CN108844758B - Four-wheel positioning deviation warning method and system - Google Patents
Four-wheel positioning deviation warning method and system Download PDFInfo
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- CN108844758B CN108844758B CN201810556199.4A CN201810556199A CN108844758B CN 108844758 B CN108844758 B CN 108844758B CN 201810556199 A CN201810556199 A CN 201810556199A CN 108844758 B CN108844758 B CN 108844758B
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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
- G01M17/013—Wheels
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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Abstract
The invention discloses a four-wheel positioning deviation warning method and a system, wherein the method comprises the following steps: acquiring a first yaw velocity mean value of the vehicle within a preset mileage from an inertia measurement unit; calculating a second yaw velocity average value of the vehicle within a preset mileage according to the steering wheel angle and the vehicle speed; and judging whether the four-wheel positioning has deviation according to the obtained first yaw velocity mean value and the calculated second yaw velocity mean value, and giving an alarm when the four-wheel positioning has deviation. According to the invention, whether the four-wheel positioning has deviation is determined by the relative size of the first yaw velocity mean value obtained from the inertia measurement unit and the second yaw velocity mean value calculated according to the steering wheel angle and the vehicle speed, so that a user is helped to find the abnormal positioning of the four wheels in advance and remind the user of overhauling, the extra abrasion of tires caused by the positioning deviation of the four wheels can be prevented, and meanwhile, the uncomfortable experience of the user caused by the improper steering wheel is avoided, and the method is more timely and effective. The invention can be widely applied to the field of intelligent driving.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a four-wheel positioning deviation warning method and a four-wheel positioning deviation warning system.
Background
With the development of society, automobiles become indispensable transportation means for people, so that the normal operation of the automobiles is kept, and the automobile is particularly important for guaranteeing the personal safety of users.
The four-wheel positioning is based on four-wheel parameters of the vehicle, and the four-wheel positioning is adjusted to ensure good running performance of the vehicle and have certain reliability. Mechanical structures of the vehicle wear or deform over time, causing possible deviations in the positioning of the four wheels, one of which is that the steering wheel is turned back but the vehicle is not moving straight, which also contributes to tire wear. This process is slow (unless a collision is experienced), and when the deviation is not too great, it is difficult for the driver to detect the four-wheel positioning abnormality, and it is not effective to prevent the tire from being additionally worn due to the four-wheel positioning deviation.
Disclosure of Invention
To solve the above technical problems, the present invention aims to: provides a timely and effective four-wheel positioning deviation warning method and system.
The first technical scheme adopted by the invention is as follows:
a four-wheel positioning deviation warning method comprises the following steps:
acquiring a first yaw velocity mean value of the vehicle within a preset mileage from an inertia measurement unit;
calculating a second yaw velocity average value of the vehicle within a preset mileage according to the steering wheel angle and the vehicle speed;
and judging whether the four-wheel positioning has deviation according to the obtained first yaw velocity mean value and the calculated second yaw velocity mean value, and giving an alarm when the four-wheel positioning has deviation.
Further, the step of obtaining a first yaw rate average value of the vehicle within a preset mileage from the inertial measurement unit specifically includes:
acquiring a first yaw rate of the vehicle from an inertial measurement unit;
judging whether the vehicle is in straight running or not according to the vehicle speed and the first yaw rate of the vehicle, if so, executing the next step, otherwise, returning to the step of acquiring the first yaw rate of the vehicle from the inertia measuring unit;
and obtaining a first yaw rate average value of the vehicle within the preset mileage according to the preset mileage and the first yaw rate of the vehicle.
Further, the step of judging whether the vehicle is moving straight or not according to the vehicle speed and the first yaw rate of the vehicle, if so, executing the next step, otherwise, returning to the step of acquiring the first yaw rate of the vehicle from the inertia measurement unit specifically includes:
performing zero offset removal processing on the obtained first yaw velocity to obtain a first yaw velocity after zero offset removal processing;
judging whether a preset condition is met or not according to the vehicle speed and the first yaw rate after the zero offset removing process, if so, judging that the vehicle is in a straight running state, and executing the next step; otherwise, the vehicle is judged not to be in the straight running, and the step of obtaining the first yaw rate of the vehicle from the inertia measuring unit is returned, wherein the preset conditions are as follows: and the first yaw rate after the zero offset removing processing is smaller than a preset yaw rate threshold value and the vehicle speed is larger than a preset vehicle speed threshold value.
