Vehicle centroid height estimation method, system and device and storage medium

Abstract

The invention discloses a vehicle centroid height estimation method, system and device and a storage medium, and belongs to the field of vehicle centroid estimation. The method comprises the steps that the unsprung component mass and the sprung component mass of a spiral spring on a target vehicle suspension system are calculated according to the weight BOM, and the mass center height of the unsprung component and the mass center height of the sprung component in the initial state of an elastic element in the suspension system are calculated; calculating the distributed load of the sprung component mass distributed to the four wheels of the target vehicle; calculating the compression deformation of the mass of the sprung component acting on the spiral spring according to the characteristics of the spring and the distributed load; according to the compression deformation, the mass center height of the unsprung component, the mass center height of the sprung component, the mass of the sprung component and the mass of the unsprung component, the mass center height of the whole vehicle of the target vehicle under the compression state of the elastic element in the suspension system is calculated; according to the method, the whole vehicle mass center height of the vehicle in the compressed state of the elastic element of the suspension system can be accurately estimated.

Description

Technical Field

[0001] The present application belongs to the technical field of vehicle center of mass estimation, and specifically relates to a vehicle center of mass height estimation method, system, device and storage medium. Background Art

[0002] In the process of modern automobile design and manufacturing, accurate estimation of the vehicle's center of mass height is crucial to ensure vehicle stability, handling and safety. The change of the center of mass height will directly affect the dynamic performance of the vehicle, such as the roll moment when turning, the nodding phenomenon when braking, and the head-up phenomenon when accelerating. Therefore, developing an efficient and accurate method for estimating the center of mass height of a vehicle is of great significance to improving the overall performance of the vehicle.

[0003] At present, the vehicle estimation method considers the entire vehicle as a rigid body, without considering that the elastic elements of the vehicle suspension system will deform and compress with the load, which leads to inaccurate calculated vehicle center of mass. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method, system, device and storage medium for estimating the height of the center of mass of a vehicle, which can solve the technical problem that the elastic elements of the automobile suspension system are not considered to be deformed and compressed with the load, resulting in inaccurate calculated vehicle center of mass.

[0005] In order to solve the above technical problems, this application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for estimating the center of mass height of a vehicle, the method comprising:

[0007] Obtain the weight BOM of the target vehicle to calculate the unsprung mass M of the coil spring on the suspension system of the target vehicle according to the weight BOM un and the mass of the sprung component M up ;

[0008] Calculate the center of mass height Z of the unsprung component based on the weight BOM un , and the height Z of the center of mass of the sprung component in the initial state of the elastic element in the suspension system up0 ;

[0009] Calculate the sprung component mass M based on the weight BOM up a distributed load distributed to four wheels of the target vehicle;

[0010] Obtain a spring characteristic curve of the coil spring on the target vehicle to calculate the sprung component mass M according to the spring characteristic curve and the distributed load. up The amount of compression deformation λ acting on the coil spring;

[0011] According to the compression deformation λ, the mass center height Z of the unsprung member un , Height of the center of mass of the sprung component Z up0 , sprung component mass M up and the unsprung mass M un , calculate the vehicle center of mass height Z of the target vehicle when the elastic element in the suspension system is in a compressed state.

[0012] As an optional implementation of the first aspect of the present application, the mass of the unsprung component and the mass of the sprung component of the coil spring on the suspension system of the target vehicle are calculated according to the weight BOM; specifically:

[0013] The mass of each part of the unsprung component is obtained according to the weight BOM, and the mass of each part is summed to obtain the mass M of the unsprung component. un ;

[0014] Obtain the vehicle mass M of the target vehicle, and subtract the unsprung component mass M from the vehicle mass M. un , the sprung component mass M is obtained up .

[0015] As an optional implementation of the first aspect of the present application, the calculation of the center of mass height of the unsprung component and the center of mass height of the sprung component in the initial state of the elastic element in the suspension system according to the weight BOM is specifically:

[0016] Obtain the mass M of each part constituting the sprung component according to the weight BOM i and the vertical coordinate Z of the center of mass in the vehicle coordinate system i , according to the mass M of each part i , the vertical coordinate Z of the center of mass in the vehicle coordinate system i and the vehicle mass M, calculate the center of mass height Z of the sprung component in the initial state of the elastic element in the suspension system up0 ;

[0017] Obtain the mass M of each part constituting the unsprung component according to the weight BOM j and the vertical coordinate Z of the center of mass in the vehicle coordinate system j , according to the mass M of each part j , the vertical coordinate Z of the center of mass in the vehicle coordinate system j and the vehicle mass M, the center of mass height Z of the unsprung component is calculated un .

