourth aspect,
- the road surface friction coefficient at a specified load F'z0 which is a predetermined load Fz for the tire
- ⁇ y the road surface friction coefficient at a specified load F'z0
- pDy1 is a parameter related to the road surface friction coefficient .
- the parameter is derived from the tire design information by using the mathematical formula shown by.
- the fifth aspect it is possible to derive the parameters more easily than deriving the approximated curve from the measured values of the tire to specify the parameters.
- the tire design information is tire design information including information representing the transient characteristics of the tire
- the conversion unit converts the tire design information including information representing the transient characteristics of the tire acquired by the acquisition unit into parameters to be input to the tire model based on the correspondence stored in the storage unit.
- the sixth aspect is A tire behavior estimation device that estimates physical quantities related to tire behavior from tire design information using a tire model that outputs physical quantities related to tire behavior according to input parameters, a storage unit that stores a correspondence relationship between tire design information including information representing tire transient characteristics and parameters that are inputs to the tire model; an acquisition unit that acquires tire design information including information representing transient characteristics of the tire; a conversion unit that converts the tire design information acquired by the acquisition unit into parameters to be input to the tire model based on the correspondence stored in the storage unit; an input unit for inputting the parameters converted by the conversion unit into the tire model; can be provided.
- the sixth aspect it is possible to analyze the behavior of the tire using the tire design information including information representing the transient characteristics of the tire without using data obtained by actually measuring the tire.
- a seventh aspect of the present disclosure is the tire behavior estimation device according to the sixth aspect,
- the physical quantity related to the behavior of the tire includes the force generated by the tire including the lateral force of the tire
- the tire design information including information representing the transient characteristics of the tire includes information indicating the relaxation length of the tire.
- the seventh aspect it is possible to apply the relaxation length of the tire to the magic formula model.
- An eighth aspect of the present disclosure is the tire behavior estimation device according to the seventh aspect,
- q 1 is the relaxation length of the tire
- q 2 is the load dependence of the relaxation length
- R 0 is the radius of the tire
- F Z0 ' is a prescribed load predetermined for the tire
- the parameter is derived from the tire design information including the information representing the transient characteristics of the tire, using the mathematical formula represented by:
- parameters can be derived more easily than determining parameters by deriving approximate curves from actual tire measurements.
- a ninth aspect of the present disclosure is the tire behavior estimation device according to the second aspect,
- the parameters include parameters related to physical quantities included in the tire design information and parameters related to the load dependence of physical quantities included in the tire design information.
- a tenth aspect of the present disclosure is the tire behavior estimation device according to the second aspect,
- the physical quantity related to the behavior of the tire includes the force generated by the tire including the lateral force of the tire
- the tire design information includes at least one of information indicating self-aligning torque stiffness, information indicating canvas stiffness, information indicating camber torque stiffness, and information indicating braking stiffness.
- At least one of information indicating self-aligning torque stiffness, information indicating canvas stiffness, information indicating camber torque stiffness, and information indicating braking stiffness is applied to the magic formula model. It becomes possible to
- An eleventh aspect of the present disclosure is the tire behavior estimation device according to the tenth aspect,
- C Mz * is the self-aligning torque stiffness
- ⁇ Mz * is the load dependence of the self-aligning torque stiffness
- q is a physical quantity related to the self-aligning torque stiffness of the tire.
- Dz1 and q Dz2 The parameter is derived from the tire design information by using the mathematical formula shown by.
- a twelfth aspect of the present disclosure is the tire behavior estimation device according to the tenth aspect,
- C y ⁇ * is the canvas stiffness
- ⁇ y ⁇ * is the load dependence of the canvas stiffness
- physical quantities related to the canvas stiffness of the tire are p Vy3 and p Vy4 or p Ky6 , and p Ky7 .
- the parameter is derived from the tire design information by using the mathematical formula shown by.
- a thirteenth aspect of the present disclosure is the tire behavior estimation device according to the tenth aspect,
- C M ⁇ * is the camber torque stiffness
- ⁇ M ⁇ * is the load dependence of the camber torque stiffness
- physical quantities related to the camber torque stiffness of the tire are q Dz8 and q Dz9 .
