CN112706778B - Vehicle mass center identification method, vehicle and storage medium - Google Patents
Vehicle mass center identification method, vehicle and storage medium Download PDFInfo
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- CN112706778B CN112706778B CN202110053610.8A CN202110053610A CN112706778B CN 112706778 B CN112706778 B CN 112706778B CN 202110053610 A CN202110053610 A CN 202110053610A CN 112706778 B CN112706778 B CN 112706778B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
- B60W2040/1315—Location of the centre of gravity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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Abstract
本发明公开了一种车辆质心识别方法、车辆及存储介质，方法包括：静止状态时，计算后轴左轮垂向载荷FzL和后轴右轮垂向载荷FzR；匀速直线行驶状态时，计算后轴左轮垂向载荷和后轴右轮垂向载荷，并进一步计算后轴垂向载荷Fz1；加速直线行驶状态或减速直线行驶状态时，检测车辆的纵向加速度ax，计算后轴左轮垂向载荷和后轴右轮垂向载荷，并进一步计算后轴垂向载荷Fz2；匀速曲线行驶状态时，检测车辆的横向加速度ay，计算后轴左轮垂向载荷FzL1和后轴右轮垂向载荷FzR1；通过FzL、FzR、Fz1、Fz2、FzL1、FzR1、ax、ay以及后轴轮距B计算整车质心。本发明能简单快速精准的计算整车质心。
The invention discloses a method for identifying the center of mass of a vehicle, a vehicle and a storage medium. The method includes: in a stationary state, calculating the vertical load FzL of the left wheel of the rear axle and the vertical load FzR of the right wheel of the rear axle; The vertical load of the left wheel of the rear axle and the vertical load of the right wheel of the rear axle are calculated, and the vertical load of the rear axle Fz1 is further calculated; in the state of accelerating straight driving or decelerating straight driving, the longitudinal acceleration ax of the vehicle is detected, and the vertical load of the left wheel of the rear axle is calculated. and the vertical load of the right wheel of the rear axle, and further calculate the vertical load of the rear axle Fz2; when driving on a constant speed curve, detect the lateral acceleration ay of the vehicle, and calculate the vertical load of the left wheel of the rear axle Fz L1 and the vertical load of the right wheel of the rear axle Fz R 1; Calculate the center of mass of the entire vehicle through Fz L , Fz R , Fz1, Fz2, Fz L 1, Fz R 1, ax, ay and rear wheel base B. The invention can calculate the center of mass of the whole vehicle simply, quickly and accurately.
Description
Technical Field
The invention relates to the automobile technology, in particular to a vehicle mass center identification method, a vehicle and a storage medium.
Background
The method for identifying the mass center of the vehicle mainly comprises a swing method, a suspension method, a zero position method and the like at present, and because the accuracy of vehicle state quantity measurement is low, the method for identifying the mass center has poor precision, the accurate identification of the mass center of the whole vehicle plays an important role in improving the performance of the vehicle and meeting the requirements of regulations, and the accurate identification of the mass center of the vehicle can provide an accurate basis for the control of the vehicle.
At present, in order to improve the comfort and the economy of a vehicle, a passenger vehicle and a commercial vehicle are frequently provided with air suspensions, the passenger vehicle generally adopts a mode that front and rear shafts are provided with the air suspensions, and the commercial vehicle is mainly provided with a mode that a rear shaft is provided with the air suspensions, a front shaft is provided with common suspensions and a cab is provided with air airbags. The pressure sensor is arranged on the air bag of the air suspension, accurate axle load can be calculated according to pressure values, and the front axle and the rear axle of the passenger car are provided with the air suspensions, so that the front axle load and the rear axle load can be calculated conveniently through the air bag of the air suspension, the center of mass is further identified through the front axle load and the rear axle load, and the center of mass is relatively difficult to identify for a commercial car only with the rear axle provided with the air suspension.
Disclosure of Invention
In order to solve the technical problem, the invention provides a vehicle mass center identification method, a vehicle and a storage medium.