Further, the step of calculating a second average yaw rate of the vehicle within a preset mileage according to the steering wheel angle and the vehicle speed specifically includes:
calculating a front wheel corner according to the steering wheel corner and a front wheel corner coefficient of the steering wheel corner;
calculating a second yaw rate of the vehicle according to the front wheel rotation angle and the vehicle speed;
and obtaining a second yaw rate average value of the vehicle within the preset mileage according to the preset mileage and the second yaw rate of the vehicle.
Furthermore, the calculation formula of the front wheel rotating angle is αFθ · k, wherein αFIs a front wheel steering angle, theta is a steering wheel steering angle, and k is a steering wheel steering angle coefficient of the front wheel; the second yaw rate calculation formula of the vehicle is:
wherein, ws2Is the second yaw rate, v, of the vehicleRAs the speed of the vehicle, bRIs the rear wheel track.
Further, the step of judging whether the four-wheel positioning has deviation according to the obtained first yaw rate average value and the calculated second yaw rate average value, and giving an alarm when the four-wheel positioning has deviation specifically includes:
calculating an absolute value of a difference between the obtained first yaw rate average value and the calculated second yaw rate average value;
judging whether the absolute value of the calculated difference is larger than a preset threshold value or not, if so, judging that the four-wheel positioning has deviation, and then giving an alarm prompt to remind a user that the four-wheel positioning has the deviation and needs to be overhauled; otherwise, judging that the four-wheel positioning has no deviation, and not carrying out alarm prompting.
The second technical scheme adopted by the invention is as follows:
a four-wheel misalignment warning system, comprising:
the acquisition module is used for acquiring a first yaw velocity mean value of the vehicle within a preset mileage from the inertia measurement unit;
the calculation module is used for calculating a second yaw velocity average value of the vehicle within a preset mileage according to the steering wheel angle and the vehicle speed;
and the deviation judgment and alarm module is used for judging whether the four-wheel positioning has deviation according to the obtained first yaw velocity mean value and the calculated second yaw velocity mean value and giving an alarm when the four-wheel positioning has deviation.
Further, the obtaining module includes:
a first yaw-rate obtaining unit for obtaining a first yaw rate of the vehicle from the inertia measurement unit;
the straight-going judging unit is used for judging whether the vehicle is in straight-going according to the vehicle speed and the first yaw rate of the vehicle, if so, turning to the first yaw rate average value obtaining unit, and otherwise, returning to the first yaw rate obtaining unit;
and the first yaw rate average value acquisition unit is used for obtaining a first yaw rate average value of the vehicle within the preset mileage according to the preset mileage and the first yaw rate of the vehicle.
Further, the calculation module includes:
a front wheel steering angle calculation unit for calculating a front wheel steering angle based on the steering wheel steering angle and a steering wheel steering angle front wheel steering angle coefficient;
a second yaw-rate calculation unit for calculating a second yaw rate of the vehicle based on the front-wheel turning angle and the vehicle speed;
and obtaining a second yaw rate average value of the vehicle within the preset mileage according to the preset mileage and the second yaw rate of the vehicle.
The third technical scheme adopted by the invention is as follows:
a four-wheel misalignment warning system, comprising:
a memory for storing a program;
a processor for loading the program to execute the four-wheel positioning deviation warning method according to the first technical solution.
The invention has the beneficial effects that: according to the four-wheel positioning deviation warning method and system, whether the four-wheel positioning has deviation or not is determined according to the relative sizes of the first yaw velocity mean value obtained from the inertia measuring unit and the second yaw velocity mean value calculated according to the steering angle of the steering wheel and the vehicle speed, so that a user is helped to find the abnormal positioning of the four wheels in advance and remind the user of overhauling, the extra abrasion of tires caused by the positioning deviation of the four wheels can be prevented, and meanwhile, uncomfortable experience of the user due to the fact that the steering wheel is not normal is avoided, and the four-wheel positioning deviation warning method and system are timely and effective.