- a fourteenth aspect of the present disclosure is the tire behavior estimation device according to the tenth aspect,
- C xk * is the braking stiffness
- ⁇ xk * is the load dependence of the braking stiffness
- p Kx1 and p Kx2 are physical quantities related to the braking stiffness of the tire. if The parameter is derived from the tire design information by using the mathematical formula shown by.
- processing in the above embodiment may be stored as a program in a storage medium such as an optical disk and distributed.
- This processor refers to a processor in a broad sense, and is not limited to a general-purpose processor, but a dedicated processor (for example, GPU: Graphics Processing Unit, ASIC: Application Specific Integrated Circuit, FPGA: Field Programmable Gate Array, programmable logic devices, etc.).
- a dedicated processor for example, GPU: Graphics Processing Unit, ASIC: Application Specific Integrated Circuit, FPGA: Field Programmable Gate Array, programmable logic devices, etc.
- the operation of the processor may be performed not only by one processor but also by the cooperation of a plurality of physically separated processors.
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Abstract
Description
入力されたパラメタに応じてタイヤの挙動に関する物理量を出力するタイヤモデルを用いて、タイヤ設計情報からタイヤの挙動に関する物理量を推定するタイヤ挙動推定装置であって、タイヤ設計情報と前記タイヤモデルへの入力であるパラメタとの対応関係を記憶した記憶部と、タイヤ設計情報を取得する取得部と、前記記憶部に記憶された前記対応関係に基づいて、前記取得部で取得されたタイヤ設計情報を前記タイヤモデルに入力するパラメタに変換する変換部と、前記変換部で変換されたパラメタを前記タイヤモデルに入力する入力部と、を備える。
コンピュータが、入力されたパラメタに応じてタイヤの挙動に関する物理量を出力するタイヤモデルを用いて、タイヤ設計情報からタイヤの挙動に関する物理量を推定するタイヤ挙動推定方法であって、タイヤ設計情報を取得し、タイヤ設計情報と前記タイヤモデルへの入力であるパラメタとの対応関係を記憶した記憶部に記憶された前記対応関係に基づいて、取得されたタイヤ設計情報を前記タイヤモデルに入力するパラメタに変換し、変換されたパラメタを前記タイヤモデルに入力する。
コンピュータが、入力されたパラメタに応じてタイヤの挙動に関する物理量を出力するタイヤモデルを用いて、タイヤ設計情報からタイヤの挙動に関する物理量を推定するためのプログラムであって、タイヤ設計情報を取得し、タイヤ設計情報と前記タイヤモデルへの入力であるパラメタとの対応関係を記憶した記憶部に記憶された前記対応関係に基づいて、取得されたタイヤ設計情報を前記タイヤモデルに入力するパラメタに変換し、変換されたパラメタを前記タイヤモデルに入力する ことを含む処理をコンピュータに実行させる。