In a first aspect, an embodiment of the present invention provides a vehicle centroid identification method, including the following steps:
A. when the vehicle is in a static state, calculating the vertical load Fz of the left wheel of the rear axle at the momentLAnd rear axle right wheel vertical load FzRAnd storing;
B. when the vehicle is in a constant-speed straight-line driving state, calculating the vertical load of the left wheel of the rear shaft and the vertical load of the right wheel of the rear shaft at the moment, adding the vertical load of the left wheel of the rear shaft and the vertical load of the right wheel of the rear shaft to obtain the vertical load Fz1 of the rear shaft at the moment, and storing the vertical load Fz1 of the rear shaft;
C. when the vehicle is in an acceleration straight driving state or a deceleration straight driving state, detecting and storing the longitudinal acceleration ax of the vehicle, calculating the vertical load of the left wheel of the rear shaft and the vertical load of the right wheel of the rear shaft at the moment, adding the vertical load of the left wheel of the rear shaft and the vertical load of the right wheel of the rear shaft to obtain the vertical load Fz2 of the rear shaft at the moment, and storing the vertical load Fz2 of the rear shaft;
D. when the vehicle is in a constant-speed curve driving state, detecting and storing the transverse acceleration ay of the vehicle, and calculating the vertical load Fz of the left wheel of the rear axle at the momentL1 and rear axle right wheel vertical load FzR1, storing;
E. by FzL、FzR、Fz1、Fz2、FzL1、FzR1. ax, ay and the wheel track B of the rear axle calculate the center of mass of the whole vehicle.
As an optional implementation manner of the vehicle centroid identification method, step E specifically includes:
e1, by FzL、FzR、Fz1、FzL1、FzR1. ay and the wheel track B of the rear axle calculate the vertical distance between the mass center and the rear axleFrom H, the calculation formula is:
H＝-(g·B(FzL1·FzR-FzR1·FzL)/(FzR+FzL))/(Fz1·ay)；
e2, by FzL、FzR、Fz1、Fz2、FzL1、FzR1. ax, ay and the track B of the rear axle calculate the longitudinal distance L of the centroid from the front axleFThe calculation formula is as follows:
LF＝ax·B(FzL1·FzR-FzR1·FzL)/(ay·(Fz1-Fz2))；
e3, by FzL、FzRAnd calculating the transverse distance B between the center of mass and the left wheel of the rear axle by the wheel track B of the rear axleLThe calculation formula is as follows:
BL＝B·FzR/(FzL+FzR)；
e4, according to H, LFAnd BLAnd determining the mass center of the whole vehicle.
As an optional implementation manner of the vehicle centroid identification method, step E specifically includes:
e11, by FzL、FzR、Fz1、FzL1、FzR1. ay and the wheel track B of the rear axle calculate the vertical distance H between the centroid and the rear axle, and the calculation formula is as follows:
H＝-(g·B(FzL1·FzR-FzR1·FzL)/(FzR+FzL))/(Fz1·ay)；
e21, by FzL、FzR、Fz1、Fz2、FzL1、FzR1. ax, ay and the track B of the rear axle calculate the longitudinal distance L of the centroid from the front axleFThe calculation formula is as follows:
LF＝ax·B(FzL1·FzR-FzR1·FzL)/(ay·(Fz1-Fz2))；
e31, by FzL、FzRAnd calculating the transverse distance B between the center of mass and the left wheel of the rear axle by the wheel track B of the rear axleRThe calculation formula is as follows:
BR＝B·FzL/(FzL+FzR)；
e41, according to H, LFAnd BRAnd determining the mass center of the whole vehicle.
As an alternative embodiment of the vehicle center of mass identification method, the left air bag pressure P of the air suspension of the rear axle of the vehicle is usedLAnd left suspension height hLInquiring a left air bag characteristic table to obtain the vertical load of the left wheel of the rear axle;
air suspension right air bag pressure P according to vehicle rear axleLAnd right suspension height hLAnd inquiring the right air bag characteristic table to obtain the vertical load of the right wheel of the rear axle.
As an alternative embodiment of the above vehicle center of mass recognition method, the longitudinal acceleration ax and the lateral acceleration ay are detected by acceleration sensors on the vehicle.
As an optional implementation manner of the vehicle centroid identifying method, step E further includes:
s, judging whether the vehicle meets the conditions of A, B, C and D, and if so, calculating and outputting the mass center of the whole vehicle; if not, an invalid value is output and it continues to be detected whether the vehicle satisfies A, B, C and D conditions.