Drawings
FIG. 1 is a flow chart of the steps of a four-wheel positioning deviation warning method according to the present invention;
FIG. 2 is a schematic diagram of an implementation of the four-wheel positioning deviation warning scheme of the present invention.
Detailed Description
Referring to fig. 1, the four-wheel positioning deviation warning method of the present invention includes the following steps:
acquiring a first yaw velocity mean value of the vehicle within a preset mileage from an inertia measurement unit;
calculating a second yaw velocity average value of the vehicle within a preset mileage according to the steering wheel angle and the vehicle speed;
and judging whether the four-wheel positioning has deviation according to the obtained first yaw velocity mean value and the calculated second yaw velocity mean value, and giving an alarm when the four-wheel positioning has deviation.
The working principle of the invention is as follows: the difference value between the actual yaw velocity mean value obtained by the inertial measurement unit IMU and the theoretical yaw velocity mean value calculated according to the steering wheel angle and the vehicle speed does not exceed a preset threshold value under the normal condition; the difference value of the two values exceeds a preset threshold value, which indicates that the four wheels have deviation in positioning and need to be overhauled. The invention can remind the user of overhauling before the user detects that the steering wheel has deviation, avoids uncomfortable experience brought to the user by the improper steering wheel, and can prevent the tire from being additionally worn due to the positioning deviation of four wheels.
In order to calculate and reduce the influence of non-straight-driving conditions such as turning on the yaw rate, the preset mileage is preferably the mileage of straight driving of the vehicle. The alarm prompting mode can adopt sound and light prompting modes such as voice, flashing light, buzzer and the like, and is very flexible.
Further, as a preferred embodiment, the step of obtaining the first yaw rate average value of the vehicle within the preset mileage from the inertial measurement unit specifically includes:
acquiring a first yaw rate of the vehicle from an inertial measurement unit;
judging whether the vehicle is in straight running or not according to the vehicle speed and the first yaw rate of the vehicle, if so, executing the next step, otherwise, returning to the step of acquiring the first yaw rate of the vehicle from the inertia measuring unit;
and obtaining a first yaw rate average value of the vehicle within the preset mileage according to the preset mileage and the first yaw rate of the vehicle.
After the first yaw rate of the vehicle is obtained, the first yaw rate average value of the vehicle within the preset mileage can be obtained by averaging the first yaw rates of the vehicle at different moments.
Further, as a preferred embodiment, the step of determining whether the vehicle is moving straight or not according to the vehicle speed and the first yaw rate of the vehicle, if so, executing the next step, otherwise, returning to the step of acquiring the first yaw rate of the vehicle from the inertia measurement unit specifically includes:
performing zero offset removal processing on the obtained first yaw velocity to obtain a first yaw velocity after zero offset removal processing;
judging whether a preset condition is met or not according to the vehicle speed and the first yaw rate after the zero offset removing process, if so, judging that the vehicle is in a straight running state, and executing the next step; otherwise, the vehicle is judged not to be in the straight running, and the step of obtaining the first yaw rate of the vehicle from the inertia measuring unit is returned, wherein the preset conditions are as follows: and the first yaw rate after the zero offset removing processing is smaller than a preset yaw rate threshold value and the vehicle speed is larger than a preset vehicle speed threshold value.
Further, as a preferred embodiment, the step of calculating a second average yaw rate of the vehicle within a preset mileage according to the steering wheel angle and the vehicle speed specifically includes:
calculating a front wheel corner according to the steering wheel corner and a front wheel corner coefficient of the steering wheel corner;
calculating a second yaw rate of the vehicle according to the front wheel rotation angle and the vehicle speed;
and obtaining a second yaw rate average value of the vehicle within the preset mileage according to the preset mileage and the second yaw rate of the vehicle.
After the second yaw rate of the vehicle is calculated, the second yaw rate average value of the vehicle within the preset mileage can be obtained by averaging the second yaw rates of the vehicle at different moments.