あってもよいし、ROMであってもよい。また、CD-ROMやDVDディスク、光磁気ディスクやICカード等の記憶媒体であってもよい。更にまた、該プログラムを、ネットワークに接続されたサーバ等からダウンロードするようにしてもよい。
図1に、本開示のタイヤ挙動推定装置を含むシステムの一例として、車両の挙動を解析する解析装置1の構成を示す。解析装置1は、タイヤ設計情報を用いて定められるタイヤモデルを備えた車両モデルにより車両の走行に関するシミュレーション(例えば、車両運動解析)を行う。
タイヤ設計情報は、タイヤ諸元のデータ、及びタイヤの発生力に関する特性を示すデータを含む概念である。タイヤ諸元のデータの一例には、タイヤの構造や形状、及び材質を示すデータが挙げられる。タイヤの発生力に関する特性を示すデータの一例には、コーナリングスティフネス、路面摩擦係数、及びセルフアライニングトルク等のタイヤ特性を示すデータが挙げられる。
すなわち、MFパラメタは、タイヤ設計情報を陽にタイヤモデル(すなわち、MFモデル)に反映させることが困難である。本実施形態では、タイヤ情報変換部10において、タイヤ設計情報を、MFパラメタに変換することで、タイヤ設計情報を陽にMFモデルに反映させることを可能とする。
的な同定時の制約条件(例えば、MFパラメタpky4=2)を考慮すると、正規化コーナリングスティフネスは、次の(7)式で表すことが可能であり、正規化コーナリングスティフネスの荷重依存性は次の(8)式で表すことが可能である。
次に、タイヤ設計情報の他例について説明する。ここでは、タイヤ設計情報の他例として、路面摩擦係数を適用した場合におけるタイヤ設計情報と、MFパラメタとの対応関係について説明する。なお、ここでは、説明を簡単にするため、上述したピュア横スリップ時の観点から、キャンバ角γがゼロであり(γ=0)、規定内圧を示す場合(圧力増分dpi=0)を条件とする。この条件下では、路面摩擦係数μyは、次の(13)式で表すことが可能である。
図3に示す解析処理は、コンピュータ40に電源投入されると、CPU40Bにより実行される。
関係を示す。MFパラメタの特性は、MFパラメタpKy1 、pKy2 の関係を示す。図4に示すように、タイヤ特性は、正規化コーナリングスティフネスと正規化コーナリングスティフネスの荷重依存性との関係がランダムに分布している。これに対して、MFパラメタの特性は、MFパラメタpKy2 の値が大きくなるのに従ってMFパラメタpKy1 の範囲が広がる円錐形状又は釣鐘形状の範囲の分布になっている。このように、タイヤ情報変換部10の入出力の関係には、図4に示すパターンとして表れると考えられる。従って、図4に示すパターンの範囲に変換することで、タイヤ設計情報を反映させたMFモデルのパラメタに変換することが可能であることを確認できる。
次に第2実施形態を説明する。なお、第2実施形態は、第1実施形態と同様の構成のため、同一部分には同一符号を付して詳細な説明を省略する。
上述したように、タイヤ設計情報は、タイヤ諸元のデータ、及びタイヤの発生力に関する特性を示すデータを含む概念である。タイヤ諸元のデータの一例には、タイヤの構造や形状、及び材質を示すデータが挙げられる。タイヤの発生力に関する特性を示すデータの一例には、コーナリングスティフネス、路面摩擦係数、及びセルフアライニングトルク等のタイヤ特性を示すデータが挙げられる。本実施形態では、タイヤ設計情報は、緩和長、及び緩和長の荷重依存性を示すデータを含む。
とは、荷重変動の傾向を示すもので、荷重変動の傾向、例えば荷重変動率が大きくなるに従って、荷重依存性が大きくなる。本実施形態では、タイヤの過渡特性を表す情報として、タイヤの緩和長と、タイヤの緩和長の荷重依存性との各情報をタイヤ設計情報として用いる。従って、緩和長及びタイヤの緩和長の荷重依存性を含めたタイヤの過渡特性を考慮したタイヤ設計情報を反映させてタイヤの挙動を解析することが可能となる。また、マジックフォーミュラなどの汎用的なタイヤモデルを用いることも可能になる。
次に第3実施形態を説明する。なお、第3実施形態は、第1実施形態及び第2実施形態と同様の構成のため、同一部分には同一符号を付して詳細な説明を省略する。