As an optional implementation manner of the vehicle centroid identification method, a recursive least square method is adopted to process data to calculate the vehicle centroid.
As an alternative embodiment of the above vehicle center of mass identification method, the vehicle is a 4 × 2 commercial vehicle with an air suspension on the rear axle.
In a second aspect, an embodiment of the present invention further provides a vehicle, including:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle centroid identification method as described above.
In a third aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the vehicle centroid identification method as described above.
The invention has the advantages that: the center of mass of the whole vehicle is calculated by detecting or calculating parameters such as vertical load, vertical load of a rear shaft, longitudinal acceleration ax and transverse acceleration ay of a left wheel of the rear shaft and a right wheel of the rear shaft in four states of the vehicle in real time and combining the wheel tread B of the rear shaft, so that the accuracy and the real-time property of the center of mass identification of the whole vehicle can be effectively improved, the center of mass of the whole vehicle can be accurately calculated only through a small amount of data, and the center of mass identification speed is high.
Drawings
FIG. 1 is a schematic structural view of an embodiment of the air suspension of the present invention;
FIG. 2 is a schematic diagram of the mechanical balance of the present invention with the vehicle at rest;
FIG. 3 is a schematic diagram of the mechanical balance of the vehicle in the constant speed straight driving state according to the present invention;
FIG. 4 is a schematic diagram of the mechanical balance of the vehicle in the accelerating/decelerating straight-driving state according to the present invention;
FIG. 5 is a schematic diagram of the mechanical balance of the vehicle in a constant speed curve driving state according to the present invention;
FIG. 6 is a block flow diagram of a vehicle center of mass identification method of the present invention;
FIG. 7 is a first schematic diagram of a method of vehicle center of mass identification according to the present invention;
FIG. 8 is a second schematic diagram of a method of vehicle center of mass identification in accordance with the present invention.
In the figure:
10. a frame; 20. a height sensor; 30. a pressure sensor; 40. an air bag.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic structural diagram of an embodiment of an air suspension according to the present invention, and as shown in fig. 1, the air suspension of a vehicle includes a frame 10, a height sensor 20, a pressure sensor 30, and an air bag 40, the height of the air suspension is h, the height h of the air suspension varies according to a load, the height of the air suspension, i.e., a vertical distance between a rear axle of the vehicle and the frame 10, is measured by the height sensor 20 in real time, and the gas pressure in the air bag 40 is measured by the pressure sensor 30 in real time.
Fig. 2 is a schematic diagram of the mechanical balance of the vehicle in a stationary state in the invention, and in fig. 2:
FzL: vertical load of the left wheel of the rear axle when the vehicle is in a static state; fzR: vertical load of the right wheel of the rear axle when the vehicle is in a static state; b: the track width of the rear axle; b isL: the lateral distance from the center of mass to the left wheel of the rear axle; b isR: the lateral distance from the center of mass to the right wheel of the rear axle; h: the vertical distance of the center of mass from the rear axle; m1: the spring load of the whole vehicle;
when the vehicle is in a stationary state, according to the state of the vehicle shown in fig. 2, there is the following mechanical equilibrium equation:
FzL·B＝M1·g·LF/L·BR(A)
FzR·B＝M1·g·LF/L·BL(II)
B＝BL+BR(III)
Wherein g is the acceleration of gravity; l: longitudinal distance of the front and rear axes; l isF: the longitudinal distance of the center of mass from the front axis; obtaining a calculation B according to the above formulas (one) to (three)LAnd BRThe calculation formula of (2) is as follows:
BL＝B·FzR/(FzL+FzR) (IV)
BR＝B·FzL/(FzL+FzR) (V)
Due to FzLAnd FzRCan be obtained by inquiring an air bag characteristic table according to the corresponding air bag pressure and the suspension height, so that FzLAnd FzRIs a known number and B is a structural parameter of the vehicle, and is also a known number, then B can be calculated according to the formula (four) and the formula (five)LAnd BR。