[0018] As an optional implementation of the first aspect of the present application, the distributed load distributed to the four wheels of the target vehicle by the mass of the sprung component is calculated according to the weight BOM; specifically:

[0019] According to the weight BOM, obtain the horizontal coordinate X of the center of mass of each part constituting the sprung component in the vehicle coordinate system. i and the ordinate Y i ;

[0020] According to the sprung component mass M up , the mass M of each part constituting the sprung component i , the horizontal coordinate of the center of mass X i , calculate the horizontal coordinate X of the center of mass of the sprung component in the vehicle coordinate system up According to the mass M of the sprung component up , the mass M of each part constituting the sprung component i , the vertical coordinate Y of the center of mass i , calculate the vertical coordinate Y of the center of mass of the sprung component in the vehicle coordinate system up ;

[0021] Get the front and rear wheelbase W of the target vehicle B and the horizontal coordinate X of the front wheel center in the vehicle coordinate system 0 , according to the front and rear wheelbase W B , horizontal axis X 0 and the mass center abscissa X of the sprung component in the vehicle coordinate system up , calculate the proportion α of the mass of the sprung component distributed to the rear axle of the target vehicle;

[0022] Get the distance W between the left and right tire centers of the target vehicle L , according to the distance W between the wheel centers L and the vertical coordinate Y of the center of mass of the sprung component in the vehicle coordinate system up , calculate the proportion β of the mass of the sprung component distributed to the right wheel of the target vehicle;

[0023] The distributed load of the sprung component mass distributed to the four wheels of the target vehicle is calculated according to the proportion α of the sprung component mass distributed to the rear axle of the target vehicle and the proportion β of the sprung component mass distributed to the right wheel of the target vehicle.

[0024] As an optional implementation manner of the first aspect of the present application, the distributed load of the sprung component mass distributed to the four wheels of the target vehicle is calculated according to the proportion α of the sprung component mass distributed to the rear axle of the target vehicle and the proportion β of the sprung component mass distributed to the right wheel of the target vehicle; specifically:

[0025] According to the proportion α of the sprung component mass distributed to the rear axle of the target vehicle and the sprung component mass M up, calculating the front axle distributed load and the rear axle distributed load of the target vehicle;

[0026] Calculate the right front wheel distributed load and the right rear wheel distributed load of the target vehicle according to the front axle distributed load, the rear axle distributed load and the proportion β of the mass of the sprung component distributed to the right wheel of the target vehicle;

[0027] The left front wheel distributed load of the target vehicle is obtained by subtracting the right front wheel distributed load from the front axle distributed load; the left rear wheel distributed load is obtained by subtracting the right rear wheel distributed load from the rear axle distributed load.

[0028] As an optional implementation of the first aspect of the present application, the amount of compressive deformation of the sprung component mass acting on the coil spring is calculated according to the spring characteristic curve and the distributed load; specifically:

[0029] According to the sprung component mass M up The loads distributed to the four wheels of the target vehicle are used to calculate the compression deformation λ of the coil springs corresponding to the four wheels of the target vehicle. 1 , 2 , 3 and λ 4 ;

[0030] The compression deformation λ of the coil springs corresponding to the four wheels 1 , 2 , 3 and λ 4 The average value is taken to obtain the compressive deformation amount λ of the sprung component mass acting on the coil spring.

[0031] As an optional implementation of the first aspect of the present application, the compression deformation amount λ, the center of mass height Z of the unsprung component un , Height of the center of mass of the sprung component Z up0 , sprung component mass M up and the unsprung mass M un , calculate the vehicle center of mass height Z of the target vehicle in the compression state of the elastic element in the suspension system, using the following formula:

[0032]

[0033] Where Z represents the height of the center of mass of the target vehicle suspension system under the compression state of the elastic element, λ represents the compression deformation of the sprung component mass acting on the coil spring, and Z up0 It represents the center of mass height of the spring component in the initial state of the elastic element in the suspension system, M up Indicates the mass of the sprung component, M unrepresents the mass of the unsprung components, Z un It represents the height of the center of mass of the unsprung components, and M represents the mass of the vehicle.

[0034] In a second aspect, an embodiment of the present application provides a vehicle center of mass height estimation system, the system comprising:

[0035] The first acquisition module is used to obtain the weight BOM of the target vehicle;

[0036] The first processing module calculates the unsprung component mass M of the coil spring on the suspension system of the target vehicle according to the weight BOM. un and the mass of the sprung component M up ;

[0037] The second processing module calculates the center of mass height Z of the unsprung component according to the weight BOM un , and the height Z of the center of mass of the sprung component in the initial state of the elastic element in the suspension system up0 ;

[0038] The third processing module calculates the mass M of the sprung component according to the weight BOM up a distributed load distributed to four wheels of the target vehicle;

[0039] A second acquisition module is used to acquire a spring characteristic curve of the coil spring on the target vehicle;

[0040] The fourth processing module calculates the sprung component mass M according to the spring characteristics and the distributed load. up The amount of compression deformation λ acting on the coil spring;

[0041] The fifth processing module is configured to process the compression deformation amount λ and the mass center height Z of the unsprung component according to the compression deformation amount λ and the mass center height Z of the unsprung component. un , Height of the center of mass of the sprung component Z up0 , sprung component mass M up and the unsprung mass M un , calculate the vehicle center of mass height Z of the target vehicle when the elastic element in the suspension system is in a compressed state.

[0042] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the first aspect.