本実施形態に係るタイヤ設計情報の第1例として、セルフアライニングトルクスティフネスを説明する。ここでは、予め定められた規定荷重における正規化セルフアライニングトルクスティフネスを適用する。セルフアライニングトルク(SAT)は、タイヤを横に傾けたときに発生するモーメント(発生するトルク)である。
次に、タイヤ設計情報の第2例として、キャンバスティフネスを説明する。ここでは、予め定められた規定荷重における正規化キャンバスティフネスを適用する。また、キャンバスティフネスは、MFモデルの種類に対応して異なる。ここでは、第1MFモデルと第2MFモデルとの各々について説明する。
第1MFモデルでは、MF係数をタイヤの固有値に代えて、pVy3、pVy4、のMFパラメタを用いることで、タイヤモデルのシミュレーション精度を向上する。pVy3、pVy4はタイヤのキャンバスティフネスに関係するパラメタである。従って、第1MFモデルでは、これらpVy3、pVy4のMFパラメタを入力することで、タイヤを傾けたときにおける発生力を高精度に導出することが可能である。
次に、タイヤ設計情報の第3例として、キャンバトルクスティフネスを説明する。ここでは、予め定められた規定荷重における正規化キャンバトルクスティフネスを適用する。キャンバトルクは、セルフアライニングトルク(SAT)と同様に、タイヤを横に傾けたときに発生するモーメント(発生するトルク)である。キャンバトルクは、キャンバ部分に関するトルクがセルフアライニングトルク(SAT)に応じて定まる部分を含むため、セルフアライニングトルク(SAT)を考慮して導出するものである。
次に、タイヤ設計情報の第4例として、ブレーキングスティフネスを説明する。ここでは、予め定められた規定荷重における正規化ブレーキングスティフネスを適用する。
上述した(1)式で表されるMFモデルを用い、(1)式のMF係数を同定することで
本実施形態に係るタイヤ設計情報の第5例として、MFモデルの種類に応じて相違する緩和長について詳細に説明する。
また、上記では、横方向の緩和長に関するMFパラメータの導出を説明したが、前後方向についても式の構造が同様であり、同様に扱うことができるため、詳細な説明を省略する。
本実施形態に係るタイヤ設計情報の第6例として、路面摩擦係数を説明する。
上記実施形態では、ロードインデックスのように規定荷重に対する路面摩擦係数について説明した。ここでは、路面摩擦係数に対して、方向性を考慮する。具体的には、横方向に関する路面摩擦係数と、前後方向に関する路面摩擦係数とを説明する。
なお、本実施形態でも上記実施形態と同様に、キャンバ角γがゼロであり(γ=0)、規定内圧を示す場合(圧力増分dpi=0)を条件として説明する。
横方向の路面摩擦係数は、上述した(13)式で表され、荷重変化量dfzは、(14)式で表される。荷重が規定荷重である場合、荷重変化量dfzはゼロであり、荷重と規定荷重との差がゼロとなり、MFパラメタpDy1は、上述した(16)式で表される。
上記では、タイヤ設計情報が入力されて導出したMFパラメタによるタイヤモデルによって、車両モデルを解析する一例を説明した。車両シミュレーションでは、車両のパーツの特性及び構成の一部を変更することで、車両の走行状態を解析する場合がある。この場合、上述した解析装置1を用いることで、車両シミュレーションにおけるタイヤの発生力やモーメント(例えば、横力)等の物理量を入力とし、当該物理量を、上述したタイヤモデルを用いた逆変換によって、タイヤ設計情報を導出することが可能となる。すなわち、上述したようにタイヤの挙動を解析することが可能なタイヤモデルにタイヤ設計情報を反映させることが可能であって、タイヤモデルを用いた車両シミュレーションにタイヤ設計情報を考慮することも可能である。
上記実施形態では、解析装置1として、タイヤ情報変換部10、タイヤモデル同定部20、及び車両シミュレーション部30を備え、タイヤ設計情報を反映して車両シミュレーションを行う場合を説明した。本開示の技術は、タイヤ情報変換部10、タイヤモデル同定部20、及び車両シミュレーション部30を備えることに限定されるものではない。例えば、タイヤ情報変換部10、タイヤモデル同定部20、及び車両シミュレーション部30の各々を独立した装置で形成し、装置間で通信することで解析処理を行ってもよい。特に、タイヤ情報変換部10を独立して形成、例えば、タイヤ情報変換装置として形成することで、MFモデルを用いた様々な装置に、タイヤ設計情報を適用することが可能となる。