Fig. 3 is a schematic diagram of the mechanical balance of the vehicle in the constant speed straight driving state, and in fig. 3, Fz 1: rear axle load when the vehicle is in a constant speed straight line running state;
when the vehicle is in a constant speed straight-line driving state, according to the vehicle state shown in fig. 3, there is the following mechanical balance equation:
M1·g·LFfz 1-L (six)
Fig. 4 is a schematic diagram of the mechanical balance of the vehicle in the acceleration/deceleration straight-line running state in the invention, and in fig. 4:
ax: longitudinal acceleration of the vehicle, the longitudinal direction being the front-rear direction of the vehicle; fz 2: rear axle load at the time of vehicle acceleration/deceleration straight-line running state;
when the vehicle is in the acceleration/deceleration straight-driving state, there is the following mechanical balance equation according to the vehicle state shown in fig. 4:
M1·g·LF+ M1. ax. H ═ Fz 2. L (seven)
Fig. 5 is a schematic diagram of the mechanical balance of the vehicle in the constant speed curve driving state in the invention, and in fig. 5:
ay: the lateral acceleration of the vehicle, i.e., the lateral direction of the vehicle; fzL1: the load of the left wheel of the rear axle when the vehicle is in a constant speed curve running state; fzR1: the right wheel load of the rear axle when the vehicle is in a constant speed curve running state;
when the vehicle is in a constant speed curve driving state, according to the vehicle state shown in fig. 5, there is the following mechanical balance equation:
M1·ay·H·LF/L+·FzL1·BL＝FzR1·BR(eight)
According to the formulas (four) to (eight), the vertical distance H between the centroid and the rear axle can be obtained as follows:
H＝-(g·B(FzL1·FzR-FzR1·FzL)/(FzR+FzL) /(Fz 1. ay) (nine)
Longitudinal distance L between center of mass and front axleFComprises the following steps:
M＝Fz1·ay·L·(Fz1-Fz2)/(ax·g·B(FzL1·FzR-FzR1·FzL)/(FzR+FzL) + M0 (ten)
The transverse distance B from the center of mass to the left wheel of the rear shaft obtained according to the formula (IV)LThe vertical distance H between the centroid calculated in the formula (nine) and the rear axle and the longitudinal distance L between the centroid calculated in the formula (ten) and the front axleFThe position of the mass center of the whole vehicle can be determined. Or, BLCan be replaced by the transverse distance B from the mass center to the right wheel of the rear axleRThat is, the lateral distance B from the center of mass to the right wheel of the rear axle, which is obtained according to equation (five)RThe vertical distance H between the centroid calculated in the formula (nine) and the rear axle and the longitudinal distance L between the centroid calculated in the formula (ten) and the front axleFThe position of the mass center of the whole vehicle can be determined.
Example one
Based on the derivation of the calculation formula of the finished vehicle mass center, the embodiment provides a vehicle mass center identification method, which is mainly used for a 4 × 2 commercial vehicle with an air suspension on a rear axle, a common suspension is adopted on a front axle of the general 4 × 2 commercial vehicle, the air suspension is adopted on the rear axle, and only the air suspension is adopted on the rear axle, so that the method cannot be used for calculating the finished vehicle mass center of the 4 × 2 commercial vehicle like a passenger vehicle with the air suspension on the front axle and the rear axle, and the finished vehicle calculation of the 4 × 2 commercial vehicle is relatively difficult.
Fig. 6 is a flow chart of the vehicle centroid identifying method of the present invention, and as shown in fig. 6, the vehicle centroid identifying method of the present invention includes the steps of:
s100, when the vehicle is in a static state, calculating the vertical load Fz of the left wheel of the rear axle at the momentLAnd rear axle right wheel vertical load FzRAnd storing;
specifically, since the rear axle is provided with an air suspension, the left air bag pressure P can be suspended in accordance with the air of the rear axle of the vehicleLAnd left suspension height hLTo inquire about the left qiA bag characteristic table for obtaining the vertical load Fz of the left wheel of the rear axleL(ii) a Air suspension right air bag pressure P according to vehicle rear axleRAnd right suspension height hRInquiring the right air bag characteristic table to obtain the vertical load Fz of the right wheel of the rear axleR. Calculating to obtain the vertical load Fz of the left wheel of the rear axleLAnd rear axle right wheel vertical load FzRAfter that, Fz is sent to the controllerLAnd FzRAnd storing the values for later use in calculating the mass center of the whole vehicle.
