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Vehicle roll state determination method and device, equipment and medium

A determination method, a vehicle-side technology, applied in vehicle components, transportation and packaging, elastic suspension, etc., can solve problems such as the inability to express the impact of vehicle roll, and achieve the effect of improving accuracy

Pending Publication Date: 2022-04-12
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional vehicle roll research usually uses a three-degree-of-freedom model that considers vehicle side, yaw, and roll as the research basis. This model cannot express the impact of vehicle roll caused by road surface input, and the results of the study are only applicable to flat roads. The vehicle roll condition caused by the user's steering manipulation on the road has certain limitations

Method used

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  • Vehicle roll state determination method and device, equipment and medium
  • Vehicle roll state determination method and device, equipment and medium
  • Vehicle roll state determination method and device, equipment and medium

Examples

Experimental program
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Embodiment 1

[0053] Figure 1AIt is a schematic flowchart of a method for determining the roll state of a vehicle provided by Embodiment 1 of the present invention. This embodiment is applicable to the determination of the roll state of the vehicle, and is especially suitable for providing the roll state of the vehicle for the active stabilizer bar control system. In order to make the active anti-rolling bar control system generate an anti-rolling moment according to the rolling state of the vehicle, so as to improve the operating stability of the vehicle, the method can be performed by the device for determining the rolling state of the vehicle, and the device can be implemented by hardware and / or or software, the method specifically includes the following steps:

[0054] S110. Obtain the steering angle of the front wheels, the sprung mass displacement of the left wheel, and the sprung mass displacement of the right wheel of the target vehicle.

[0055] Wherein, the front wheel steering a...

Embodiment 2

[0080] Figure 2A It is a schematic flow chart of a method for determining a vehicle roll state provided by Embodiment 2 of the present invention. On the basis of the above embodiments, in this embodiment, optionally, based on the front wheel steering angle and the steering roll The sub-model, determining the steering roll angle of the target vehicle, includes: obtaining vehicle parameters of the target vehicle, wherein the vehicle parameters include the vehicle weight of the target vehicle, the torque of the total vehicle mass around the center of mass of the vehicle, and the front axle mass, rear axle mass, sprung mass, distance of the vehicle center of mass from the front axle, distance of the vehicle center of mass from the rear axle, and distance from the sprung center of mass to the roll axis; the front wheel steering angle and the vehicle parameters are input into The steering roll sub-model obtains the steering roll angle of the target vehicle output by the steering ro...

Embodiment 3

[0125] Figure 3A It is a schematic flowchart of a method for determining the roll state of a vehicle provided in Embodiment 3 of the present invention. On the basis of the above embodiments, in this embodiment, optionally, the sprung mass displacement based on the left wheel, the right wheel The sprung mass displacement and the road surface excitation sub-model determine the road surface excitation roll angle of the target vehicle, including: obtaining the wheel base of the target vehicle; The displacement and the wheelbase are input to the road surface excitation sub-model, and the road surface excitation roll angle of the target vehicle output by the road surface excitation sub-model is obtained. The explanations of terms that are the same as or corresponding to the above-mentioned embodiments will not be repeated here. see Figure 3A , the vehicle roll state determination method provided in this embodiment includes the following steps:

[0126] S310. Obtain the steering...

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Abstract

The embodiment of the invention discloses a vehicle roll state determination method and device, equipment and a medium. According to the method, the front wheel steering angle, the left wheel sprung mass displacement and the right wheel sprung mass displacement of a target vehicle are obtained and are input into a road surface steering joint model; a steering roll angle of a target vehicle is determined based on a steering roll sub-model in a road surface steering joint model, a road surface excitation roll angle of the target vehicle is determined based on a road surface excitation sub-model, and then a whole vehicle roll angle corresponding to the target vehicle is determined according to the road surface steering joint model. According to the method, vehicle roll caused by road excitation and vehicle roll caused by steering operation of a driver are combined, the influence of the steering operation of the driver and the influence of the road excitation are considered at the same time, and the accuracy of the vehicle roll state is improved; in addition, the method can be suitable for estimating the vehicle roll state under various vehicle driving conditions.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of automobile intelligent assisted driving, and in particular to a method, device, equipment and medium for determining a vehicle roll state. Background technique [0002] When the car is driving on a curve and the road surface is bad, if it is not controlled, the body will roll to a greater extent, which not only reduces the comfort of the passengers, but also causes the driver to feel nervous, causing the car to roll over and causing casualties. The stabilizer bar can increase the roll stiffness of the suspension, which can effectively improve the roll stability of the car. [0003] At present, most cars use traditional stabilizer bars to increase the stiffness of the roll angle, reduce the inclination angle of the body, and improve the stability of the vehicle. Traditional vehicle roll research usually uses a three-degree-of-freedom model that considers vehicle side, yaw, and ro...

Claims

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Application Information

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IPC IPC(8): B60G17/016B60G17/0165B60G21/055
Inventor 王晓燕陈磊郝文权王念强许晓波彭大祥潘迪
Owner CHINA FIRST AUTOMOBILE