入力されたパラメタに応じてタイヤの挙動に関する物理量を出力するタイヤモデルを用いて、タイヤ設計情報からタイヤの挙動に関する物理量を推定するタイヤ挙動推定装置であって、
タイヤ設計情報と前記タイヤモデルへの入力であるパラメタとの対応関係を記憶した記憶部と、
タイヤ設計情報を取得する取得部と、
前記記憶部に記憶された前記対応関係に基づいて、前記取得部で取得されたタイヤ設計情報を前記タイヤモデルに入力するパラメタに変換する変換部と、
前記変換部で変換されたパラメタを前記タイヤモデルに入力する入力部と、
を備えたタイヤ挙動推定装置である。
前記タイヤモデルは、マジックフォーミュラモデルである。
前記タイヤの挙動に関係する物理量は、前記タイヤの横力を含む前記タイヤの発生力を含み、
前記タイヤ設計情報は、コーナリンングスティフネスを示す情報を含む。
前記タイヤ設計情報として、Waを正規化コーナリングスティフネスとし、Wbを正規化コーナリングスティフネスの荷重依存性とし、前記パラメタとして、前記タイヤのコーナリングスティフネスに関係する物理量をpKy1、及びpKy2とした場合に、
で示される数式を用いて、前記タイヤ設計情報から前記パラメタを導出する。
前記タイヤ設計情報として、タイヤに対する荷重Fzが予め定められた規定荷重F’z0における路面摩擦係数をμyとし、前記パラメタとして、路面摩擦係数に関係するパラメタをpDy1とし、規定荷重に対して実数n倍の荷重における路面摩擦係数に関係するパラメタをpDy2とした場合に、
で示される数式を用いて、前記タイヤ設計情報から前記パラメタを導出する。
上述したタイヤ挙動推定装置において、
前記タイヤ設計情報は、タイヤの過渡特性を表す情報を含むタイヤ設計情報であり、
前記変換部は、前記記憶部に記憶された前記対応関係に基づいて、前記取得部で取得されたタイヤの過渡特性を表す情報を含むタイヤ設計情報を前記タイヤモデルに入力するパラメタに変換する。
入力されたパラメタに応じてタイヤの挙動に関する物理量を出力するタイヤモデルを用いて、タイヤ設計情報からタイヤの挙動に関する物理量を推定するタイヤ挙動推定装置であって、
タイヤの過渡特性を表す情報を含むタイヤ設計情報と前記タイヤモデルへの入力であるパラメタとの対応関係を記憶した記憶部と、
タイヤの過渡特性を表す情報を含むタイヤ設計情報を取得する取得部と、
前記記憶部に記憶された前記対応関係に基づいて、前記取得部で取得されたタイヤ設計情報を前記タイヤモデルに入力するパラメタに変換する変換部と、
前記変換部で変換されたパラメタを前記タイヤモデルに入力する入力部と、
を備えることが可能である。
前記タイヤの挙動に関係する物理量は、前記タイヤの横力を含む前記タイヤの発生力を含み、
タイヤの過渡特性を表す情報を含む前記タイヤ設計情報は、タイヤの緩和長を示す情報を含む。
前記タイヤ設計情報として、q1をタイヤの緩和長とし、q2を緩和長の荷重依存性とし、R0 をタイヤの半径とし、FZ0’をタイヤに対して予め定められた規定荷重とし、前記パラメタとして、前記タイヤの緩和長に関係する物理量をpTy1、及びpTy2とした場合に、
で示される数式を用いて、タイヤの過渡特性を表す情報を含む前記タイヤ設計情報から前記パラメタを導出する。
前記パラメタは、前記タイヤ設計情報に含まれる物理量に関係するパラメタ、及び前記タイヤ設計情報に含まれる物理量の荷重依存性に関係するパラメタを含む。
前記タイヤの挙動に関係する物理量は、前記タイヤの横力を含む前記タイヤの発生力を含み、
前記タイヤ設計情報は、セルフアライニングトルクスティフネスを示す情報、キャンバスティフネスを示す情報、キャンバトルクスティフネスを示す情報、およびブレーキングスティフネスを示す情報のうちの少なくとも1つを含む。
前記タイヤ設計情報として、CMz *をセルフアライニングトルクスティフネスとし、εMz *をセルフアライニングトルクスティフネスの荷重依存性とし、前記パラメタとして、前記タイヤのセルフアライニングトルクスティフネスに関係する物理量をqDz1、及びqDz2とした場合に、
で示される数式を用いて、前記タイヤ設計情報から前記パラメタを導出する。
前記タイヤ設計情報として、Cyγ *をキャンバスティフネスとし、εyγ *をキャンバスティフネスの荷重依存性とし、前記パラメタとして、前記タイヤのキャンバスティフネスに関係する物理量をpVy3、及びpVy4またはpKy6、及びpKy7とした場合に、