In a further preferred embodiment, the formula for calculating the front wheel turning angle is αFθ · k, wherein αFIs a front wheel steering angle, theta is a steering wheel steering angle, and k is a steering wheel steering angle coefficient of the front wheel; the second yaw rate calculation formula of the vehicle is:
wherein, ws2Is the second yaw rate, v, of the vehicleRAs the speed of the vehicle, bRIs the rear wheel track.
Further as a preferred embodiment, the step of determining whether the four-wheel positioning has a deviation according to the obtained first yaw rate average value and the calculated second yaw rate average value, and giving an alarm when the four-wheel positioning has a deviation specifically includes:
calculating an absolute value of a difference between the obtained first yaw rate average value and the calculated second yaw rate average value;
judging whether the absolute value of the calculated difference is larger than a preset threshold value or not, if so, judging that the four-wheel positioning has deviation, and then giving an alarm prompt to remind a user that the four-wheel positioning has the deviation and needs to be overhauled; otherwise, judging that the four-wheel positioning has no deviation, and not carrying out alarm prompting.
Corresponding to the method of fig. 1, the four-wheel positioning deviation warning system of the present invention includes:
the acquisition module is used for acquiring a first yaw velocity mean value of the vehicle within a preset mileage from the inertia measurement unit;
the calculation module is used for calculating a second yaw velocity average value of the vehicle within a preset mileage according to the steering wheel angle and the vehicle speed;
and the deviation judgment and alarm module is used for judging whether the four-wheel positioning has deviation according to the obtained first yaw velocity mean value and the calculated second yaw velocity mean value and giving an alarm when the four-wheel positioning has deviation.
Further as a preferred embodiment, the obtaining module includes:
a first yaw-rate obtaining unit for obtaining a first yaw rate of the vehicle from the inertia measurement unit;
the straight-going judging unit is used for judging whether the vehicle is in straight-going according to the vehicle speed and the first yaw rate of the vehicle, if so, turning to the first yaw rate average value obtaining unit, and otherwise, returning to the first yaw rate obtaining unit;
and the first yaw rate average value acquisition unit is used for obtaining a first yaw rate average value of the vehicle within the preset mileage according to the preset mileage and the first yaw rate of the vehicle.
Further as a preferred embodiment, the calculation module includes:
a front wheel steering angle calculation unit for calculating a front wheel steering angle based on the steering wheel steering angle and a steering wheel steering angle front wheel steering angle coefficient;
a second yaw-rate calculation unit for calculating a second yaw rate of the vehicle based on the front-wheel turning angle and the vehicle speed;
and obtaining a second yaw rate average value of the vehicle within the preset mileage according to the preset mileage and the second yaw rate of the vehicle.
Corresponding to the method of fig. 1, the four-wheel positioning deviation warning system of the present invention includes:
a memory for storing a program;
and the processor is used for loading the program to execute the four-wheel positioning deviation warning method.
The invention will be further explained and explained with reference to the drawings and the embodiments in the description.
As shown in fig. 2, the four-wheel positioning deviation warning scheme of the embodiment specifically includes the following steps:
s11, obtaining a first yaw rate w from the IMUs1；
S12, for the first yaw rate ws1Performing zero offset removing treatment;
s13, when the preset condition is met, the vehicle speed vR>Presetting a vehicle speed threshold value ws1<When the yaw rate threshold is preset, indicating that the vehicle is running straight, executing steps S14 and S15;
s14, calculating front wheel steering angle α through steering wheel steering angle theta and steering wheel steering angle front wheel steering angle coefficient kF＝θ·k；
S15 passing through front wheel steering angle αFAnd vehicle speed vRCalculating a second yaw rate
Wherein b isRIs the rear wheel track;
s16, recording the accumulated mileage meeting the preset conditions in S13, and continuously updating ws1And ws2Mean value w ofavg1And wavg2When the mileage reaches the preset mileage, the absolute value D ═ w of their difference is calculatedavg1-wavg2|；
S17, if D in the step S16 exceeds a preset threshold value sigma, reminding a user that the four-wheel positioning has deviation and needs to be overhauled.