[0043] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0044] In the embodiments of the present application, compared with the prior art, the following technical effects are achieved:

[0045] By obtaining the weight BOM (Bill of Materials) of the target vehicle and calculating the mass of the unsprung and sprung components, as well as their respective center of mass heights (center of mass height of the unsprung component and center of mass height of the sprung component), this method can accurately estimate the center of mass height of the vehicle when the elastic elements of the suspension system are compressed. This is of great significance for vehicle stability analysis, suspension system design, and handling performance optimization. Using the spring characteristic curve of the coil spring and the distributed load of the sprung component mass distributed to the four wheels, the compression deformation of the sprung component mass acting on the coil spring can be calculated. This step takes into account the dynamic response of the vehicle, especially the suspension deformation under different loads and road conditions, which helps to more accurately evaluate the suspension performance and driving stability of the vehicle. By calculating the mass and center of mass position of the sprung and unsprung components in detail, as well as their dynamic changes in the suspension system, this method provides higher flexibility and accuracy for vehicle design. Designers can adjust the mass and position of vehicle components as needed to optimize the overall performance and handling of the vehicle. This method is not only applicable to the estimation of the center of mass height of the vehicle under static conditions, but can also be extended to the analysis under dynamic conditions. For example, during the driving process of the vehicle, the deformation of the suspension system and the change of the center of mass of the vehicle can be monitored in real time, providing data support for the vehicle's active safety control, suspension adjustment, etc. Although the calculation process involves multiple steps and parameters, each step has a clear mathematical formula and calculation method, making the entire estimation process more systematic and repeatable. This helps to reduce human errors and improve the accuracy and reliability of the calculation results. Through the precise calculation and analysis of the mass of the sprung and unsprung components, the redundant mass that may exist in the vehicle can be identified, providing direction for the lightweight design of the vehicle. Lightweight design can not only improve the fuel economy of the vehicle, but also improve its handling and acceleration performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a flow chart of a vehicle center of mass height estimation method provided by some embodiments of the present application; DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here. In addition, the "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally represents that the objects associated with each other are in an "or" relationship.

[0049] In conjunction with the accompanying drawings, a vehicle center of mass height estimation method, system, device and storage medium provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0050] Example

[0051] A method for estimating the height of a vehicle center of mass comprises the following steps:

[0052] S100: Obtain the weight BOM of the target vehicle to calculate the unsprung component mass M of the coil spring on the suspension system of the target vehicle according to the weight BOM un and the mass of the sprung component M up ;

[0053] It should be noted that the sprung component mass M at this time is up is the mass of the target vehicle in an unloaded state. All subsequent steps are performed when the target vehicle is in an unloaded state.

[0054] Furthermore, first, the weight BOM of the target vehicle is obtained, which is a detailed list of all vehicle components, including the mass of each component; then, the total mass M of the unsprung components (such as tires, wheels, etc.) is calculated based on the BOM. un The total mass M of the sprung parts (such as body, chassis, etc.) up .

[0055] It should be noted that in S100, the mass of the unsprung component and the mass of the sprung component of the coil spring on the suspension system of the target vehicle are calculated according to the weight BOM; specifically:

[0056] S110: Obtain the mass of each component of the unsprung component according to the weight BOM, sum the mass of each component, and obtain the mass M of the unsprung component. un ;

[0057] S120: Obtain the vehicle mass M of the target vehicle, and subtract the unsprung component mass M from the vehicle mass M. un , we get the sprung mass M up .

[0058] Furthermore, based on the weight BOM (Bill of Materials), the mass of each part that makes up the unsprung component is first obtained. These parts usually include tires, wheels, brake systems, and other parts that are directly in contact with the ground or mounted on the wheels; the mass of each part obtained is summed to obtain the total mass of the unsprung component (M un ); This step is the basis for calculating the mass of the unsprung components and ensures the accuracy of subsequent analysis; First, obtain the vehicle mass (M) of the target vehicle, which is usually obtained through data provided by the vehicle manufacturer or actual measurement; Subtract the mass of the unsprung components (M) from the vehicle mass (M) un ), the total mass of the sprung components (M up ). Sprung parts usually include the body, chassis, seats, interior and other parts that are not in direct contact with the ground.

[0059] S200: Calculate the center of mass height Z of the unsprung component based on the weight BOM un , and the height Z of the center of mass of the sprung component in the initial state of the elastic element in the suspension system up0 ;

[0060] Furthermore, the information in the BOM is used again to calculate the center of mass height Z of the unsprung component. un , which is the vertical distance of the center of mass of the unsprung component relative to the ground; at the same time, the system calculates the height Z of the center of mass of the sprung component in the initial state of the elastic element (such as the coil spring) in the suspension system up0 , that is, the vertical distance of the center of mass of the sprung component relative to the ground when there is no external load;

[0061] It should be noted that in S200, the mass center height of the unsprung component and the mass center height of the sprung component in the initial state of the elastic element in the suspension system are calculated based on the weight BOM; specifically:

[0062] S210: Obtain the mass M of each component constituting the sprung component according to the weight BOM i and the vertical coordinate Z of the center of mass in the vehicle coordinate system i , according to the mass M of each part i , the vertical coordinate Z of the center of mass in the vehicle coordinate system i and the vehicle mass M, calculate the center of mass height Z of the spring component in the initial state of the elastic element in the suspension system up0 ;

[0063] S220: Obtain the mass M of each component of the unsprung component according to the weight BOM j and the vertical coordinate Z of the center of mass in the vehicle coordinate system j , according to the mass M of each part j , the vertical coordinate Z of the center of mass in the vehicle coordinate system jand the vehicle mass M, calculate the center of mass height Z of the unsprung component un .