で示される数式を用いて、前記タイヤ設計情報から前記パラメタを導出する。
前記タイヤ設計情報として、CMγ *をキャンバトルクスティフネスとし、εMγ *をキャンバトルクスティフネスの荷重依存性とし、前記パラメタとして、前記タイヤのキャンバトルクスティフネスに関係する物理量をqDz8、及びqDz9とした場合に、
で示される数式を用いて、前記タイヤ設計情報から前記パラメタを導出する。
前記タイヤ設計情報として、Cxk *をブレーキングスティフネスとし、εxk *をブレーキングスティフネスの荷重依存性とし、前記パラメタとして、前記タイヤのブレーキングスティフネスに関係する物理量をpKx1、及びpKx2とした場合に、
で示される数式を用いて、前記タイヤ設計情報から前記パラメタを導出する。
。また、上述したプログラムの処理の流れも、一例であり、主旨を逸脱しない範囲内において不要なステップを削除したり、新たなステップを追加したり、処理順序を入れ替えたりしてもよい。
Claims (16)
- 入力されたパラメタに応じてタイヤの挙動に関する物理量を出力するタイヤモデルを用いて、タイヤ設計情報からタイヤの挙動に関する物理量を推定するタイヤ挙動推定装置であって、
タイヤ設計情報と前記タイヤモデルへの入力であるパラメタとの対応関係を記憶した記憶部と、
タイヤ設計情報を取得する取得部と、
前記記憶部に記憶された前記対応関係に基づいて、前記取得部で取得されたタイヤ設計情報を前記タイヤモデルに入力するパラメタに変換する変換部と、
前記変換部で変換されたパラメタを前記タイヤモデルに入力する入力部と、
を備えたタイヤ挙動推定装置。 - 前記タイヤモデルは、マジックフォーミュラモデルである
請求項1に記載のタイヤ挙動推定装置。 - 前記タイヤの挙動に関係する物理量は、前記タイヤの横力を含む前記タイヤの発生力を含み、
前記タイヤ設計情報は、コーナリングスティフネスを示す情報を含む
請求項2に記載のタイヤ挙動推定装置。 - 前記タイヤ設計情報は、タイヤの過渡特性を表す情報を含むタイヤ設計情報であり、
前記変換部は、前記記憶部に記憶された前記対応関係に基づいて、前記取得部で取得されたタイヤの過渡特性を表す情報を含むタイヤ設計情報を前記タイヤモデルに入力するパラメタに変換する
請求項1に記載のタイヤ挙動推定装置。 - 前記タイヤの挙動に関係する物理量は、前記タイヤの横力を含む前記タイヤの発生力を含み、
タイヤの過渡特性を表す情報を含む前記タイヤ設計情報は、タイヤの緩和長を示す情報を含む
請求項6に記載のタイヤ挙動推定装置。 - 前記パラメタは、前記タイヤ設計情報に含まれる物理量に関係するパラメタ、及び前記タイヤ設計情報に含まれる物理量の荷重依存性に関係するパラメタを含む
請求項2に記載のタイヤ挙動推定装置。 - 前記タイヤの挙動に関係する物理量は、前記タイヤの横力を含む前記タイヤの発生力を含み、
前記タイヤ設計情報は、セルフアライニングトルクスティフネスを示す情報、キャンバスティフネスを示す情報、キャンバトルクスティフネスを示す情報、ブレーキングスティフネスを示す情報のうちの少なくとも1つを含む
請求項2に記載のタイヤ挙動推定装置。 - コンピュータが、
入力されたパラメタに応じてタイヤの挙動に関する物理量を出力するタイヤモデルを用いて、タイヤ設計情報からタイヤの挙動に関する物理量を推定するタイヤ挙動推定方法であって、
タイヤ設計情報を取得し、
タイヤ設計情報と前記タイヤモデルへの入力であるパラメタとの対応関係を記憶した記憶部に記憶された前記対応関係に基づいて、取得されたタイヤ設計情報を前記タイヤモデルに入力するパラメタに変換し、
変換されたパラメタを前記タイヤモデルに入力する
タイヤ挙動推定方法。 - コンピュータが、
入力されたパラメタに応じてタイヤの挙動に関する物理量を出力するタイヤモデルを用いて、タイヤ設計情報からタイヤの挙動に関する物理量を推定するためのプログラムであって、
タイヤ設計情報を取得し、
タイヤ設計情報と前記タイヤモデルへの入力であるパラメタとの対応関係を記憶した記憶部に記憶された前記対応関係に基づいて、取得されたタイヤ設計情報を前記タイヤモデルに入力するパラメタに変換し、
変換されたパラメタを前記タイヤモデルに入力する
ことを含む処理をコンピュータに実行させるためのプログラム。
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