In summary, the four-wheel positioning deviation warning method and system of the present invention first calculate the difference between the second vehicle yaw rate mean value calculated from the steering wheel angle and the vehicle speed within the preset mileage and the first yaw rate mean value measured by the IMU, then compare the difference with the preset threshold, if the difference exceeds the threshold, the four-wheel positioning deviation is indicated, at this time, a warning prompt is given to remind the user that there is a possible deviation in the four-wheel positioning, which requires maintenance. According to the scheme of the invention, the user can be reminded of overhauling before the user perceives that the steering wheel has the deviation, so that uncomfortable experience of the user due to the improper steering wheel is avoided, and the extra abrasion of the tire caused by the positioning deviation of four wheels can be prevented. The scheme of the invention has wide application prospect in vehicle intelligent driving systems and the like.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A four-wheel positioning deviation warning method is characterized in that: the method comprises the following steps:
acquiring a first yaw velocity mean value of the vehicle within a preset mileage from an inertia measurement unit;
calculating a second yaw velocity average value of the vehicle within a preset mileage according to the steering wheel angle and the vehicle speed; the second yaw rate is calculated by the following process: calculating a front wheel corner of the vehicle according to the steering wheel corner and a front wheel corner coefficient of the steering wheel corner, and calculating a second yaw rate of the vehicle according to the front wheel corner, the vehicle speed and the rear wheel track of the vehicle;
and judging whether the four-wheel positioning has deviation according to the obtained first yaw velocity mean value and the calculated second yaw velocity mean value, and giving an alarm when the four-wheel positioning has deviation.
2. The four-wheel positioning deviation warning method according to claim 1, characterized in that: the step of obtaining a first yaw rate average value of the vehicle within a preset mileage from the inertial measurement unit specifically includes:
acquiring a first yaw rate of the vehicle from an inertial measurement unit;
judging whether the vehicle is in straight running or not according to the vehicle speed and the first yaw rate of the vehicle, if so, executing the next step, otherwise, returning to the step of acquiring the first yaw rate of the vehicle from the inertia measuring unit;
and obtaining a first yaw rate average value of the vehicle within the preset mileage according to the preset mileage and the first yaw rate of the vehicle.
3. The four-wheel positioning deviation warning method according to claim 2, characterized in that: the method comprises the following steps of judging whether the vehicle is in straight running or not according to the vehicle speed and the first yaw rate of the vehicle, if so, executing the next step, otherwise, returning to the step of acquiring the first yaw rate of the vehicle from the inertia measurement unit, and specifically comprises the following steps:
performing zero offset removal processing on the obtained first yaw velocity to obtain a first yaw velocity after zero offset removal processing;
judging whether a preset condition is met or not according to the vehicle speed and the first yaw rate after the zero offset removing process, if so, judging that the vehicle is in a straight running state, and executing the next step; otherwise, the vehicle is judged not to be in the straight running, and the step of obtaining the first yaw rate of the vehicle from the inertia measuring unit is returned, wherein the preset conditions are as follows: and the first yaw rate after the zero offset removing processing is smaller than a preset yaw rate threshold value and the vehicle speed is larger than a preset vehicle speed threshold value.
4. The four-wheel positioning deviation warning method according to claim 1, characterized in that: the step of calculating a second yaw rate average value of the vehicle within a preset mileage according to the steering wheel angle and the vehicle speed specifically comprises:
calculating a front wheel corner according to the steering wheel corner and a front wheel corner coefficient of the steering wheel corner;
calculating a second yaw rate of the vehicle according to the front wheel rotation angle and the vehicle speed;
and obtaining a second yaw rate average value of the vehicle within the preset mileage according to the preset mileage and the second yaw rate of the vehicle.
5. The four-wheel alignment deviation warning method of claim 4, wherein the calculation formula of the front wheel rotation angle is αFθ · k, wherein αFIs a front wheel steering angle, theta is a steering wheel steering angle, and k is a steering wheel steering angle coefficient of the front wheel; the second yaw rate calculation formula of the vehicle is:
wherein, ws2Is the second yaw rate, v, of the vehicleRAs the speed of the vehicle, bRIs the rear wheel track.