[0064] Furthermore, according to the weight BOM, the mass M of each part constituting the sprung component is obtained. i (i represents the i-th part in the sprung component) and the vertical coordinate Z of the center of mass in the vehicle coordinate system i (the vertical coordinate of the i-th part in the vehicle coordinate system); using the center of mass calculation formula, combined with the mass and vertical coordinate of the center of mass of each part of the sprung component, the center of mass height of the entire sprung component can be calculated. Similarly, according to the weight BOM, the mass M of each part that makes up the unsprung component is obtained. j (j represents the jth part in the unsprung component) and the vertical coordinate of the center of mass in the vehicle coordinate system. Using the same center of mass calculation formula, combined with the mass of each part of the unsprung component and the vertical coordinate of the center of mass, the center of mass height of the entire unsprung component can be calculated.

[0065] Specifically, in S210, the height Z of the center of mass of the sprung component is up0 Calculated by the following formula:

[0066]

[0067] In S220, the center of mass height of the unsprung component is Z un Calculated by the following formula:

[0068]

[0069] S300: Calculate the sprung component mass M based on the weight BOM up The distributed loads distributed to the four wheels of the target vehicle;

[0070] Furthermore, the distributed loads of the sprung component mass on the four wheels of the target vehicle are calculated based on the mass of the sprung component and the position information of each component in the BOM; this takes into account the center of gravity distribution of the vehicle and the geometric layout of the suspension system.

[0071] It should be noted that in S300, the mass M of the sprung component is calculated based on the weight BOM. up The distributed load distributed to the four wheels of the target vehicle is,

[0072] S310: Obtain the horizontal coordinate X of the center of mass of each component of the sprung component in the vehicle coordinate system according to the weight BOM i and the ordinate Y i ;

[0073] S320: Based on the sprung component mass M up , the mass M of each part that makes up the sprung component i , the horizontal coordinate of the center of mass Xi , calculate the horizontal coordinate X of the center of mass of the sprung component in the vehicle coordinate system up ; According to the mass M of the sprung component up , the mass M of each part that makes up the sprung component i , the vertical coordinate Y of the center of mass i , calculate the vertical coordinate Y of the center of mass of the sprung component in the vehicle coordinate system up ;

[0074] S330: Obtaining the front and rear wheelbase W of the target vehicle B and the horizontal coordinate X of the front wheel center in the vehicle coordinate system 0 , according to the front and rear wheelbase W B , horizontal axis X 0 The horizontal coordinate X of the center of mass of the sprung component in the vehicle coordinate system up , calculate the proportion α of the mass of the sprung components distributed to the rear axle of the target vehicle;

[0075] S340: Obtain the distance W between the tire centers on the left and right sides of the target vehicle L , according to the distance W between the wheel centers L The vertical coordinate Y of the center of mass of the sprung component in the vehicle coordinate system up , calculate the proportion of the sprung component mass distributed to the right wheel of the target vehicle β;

[0076] S350: Calculate the distributed load of the sprung component mass on the four wheels of the target vehicle according to the proportion α of the sprung component mass distributed to the rear axle of the target vehicle and the proportion β of the sprung component mass distributed to the right wheel of the target vehicle.

[0077] Furthermore, according to the weight BOM, the horizontal coordinate X of the center of mass of each part constituting the sprung component in the vehicle coordinate system is obtained. i and the ordinate Y i These coordinate information are crucial for the subsequent calculation of the center of mass position of the entire sprung component. Using the center of mass calculation formula, combined with the mass of each part of the sprung component and the center of mass coordinates (X i ,Y i ), the horizontal coordinate X of the center of mass of the entire sprung component can be calculated up and the centroid ordinate Y up ; Get the front and rear wheelbase W of the target vehicle B and the horizontal coordinate X of the front wheel center in the vehicle coordinate system 0 ; Use the centroid abscissa X up 、Front and rear wheelbase W B and the front wheel center abscissa X 0 , the proportion of the sprung component mass distributed to the rear axle of the target vehicle can be calculated; the distance W between the tire centers on the left and right sides of the target vehicle is obtained L; Use the centroid ordinate Y up The distance between the wheel center and L , the proportion β of the mass of the sprung component distributed to the right wheel of the target vehicle can be calculated; according to the proportion α of the mass of the sprung component distributed to the rear axle and the proportion β of the right wheel, the distributed load of the mass of the sprung component distributed to the four wheels of the target vehicle can be calculated; specifically, the distributed loads on the front left wheel, front right wheel, rear left wheel and rear right wheel can be calculated respectively.