S200, when the vehicle is in a uniform-speed straight-line driving state, calculating the vertical load of the left wheel of the rear shaft and the vertical load of the right wheel of the rear shaft at the moment, adding the vertical load of the left wheel of the rear shaft and the vertical load of the right wheel of the rear shaft to obtain the vertical load Fz1 of the rear shaft at the moment, and storing the vertical load Fz1 of the rear shaft;
specifically, the vertical loads of the left wheel and the right wheel of the rear axle are different in different states of the vehicle, and the method for calculating the vertical load of the left wheel and the vertical load of the right wheel of the rear axle in the uniform linear driving state in step S200 and the method for calculating the vertical load Fz of the left wheel and the right wheel of the rear axle in step S100LAnd rear axle right wheel vertical load FzRThe method is the same, after the rear axle vertical load Fz1 when the vehicle is in a constant-speed straight-line driving state is obtained by vertically adding the rear axle left wheel vertical load and the rear axle right wheel, the value of Fz1 is stored through the controller for use in subsequent calculation of the center of mass of the whole vehicle.
S300, when the vehicle is in an acceleration straight driving state or a deceleration straight driving state, detecting and storing the longitudinal acceleration ax of the vehicle, calculating the vertical load of the left wheel of the rear shaft and the vertical load of the right wheel of the rear shaft at the moment, adding the vertical load of the left wheel of the rear shaft and the vertical load of the right wheel of the rear shaft to obtain the vertical load Fz2 of the rear shaft at the moment, and storing the vertical load Fz2 of the rear shaft;
specifically, the longitudinal acceleration ax of the vehicle can be detected by an acceleration sensor on the vehicle, and the value of ax is stored by the controller after the longitudinal acceleration ax is detected, so that the longitudinal acceleration ax can be used for calculating the mass center M of the whole vehicle later. Calculating the vertical load of the left wheel of the rear axle and the vertical load of the right wheel of the rear axle when the vehicle is in an acceleration straight line driving state or a deceleration straight line driving state and calculating in the step S100Calculating the vertical load Fz of the left wheel of the rear axleLAnd rear axle right wheel vertical load FzRThe method is the same, after the rear axle left wheel vertical load and the rear axle right wheel vertical load when the vehicle is in an acceleration straight line driving state or a deceleration straight line driving state are obtained through calculation, the rear axle left wheel vertical load and the rear axle right wheel vertical load are added to obtain a rear axle vertical load Fz2, and the value of Fz2 is stored through the controller for use in subsequent calculation of the mass center of the whole vehicle.
S400, when the vehicle is in a constant-speed curve driving state, detecting and storing the transverse acceleration ay of the vehicle, and calculating the vertical load Fz of the left wheel of the rear axle at the momentL1 and rear axle right wheel vertical load FzR1, storing;
specifically, the lateral acceleration ay of the vehicle can be detected by an acceleration sensor on the vehicle, and after the lateral acceleration ay is detected, the value of ay is stored by the controller for later use in calculating the center of mass of the whole vehicle. Calculating the vertical load Fz of the left wheel of the rear axle when the vehicle is in the running state of the constant speed curveL1 and rear axle right wheel vertical load FzRThe method 1 is also consistent with the previous steps, repeated description is omitted, and the vertical load Fz of the left wheel of the rear axle is obtained through calculationL1 and rear axle right wheel vertical load FzRAfter 1, Fz is sent to the controllerL1 and FzRAnd storing the value of 1 for later use in calculating the mass center of the whole vehicle.
S500, passing FzL、FzR、Fz1、Fz2、FzL1、FzR1. ax, ay and the wheel track B of the rear axle calculate the center of mass of the whole vehicle;
specifically, Fz is stored in step S100LAnd FzRFz1 is stored in step S200, ax and Fz2 are stored in step S300, ay and Fz are stored in step S400L1 and FzRAnd 1, calculating the mass center of the whole vehicle by combining the structural parameters (known numbers) of the vehicle, namely the wheel tread B of the rear axle of the vehicle. According to the invention, the wheel load of the vehicle and the state quantity of the vehicle are monitored in real time, and the method for calculating the mass center of the whole vehicle through the mechanical balance equation aiming at four running states of the vehicle can effectively improve the accuracy and the real-time property of the identification of the mass center of the whole vehicle, and meanwhile, a small amount of data is convenientThe accurate center of mass of the whole vehicle can be calculated, and the recognition speed is higher.
