Wheel force model training method, wheel force measuring method and equipment

The invention discloses a wheel force model training method, a wheel force measuring method and equipment. The wheel force model training method comprises the following steps: acquiring actually-measured vehicle data formed when a test vehicle runs on a test characteristic road surface, wherein the actually-measured vehicle data comprises actually-measured wheel force data, actually-measured acceleration, actually-measured strain and actually-measured vehicle speed; acquiring a model training sample based on the actually measured wheel force data, the actually measured acceleration, the actually measured strain and the actually measured vehicle speed, and dividing the model training sample into a training set and a test set; model training samples in the training set are input into a GRU neural network model for model training, and an original wheel force model is obtained; performing model test on the original wheel force model by adopting the model training sample in the test set to obtain a model test resu