[0078] Specifically, in S320, the mass center abscissa X of the sprung component in the vehicle coordinate system is up The vertical coordinate Y of the center of mass of the sprung component in the vehicle coordinate system up , calculated by the following formula:

[0079]

[0080] In S330, the proportion α of the mass of the sprung component distributed to the rear axle of the target vehicle is calculated by the following formula:

[0081]

[0082] In S340, the proportion β of the mass of the sprung component distributed to the right wheel of the target vehicle is calculated by the following formula:

[0083]

[0084] It should be noted that in S350, the distributed load of the sprung component mass distributed to the four wheels of the target vehicle is calculated based on the proportion α of the sprung component mass distributed to the rear axle of the target vehicle and the proportion β of the sprung component mass distributed to the right wheel of the target vehicle; specifically, it is:

[0085] S351: According to the proportion α of the sprung component mass distributed to the rear axle of the target vehicle and the sprung component mass M up , calculate the front axle distributed load and the rear axle distributed load of the target vehicle;

[0086] S352: Calculate the right front wheel distributed load and the right rear wheel distributed load of the target vehicle according to the front axle distributed load, the rear axle distributed load, and the proportion β of the mass of the sprung component distributed to the right wheel of the target vehicle;

[0087] S353: Subtract the right front wheel distributed load from the front axle distributed load to obtain the left front wheel distributed load of the target vehicle; subtract the right rear wheel distributed load from the rear axle distributed load to obtain the left rear wheel distributed load.

[0088] Furthermore, according to the sprung component mass M up and the proportion of the sprung mass distributed to the rear axle α, the front axle distributed load and the rear axle distributed load can be calculated as (1-α)Mup and αM up Next, we need to calculate the distributed loads on the right front wheel and the right rear wheel as (1-α)βM based on the front axle distributed load, the rear axle distributed load and the proportion of the sprung component mass distributed to the right wheel β. up and αβM up ; Finally, we can subtract the right front wheel distributed load from the front axle distributed load to obtain the left front wheel distributed load as (1-α)(1-β)M up ; Subtract the right rear wheel distributed load from the rear axle distributed load to obtain the left rear wheel distributed load as α(1-β)M up .

[0089] S400: Obtain a spring characteristic curve of a coil spring on a target vehicle to calculate the sprung component mass M according to the spring characteristic curve and the distributed load. up The amount of compression deformation λ acting on the coil spring;

[0090] Furthermore, the spring characteristic curve of the coil spring is obtained, which is a curve that describes the deformation of the spring under different loads; then, based on the distributed load and the spring characteristic curve, the compressive deformation λ of the coil spring due to the mass of the sprung component is calculated; this reflects the deformation of the suspension system when it is subjected to the weight of the vehicle.

[0091] It should be noted that in S400, the compressive deformation amount of the sprung component mass acting on the coil spring is calculated according to the spring characteristic curve and the distributed load; specifically:

[0092] S410: Based on the sprung component mass M up The loads distributed to the four wheels of the target vehicle are used to calculate the compression deformation λ of the corresponding coil springs on the four wheels of the target vehicle. 1 , 2 , 3 and λ 4 ;

[0093] S420: Compressive deformation λ of the corresponding coil springs on the four wheels 1 , 2 , 3 and λ 4 Take the average value to obtain the compressive deformation λ of the spring component mass acting on the coil spring.

[0094] Furthermore, first, it is necessary to obtain the relevant characteristic parameters of the coil spring, such as the spring stiffness coefficient k (unit: N / mm), the original length L 0(Unit: mm), etc. These parameters are usually provided by the spring manufacturer and will be selected according to the design and use requirements of the spring. According to the steps of S350, the distributed load of the sprung component mass distributed to the four wheels of the target vehicle has been obtained; for the coil spring on each wheel, its compression deformation can be calculated using Hooke's law, thereby obtaining the compression deformation λ of the corresponding coil springs on the four wheels 1 , 2 , 3 and λ 4 ; Get the compression deformation λ of the coil springs on the four wheels 1 , 2 , 3 and λ 4 After that, their average value can be calculated to obtain the overall compression deformation λ of the sprung component mass acting on the coil spring.

[0095] S500: Based on the compression deformation λ, the center of mass height Z of the unsprung component un , Height of the center of mass of the sprung component Z up0 , sprung component mass M up and the unsprung mass M un , calculate the vehicle center of mass height Z of the target vehicle when the elastic elements in the suspension system are in compression.

[0096] Furthermore, finally, according to the compression deformation λ, the mass center height Zun of the unsprung component, the mass center height Zup0 of the sprung component, the mass Mup of the sprung component, and the mass Mun of the unsprung component, the vehicle mass center height Z of the target vehicle in the state of compression of the elastic element in the suspension system is calculated. This is the overall center of gravity position of the vehicle in the actual driving process, taking into account the deformation of the suspension system.