6. The four-wheel positioning deviation warning method according to claim 1, characterized in that: the method comprises the following steps of judging whether the four-wheel positioning has deviation according to the obtained first yaw velocity mean value and the calculated second yaw velocity mean value, and giving an alarm when the four-wheel positioning has deviation, and specifically comprises the following steps:
calculating an absolute value of a difference between the obtained first yaw rate average value and the calculated second yaw rate average value;
judging whether the absolute value of the calculated difference is larger than a preset threshold value or not, if so, judging that the four-wheel positioning has deviation, and then giving an alarm prompt to remind a user that the four-wheel positioning has the deviation and needs to be overhauled; otherwise, judging that the four-wheel positioning has no deviation, and not carrying out alarm prompting.
7. A four-wheel positioning deviation warning system is characterized in that: the method comprises the following steps:
the acquisition module is used for acquiring a first yaw velocity mean value of the vehicle within a preset mileage from the inertia measurement unit;
the calculation module is used for calculating a second yaw velocity average value of the vehicle within a preset mileage according to the steering wheel angle and the vehicle speed; the second yaw rate is calculated by the following process: calculating a front wheel corner of the vehicle according to the steering wheel corner and a front wheel corner coefficient of the steering wheel corner, and calculating a second yaw rate of the vehicle according to the front wheel corner, the vehicle speed and the rear wheel track of the vehicle;
and the deviation judgment and alarm module is used for judging whether the four-wheel positioning has deviation according to the obtained first yaw velocity mean value and the calculated second yaw velocity mean value and giving an alarm when the four-wheel positioning has deviation.
8. The four-wheel misalignment warning system of claim 7, wherein: the acquisition module includes:
a first yaw-rate obtaining unit for obtaining a first yaw rate of the vehicle from the inertia measurement unit;
the straight-going judging unit is used for judging whether the vehicle is in straight-going according to the vehicle speed and the first yaw rate of the vehicle, if so, turning to the first yaw rate average value obtaining unit, and otherwise, returning to the first yaw rate obtaining unit;
and the first yaw rate average value acquisition unit is used for obtaining a first yaw rate average value of the vehicle within the preset mileage according to the preset mileage and the first yaw rate of the vehicle.
9. The four-wheel misalignment warning system of claim 7, wherein: the calculation module comprises:
a front wheel steering angle calculation unit for calculating a front wheel steering angle based on the steering wheel steering angle and a steering wheel steering angle front wheel steering angle coefficient;
a second yaw-rate calculation unit for calculating a second yaw rate of the vehicle based on the front-wheel turning angle and the vehicle speed;
and obtaining a second yaw rate average value of the vehicle within the preset mileage according to the preset mileage and the second yaw rate of the vehicle.
10. A four-wheel positioning deviation warning system is characterized in that: the method comprises the following steps:
a memory for storing a program;
a processor for loading the program to perform the four-wheel alignment deviation warning method according to any one of claims 1 to 6.
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| CN112985843B (en) * | 2019-12-02 | 2023-03-28 | 长城汽车股份有限公司 | Wheel alignment imbalance detection method and device and terminal |
| CN110873575B (en) * | 2020-01-17 | 2020-06-23 | 立得空间信息技术股份有限公司 | Mileage measurement method based on inertial sensor |
| CN113291314B (en) * | 2020-02-21 | 2022-06-14 | 亿咖通(湖北)技术有限公司 | Method and system for calculating vehicle course information |
| CN114619949B (en) * | 2020-12-09 | 2023-11-03 | 博泰车联网科技(上海)股份有限公司 | Highway lane change prompting method and device, vehicle, electronic equipment and medium |
| CN113291294B (en) * | 2021-07-27 | 2021-10-08 | 国汽智控(北京)科技有限公司 | Vehicle lateral control method and device and vehicle |
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| CN201364240Y (en) * | 2008-12-30 | 2009-12-16 | 吉林大学 | Auto-adaptive wheel order used for roller type test bed and catch wheel of tire diameter for preventing runout of vehicle |
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