Further, step S500 specifically includes:
s510, passing FzL、FzR、Fz1、FzL1、FzR1. ay and the wheel track B of the rear axle calculate the vertical distance H between the centroid and the rear axle, and the calculation formula is as follows:
H＝-(g·B(FzL1·FzR-FzR1·FzL)/(FzR+FzL))/(Fz1·ay)；
s520, passing FzL、FzR、Fz1、Fz2、FzL1、FzR1. ax, ay and the track B of the rear axle calculate the longitudinal distance L of the centroid from the front axleFThe calculation formula is as follows:
LF＝ax·B(FzL1·FzR-FzR1·FzL)/(ay·(Fz1-Fz2))；
s530, passing FzL、FzRAnd calculating the transverse distance B between the center of mass and the left wheel of the rear axle by the wheel track B of the rear axleLThe calculation formula is as follows:
BL＝B·FzR/(FzL+FzR)；
s540, according to H, LFAnd BLAnd determining the mass center of the whole vehicle.
Specifically, a recursive least square method can be used for processing a large amount of data containing random errors to obtain the optimal solution of the center of mass of the whole vehicle in real time, and it can be understood that the recursive least square method can also be replaced by other algorithms.
In another embodiment, step S500 specifically includes:
s511, passing FzL、FzR、Fz1、FzL1、FzR1. ay and the wheel track B of the rear axle calculate the vertical distance H between the centroid and the rear axle, and the calculation formula is as follows:
H＝-(g·B(FzL1·FzR-FzR1·FzL)/(FzR+FzL))/(Fz1·ay)；
s512, passing FzL、FzR、Fz1、Fz2、FzL1、FzR1. ax, ay and the track B of the rear axle calculate the longitudinal distance L of the centroid from the front axleFThe calculation formula is as follows:
LF＝ax·B(FzL1·FzR-FzR1·FzL)/(ay·(Fz1-Fz2))；
s513, passing FzL、FzRAnd calculating the transverse distance B between the center of mass and the left wheel of the rear axle by the wheel track B of the rear axleRThe calculation formula is as follows:
BR＝B·FzL/(FzL+FzR)；
s514, according to H, LFAnd BRAnd determining the mass center of the whole vehicle.
Further, step S500 is preceded by:
s1, judging whether the vehicle meets four states of a static state, a constant speed straight line driving state, an acceleration straight line driving state or a deceleration straight line driving state and a constant speed curve driving state, if so, calculating and outputting the center of mass of the whole vehicle; if not, outputting an invalid value and continuously detecting whether the vehicle meets four states;
specifically, only when the vehicle simultaneously satisfies four states of a static state, a constant-speed straight-line driving state, an acceleration straight-line driving state or a deceleration straight-line driving state, and a constant-speed curve driving state, the parameter values required for calculating the mass center of the whole vehicle can be completely stored, and the mass center of the whole vehicle can be calculated, otherwise, an invalid value is output until the vehicle is detected to simultaneously satisfy the four states.
FIG. 7 is a schematic diagram of the method for identifying the center of mass of a vehicle according to the present invention, as shown in FIG. 7, the pressure P of the left air bag of the air suspension can be detected by the sensor on the air suspension in each state of the vehicleLAir suspension right air bag pressure PRLeft suspension height hLRight suspension height hRThe vertical load (Fz) of the vehicle in each state can be obtained by inquiring the characteristic MAP curve of the air bag according to the detected valueL、FzR) And filtering the query result to remove an invalid value, and combining the structural parameters of the vehicle and the wheel track B of the rear axle to obtain the mass center of the whole vehicle through an algorithm. Book (I)In the invention, the wheel load of the vehicle and the state quantity of the vehicle are monitored in real time, and the method for calculating the mass center of the whole vehicle by a mechanical balance equation can effectively improve the accuracy and the real-time property of the identification of the mass center of the whole vehicle aiming at four running states of the vehicle, and meanwhile, the accurate mass center of the whole vehicle can be calculated by a small amount of data, so that the identification speed is higher.