[0097] It should be noted that in S500, according to the compression deformation amount λ, the mass center height Z of the unsprung component un , Height of the center of mass of the sprung component Z up0 , sprung component mass M up and the unsprung mass M un , calculate the vehicle center of mass height Z of the target vehicle in the state of compression of the elastic element in the suspension system, using the following formula:

[0098]

[0099] Where Z represents the height of the center of mass of the target vehicle suspension system under the compression state of the elastic element, λ represents the compression deformation of the sprung component mass acting on the coil spring, and Z up0 It represents the center of mass height of the spring component in the initial state of the elastic element in the suspension system, M up Indicates the mass of the sprung component, M unrepresents the mass of the unsprung components, Z un It represents the height of the center of mass of the unsprung components, and M represents the mass of the vehicle.

[0100] In addition, the above situation is carried out under the condition that the target vehicle is unloaded. The following will describe the situation when the target vehicle is fully loaded:

[0101] When the target vehicle is fully loaded, the mass of the sprung components corresponding to the target vehicle will increase due to the increase in the full load weight. At this time, the mass of the sprung components is the mass of the sprung components when empty plus the full load weight; and the parts that make up the sprung components need to include the full load of goods or people, and the coordinate position and mass of the full load of goods or people in the whole vehicle coordinate system need to be given; based on the complete supplement of the above data, the above method steps S100-S500 can be referred to in the same way to estimate the height of the center of mass of the whole vehicle when the target vehicle is fully loaded and the elastic elements in the suspension system are compressed.

[0102] According to a vehicle center of mass height estimation method of this embodiment, the beneficial effects are as follows:

[0103] By obtaining the weight BOM of the target vehicle, the mass of the unsprung components (M un ) and the mass of the sprung components (M up ), the mass distribution of different parts of the vehicle can be accurately determined; by calculating the height of the center of mass of the unsprung component (Z un ) and the height of the center of mass of the sprung component in the initial state of the elastic element of the suspension system (Z up0), the geometric characteristics of the vehicle structure are further considered; according to the distributed load of the sprung component mass on the four wheels and the spring characteristic curve of the coil spring, the compression deformation (λ) of the sprung component mass acting on the coil spring can be accurately calculated; finally, the center of mass height (Z) of the whole vehicle under the compression state of the elastic element in the suspension system can be accurately calculated by combining the compression deformation, the center of mass height of the unsprung component, the center of mass height of the sprung component, the mass of the sprung component and the mass of the unsprung component. This method is not only applicable to the target vehicle under the unloaded state, but also takes into account the fully loaded condition. Under the fully loaded condition, the center of mass height of the whole vehicle under the fully loaded state can be estimated by the same logic by simply adding the mass of the fully loaded goods or people and their coordinate position in the vehicle coordinate system. Accurate center of mass height estimation is crucial to evaluating the dynamic performance of the vehicle, such as vehicle stability, handling and braking performance. Through this method, the center of gravity position of the vehicle under different loads and driving conditions can be more accurately understood, so as to more accurately evaluate and optimize these performances. This method provides a quantitative means to evaluate the effect of vehicle design and optimization. By adjusting the mass and position of various vehicle components, the changes in the center of mass height can be observed, and the impact of these changes on vehicle performance can be evaluated. Accurate center of mass height estimation helps optimize the vehicle's suspension system and chassis design, thereby improving the safety and comfort of the vehicle during driving. For example, by adjusting the stiffness and damping of the suspension system, the vehicle can be better controlled.

[0104] It should be noted that the vehicle center of mass height estimation method provided in the embodiment of the present application can be executed by a vehicle center of mass height estimation system, or, or a control module in the vehicle center of mass height estimation system for executing and loading a vehicle center of mass height estimation method. In the embodiment of the present application, a vehicle center of mass height estimation method provided in the embodiment of the present application is explained by taking a vehicle center of mass height estimation system executing and loading a vehicle center of mass height estimation method as an example.

[0105] A vehicle center of mass height estimation system, comprising:

[0106] The first acquisition module is used to obtain the weight BOM of the target vehicle;

[0107] The first processing module calculates the unsprung mass M of the coil spring on the target vehicle suspension system according to the weight BOM. un and the mass of the sprung component M up ;

[0108] The second processing module calculates the center of mass height Z of the unsprung component based on the weight BOM un , and the height Z of the center of mass of the sprung component in the initial state of the elastic element in the suspension system up0 ;

[0109] The third processing module calculates the mass M of the sprung component according to the weight BOM up The distributed loads distributed to the four wheels of the target vehicle;

[0110] A second acquisition module is used to acquire a spring characteristic curve of a coil spring on a target vehicle;

[0111] The fourth processing module calculates the mass M of the sprung component according to the spring characteristics and the distributed load up The amount of compression deformation λ acting on the coil spring;

[0112] The fifth processing module is configured to calculate the compression deformation λ and the center of mass height Z of the unsprung component according to the compression deformation λ and the center of mass height Z of the unsprung component. un , Height of the center of mass of the sprung component Z up0 , sprung component mass M up and the unsprung mass M un , calculate the vehicle center of mass height Z of the target vehicle when the elastic elements in the suspension system are in compression.

[0113] A vehicle center of mass height estimation system in an embodiment of the present application may be a device, or a component, integrated circuit, or chip in a terminal. The device may be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device may be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc., and the non-mobile electronic device may be a server, a network attached storage (NAS), a personal computer (PC), etc., which is not specifically limited in the embodiment of the present application.

[0114] A vehicle center of mass height estimation system in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0115] The vehicle center of mass height estimation system provided in the embodiment of the present application can achieve Figure 1 In order to avoid repetition, each process of implementing a vehicle center of mass height estimation method in a method embodiment will not be described here.

[0116] According to a vehicle center of mass height estimation system of this embodiment, the beneficial effects are as follows:

[0117] Through the first acquisition module, the system can obtain the weight BOM (bill of materials) of the target vehicle, which is the basis for subsequent calculations. The first processing module uses the weight BOM to distinguish and calculate the mass of the unsprung components and the mass of the sprung components. This step is an important part of understanding the mass distribution of the vehicle and provides key data for subsequent calculations; the second processing module further uses the weight BOM to calculate the center of mass height of the unsprung components and the center of mass height of the sprung components in the initial state of the elastic elements in the suspension system; accurate calculation of the center of mass height is crucial for evaluating the stability and handling of the vehicle; the third processing module distributes the mass of the sprung components to the four wheels of the target vehicle based on the weight BOM to obtain the distributed load; this step helps to understand the force conditions of the vehicle under different working conditions and provides a basis for subsequent suspension system analysis; the second acquisition module obtains the spring characteristic curve of the coil spring on the target vehicle, which It is the key information for analyzing the response of the suspension system and calculating the amount of compression deformation; the fourth processing module combines the spring characteristics and distributed loads to calculate the amount of compression deformation of the mass of the sprung component on the coil spring; this step reveals how the weight of the vehicle is converted into specific physical deformation through the suspension system, and is an important part of understanding the working principle of the suspension system; the fifth processing module combines the amount of compression deformation, the center of mass height of the unsprung component, the center of mass height of the sprung component, the mass of the sprung component and the mass of the unsprung component to calculate the center of mass height of the target vehicle under the compression state of the elastic element in the suspension system; this step is the core output of the technical solution, which provides real-time information on the center of mass height of the vehicle under dynamic conditions, which is of great significance for evaluating the vehicle's handling stability, braking performance and passability.

[0118] Optionally, an embodiment of the present application also provides an electronic device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, each process of the above-mentioned vehicle center of mass height estimation method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0119] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned vehicle center of mass height estimation method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0120] The processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0121] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0123] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for estimating the height of a vehicle's center of mass, characterized in that: The method comprises: Obtain the weight BOM of the target vehicle to calculate the unsprung mass M of the coil spring on the suspension system of the target vehicle according to the weight BOM un and the mass of the sprung component M up ; Calculate the center of mass height Z of the unsprung component based on the weight BOM un , and the height Z of the center of mass of the sprung component in the initial state of the elastic element in the suspension system up0 ; Calculate the sprung component mass M based on the weight BOM up a distributed load distributed to four wheels of the target vehicle; Obtain a spring characteristic curve of the coil spring on the target vehicle to calculate the sprung component mass M according to the spring characteristic curve and the distributed load. up The amount of compression deformation λ acting on the coil spring; According to the compression deformation λ, the mass center height Z of the unsprung member un , Height of the center of mass of the sprung component Z up0 , sprung component mass M up and the unsprung mass M un , calculate the vehicle center of mass height Z of the target vehicle when the elastic element in the suspension system is in a compressed state.

2. A vehicle center of mass height estimation method according to claim 1, characterized in that: The method of calculating the unsprung mass and the sprung mass of the coil spring on the suspension system of the target vehicle according to the weight BOM is as follows: The mass of each part of the unsprung component is obtained according to the weight BOM, and the mass of each part is summed to obtain the mass M of the unsprung component. un ; Obtain the vehicle mass M of the target vehicle, and subtract the unsprung component mass M from the vehicle mass M. un , the sprung component mass M is obtained up .

3. A vehicle center of mass height estimation method according to claim 2, characterized in that: The calculation of the mass center height of the unsprung component and the mass center height of the sprung component in the initial state of the elastic element in the suspension system according to the weight BOM is specifically: Obtain the mass M of each part constituting the sprung component according to the weight BOM i and the vertical coordinate Z of the center of mass in the vehicle coordinate system i , according to the mass M of each part i , the vertical coordinate Z of the center of mass in the vehicle coordinate system i and the vehicle mass M, calculate the center of mass height Z of the sprung component in the initial state of the elastic element in the suspension system up0 ; Obtain the mass M of each component constituting the unsprung component according to the weight BOM j and the vertical coordinate Z of the center of mass in the vehicle coordinate system j , according to the mass M of each part j , the vertical coordinate Z of the center of mass in the vehicle coordinate system j and the vehicle mass M, the center of mass height Z of the unsprung component is calculated un .