Fig. 8 is a schematic diagram of a vehicle centroid identifying method according to the present invention, and as shown in fig. 8, the vehicle centroid identifying method according to the present invention is, in brief:
when the vehicle is in a static state, storing the vertical load Fz of the left wheel of the rear axle at the momentLAnd rear axle right wheel vertical load FzR；
When the vehicle is in a constant-speed straight-line driving state, storing the rear axle vertical load Fz1 at the moment;
when the vehicle is in an acceleration straight driving state or a deceleration straight driving state, storing the longitudinal acceleration ax and the rear axle vertical load Fz2 at the moment;
when the vehicle is in a constant speed curve driving state, the transverse acceleration ay and the rear axle left wheel vertical load Fz at the moment are storedL1 and rear axle right wheel vertical load FzR1；
And judging whether the vehicle simultaneously satisfies four states, calculating the mass center value of the whole vehicle when the vehicle simultaneously satisfies the four states, processing a large amount of data containing random errors by a recursive least square method to obtain the optimal solution of the mass center of the whole vehicle in real time, and finally determining a mass center identification value and outputting the mass center identification value. According to the method, the wheel load of the vehicle and the state quantity of the vehicle are monitored in real time, the accuracy and the real-time performance of the identification of the mass center of the whole vehicle can be effectively improved by the method of calculating the mass center of the whole vehicle through a mechanical balance equation aiming at four running states of the vehicle, the accurate mass center of the whole vehicle can be calculated through a small amount of data, and the identification speed is higher.
Example two
The second embodiment of the present invention provides a vehicle, and components of the vehicle may include but are not limited to: the vehicle body, the one or more processors, the memory, and the bus connecting the various system components (including the memory and the processors), the memory being a computer-readable storage medium that can be used to store software programs, computer-executable programs, and modules, such as program instructions corresponding to the vehicle centroid identification method in the embodiments of the present invention. The processor executes various functional applications and data processing of the vehicle by executing software programs, instructions and modules stored in the memory, so as to realize the vehicle center of mass identification method.
The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory remotely located from the processor, and these remote memories may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
EXAMPLE III
A third embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the vehicle centroid identifying method described in the first embodiment, and the vehicle centroid identifying method includes the following steps:
s100, when the vehicle is in a static state, calculating the vertical load Fz of the left wheel of the rear axle at the momentLAnd rear axle right wheel vertical load FzRAnd storing;
s200, when the vehicle is in a constant-speed straight-line driving state, calculating the vertical load of the left wheel of the rear axle and the vertical load of the right wheel of the rear axle at the moment, adding the vertical load of the left wheel and the vertical load of the right wheel of the rear axle to obtain the vertical load Fz1 of the rear axle at the moment, and storing the vertical load Fz1 of the rear axle;
s300, when the vehicle is in an acceleration straight driving state or a deceleration straight driving state, detecting and storing the longitudinal acceleration ax of the vehicle, calculating the vertical load of the left wheel of the rear axle and the vertical load of the right wheel of the rear axle at the moment, adding the vertical load of the left wheel and the vertical load of the right wheel of the rear axle to obtain the vertical load Fz2 of the rear axle at the moment, and storing the vertical load Fz2 of the rear axle;
s400, when the vehicle is in a constant-speed curve driving state, detecting and storing the transverse acceleration ay of the vehicle, and calculating the vertical load Fz of the left wheel of the rear axle at the momentL1 and rear axle right wheel vertical load FzR1, storing;
s500, passing FzL、FzR、Fz1、Fz2、FzL1、FzR1. ax, ay and the wheel track B of the rear axle calculate the center of mass of the whole vehicle.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-only memory (ROM), a Random Access Memory (RAM), a FLASH memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
In the above embodiment, each included unit and module is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle centroid identification method is characterized by comprising the following steps:
A. when the vehicle is in a static state, calculating the vertical load Fz of the left wheel of the rear axle at the momentLAnd rear axle right wheel vertical load FzRAnd storing;
B. when the vehicle is in a constant-speed straight-line driving state, calculating the vertical load of the left wheel of the rear shaft and the vertical load of the right wheel of the rear shaft at the moment, adding the vertical load of the left wheel of the rear shaft and the vertical load of the right wheel of the rear shaft to obtain the vertical load Fz1 of the rear shaft at the moment, and storing the vertical load Fz1 of the rear shaft;
C. when the vehicle is in an acceleration straight driving state or a deceleration straight driving state, detecting and storing the longitudinal acceleration ax of the vehicle, calculating the vertical load of the left wheel of the rear shaft and the vertical load of the right wheel of the rear shaft at the moment, adding the vertical load of the left wheel of the rear shaft and the vertical load of the right wheel of the rear shaft to obtain the vertical load Fz2 of the rear shaft at the moment, and storing the vertical load Fz2 of the rear shaft;
D. when the vehicle is in a constant-speed curve driving state, detecting and storing the transverse acceleration ay of the vehicle, and calculating the vertical load Fz of the left wheel of the rear axle at the momentL1 and rear axle right wheel vertical load FzR1, storing;
E. by FzL、FzR、Fz1、Fz2、FzL1、FzR1. ax, ay and the wheel track B of the rear axle calculate the center of mass of the whole vehicle.