4. A vehicle center of mass height estimation method according to claim 3, characterized in that: The distributed load of the sprung component mass distributed to the four wheels of the target vehicle is calculated according to the weight BOM; specifically: According to the weight BOM, obtain the horizontal coordinate X of the center of mass of each part constituting the sprung component in the vehicle coordinate system. i and the ordinate Y i ; According to the sprung component mass M up , the mass M of each part constituting the sprung component i , the horizontal coordinate of the center of mass X i , calculate the horizontal coordinate X of the center of mass of the sprung component in the vehicle coordinate system up According to the mass M of the sprung component up , the mass M of each part constituting the sprung component i , the vertical coordinate Y of the center of mass i , calculate the vertical coordinate Y of the center of mass of the sprung component in the vehicle coordinate system up ; Get the front and rear wheelbase W of the target vehicle B and the horizontal coordinate X0 of the front wheel center in the vehicle coordinate system, according to the front and rear wheelbase W B , the horizontal coordinate X0 and the horizontal coordinate X0 of the center of mass of the sprung component in the vehicle coordinate system up , calculate the proportion α of the mass of the sprung component distributed to the rear axle of the target vehicle; Get the distance W between the left and right tire centers of the target vehicle L , according to the distance W between the wheel centers L and the vertical coordinate Y of the center of mass of the sprung component in the vehicle coordinate system up , calculate the proportion β of the mass of the sprung component distributed to the right wheel of the target vehicle; The distributed load of the sprung component mass distributed to the four wheels of the target vehicle is calculated according to the proportion α of the sprung component mass distributed to the rear axle of the target vehicle and the proportion β of the sprung component mass distributed to the right wheel of the target vehicle.

5. A vehicle center of mass height estimation method according to claim 4, characterized in that: The distributed load of the sprung component mass distributed to the four wheels of the target vehicle is calculated based on the proportion α of the sprung component mass distributed to the rear axle of the target vehicle and the proportion β of the sprung component mass distributed to the right wheel of the target vehicle; specifically: According to the proportion α of the sprung component mass distributed to the rear axle of the target vehicle and the sprung component mass M up , calculating the front axle distributed load and the rear axle distributed load of the target vehicle; Calculate the right front wheel distributed load and the right rear wheel distributed load of the target vehicle according to the front axle distributed load, the rear axle distributed load and the proportion β of the mass of the sprung component distributed to the right wheel of the target vehicle; The left front wheel distributed load of the target vehicle is obtained by subtracting the right front wheel distributed load from the front axle distributed load; the left rear wheel distributed load is obtained by subtracting the right rear wheel distributed load from the rear axle distributed load.

6. A vehicle center of mass height estimation method according to claim 5, characterized in that: The method of calculating the compressive deformation amount of the sprung component mass acting on the coil spring according to the spring characteristic curve and the distributed load is specifically: According to the sprung component mass M up The loads distributed to the four wheels of the target vehicle are used to respectively calculate the compression deformations λ1, λ2, λ3 and λ4 of the coil springs corresponding to the four wheels of the target vehicle; The compressive deformation amount λ1, λ2, λ3 and λ4 on the coil springs corresponding to the four wheels are averaged to obtain the compressive deformation amount λ of the sprung component mass acting on the coil spring.

7. A vehicle center of mass height estimation method according to claim 6, characterized in that: According to the compression deformation amount λ, the mass center height Z of the unsprung member un , Height of the center of mass of the sprung component Z up0 , sprung component mass M up and the unsprung mass M un , calculate the vehicle center of mass height Z of the target vehicle in the compression state of the elastic element in the suspension system, using the following formula: Where Z represents the height of the center of mass of the target vehicle suspension system under the compression state of the elastic element, λ represents the compression deformation of the sprung component mass acting on the coil spring, and Z up0 It represents the center of mass height of the sprung component in the initial state of the elastic element in the suspension system, M up Indicates the mass of the sprung component, M un represents the mass of the unsprung components, Z un It represents the height of the center of mass of the unsprung components, and M represents the mass of the vehicle.

8. A vehicle center of mass height estimation system, implementing a vehicle center of mass height estimation method as claimed in any one of claims 1 to 7, characterized in that: The system comprises: The first acquisition module is used to obtain the weight BOM of the target vehicle; The first processing module calculates the unsprung component mass M of the coil spring on the suspension system of the target vehicle according to the weight BOM. un and the mass of the sprung component M up ; The second processing module calculates the center of mass height Z of the unsprung component according to the weight BOM un , and the height Z of the center of mass of the sprung component in the initial state of the elastic element in the suspension system up0 ; The third processing module calculates the mass M of the sprung component according to the weight BOM up a distributed load distributed to four wheels of the target vehicle; A second acquisition module is used to acquire a spring characteristic curve of the coil spring on the target vehicle; The fourth processing module calculates the sprung component mass M according to the spring characteristics and the distributed load. up The amount of compression deformation λ acting on the coil spring; The fifth processing module is configured to process the compression deformation amount λ and the mass center height Z of the unsprung component according to the compression deformation amount λ and the mass center height Z of the unsprung component. un , Height of the center of mass of the sprung component Z up0 , sprung component mass M up and the unsprung mass M un , calculate the vehicle center of mass height Z of the target vehicle when the elastic element in the suspension system is in a compressed state.

9. An electronic device, characterized in that: It includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of a vehicle center of mass height estimation method as described in claims 1-7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of a vehicle center of mass height estimation method as described in claims 1-7 are implemented.

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