2. The vehicle centroid identification method according to claim 1, wherein step E specifically comprises:
e1, by FzL、FzR、Fz1、FzL1、FzR1. ay and the wheel track B of the rear axle calculate the vertical distance H between the centroid and the rear axle, and the calculation formula is as follows:
H＝-(g·B(FzL1·FzR-FzR1·FzL)/(FzR+FzL))/(Fz1·ay)；
e2, by FzL、FzR、Fz1、Fz2、FzL1、FzR1. ax, ay and the track B of the rear axle calculate the longitudinal distance L of the centroid from the front axleFThe calculation formula is as follows:
LF＝ax·B(FzL1·FzR-FzR1·FzL)/(ay·(Fz1-Fz2))；
e3, by FzL、FzRAnd calculating the transverse distance B between the center of mass and the left wheel of the rear axle by the wheel track B of the rear axleLThe calculation formula is as follows:
BL＝B·FzR/(FzL+FzR)；
e4, according to H, LFAnd BLAnd determining the mass center of the whole vehicle.
3. The vehicle centroid identification method according to claim 1, wherein step E specifically comprises:
e11, by FzL、FzR、Fz1、FzL1、FzR1. ay and the wheel track B of the rear axle calculate the vertical distance H between the centroid and the rear axle, and the calculation formula is as follows:
H＝-(g·B(FzL1·FzR-FzR1·FzL)/(FzR+FzL))/(Fz1·ay)；
e21, by FzL、FzR、Fz1、Fz2、FzL1、FzR1. ax, ay and the track B of the rear axle calculate the longitudinal distance L of the centroid from the front axleFThe calculation formula is as follows:
LF＝ax·B(FzL1·FzR-FzR1·FzL)/(ay·(Fz1-Fz2))；
e31, by FzL、FzRAnd calculating the transverse distance B between the center of mass and the left wheel of the rear axle by the wheel track B of the rear axleRThe calculation formula is as follows:
BR＝B·FzL/(FzL+FzR)；
e41, according to H, LFAnd BRAnd determining the mass center of the whole vehicle.
4. The vehicle centroid identification method as recited in claim 1, wherein air suspension left air bag pressure P is based on vehicle rear axleLAnd left suspension height hLInquiring a left air bag characteristic table to obtain the vertical load of the left wheel of the rear axle;
air suspension right air bag pressure P according to vehicle rear axleRAnd right suspension height hRAnd inquiring the right air bag characteristic table to obtain the vertical load of the right wheel of the rear axle.
5. The vehicle centroid identification method as recited in claim 1, wherein the longitudinal acceleration ax and the lateral acceleration ay are detected by an acceleration sensor on the vehicle.
6. The vehicle centroid identification method according to claim 1, wherein step E is preceded by:
s, judging whether the vehicle meets the conditions of A, B, C and D, and if so, calculating and outputting the mass center of the whole vehicle; if not, an invalid value is output and it continues to be detected whether the vehicle satisfies A, B, C and D conditions.
7. The vehicle centroid identification method according to claim 1, wherein a recursive least squares method is used to process data to calculate the vehicle centroid.
8. The vehicle centroid identification method as recited in claim 1 wherein said vehicle is a 4 x 2 commercial vehicle with rear axle air suspension.
9. A vehicle, characterized by comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle centroid identification method as recited in any one of claims 1-8.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for vehicle center of mass identification according to any one of claims 1 to 8.
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| CN119821419B (en) * | 2025-02-12 | 2025-11-07 | 浙江吉利控股集团有限公司 | Vehicle centroid recognition method, vehicle-mounted electronic device, vehicle and storage medium |
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