A method for determining vehicle rollover caused by online software upgrade

Abstract

The present invention relates to intelligent connected vehicle technology and discloses a method for determining whether a vehicle rollover has been caused by an online software upgrade. The method comprises the following steps: calculating a vertical load transfer ratio based on the load difference in the vertical direction between the left and right wheels of the vehicle caused by the vehicle's rollover motion; analyzing the vehicle's lateral dynamics using a torque balance equation, establishing a rollover analysis model, and obtaining the relationship between the vertical load transfer ratio and acceleration, center of gravity height, and tire spacing; collecting three-dimensional accelerometer data and three-dimensional gyroscope data of the tested vehicle before and after the OTA upgrade, and calculating the acceleration a before and after the OTA upgrade. y and a z The ratio of the OTA upgrade is compared before and after the y and a z The ratio satisfies the determination formula to quickly determine whether the OTA upgrade has caused the vehicle to roll out of control. The present invention has the beneficial effects of accurately and efficiently completing quantitative analysis of the vehicle safety status after the OTA upgrade and quickly determining whether the OTA upgrade will cause the vehicle to roll out of control.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent connected vehicles, and in particular to a method for determining whether an online upgrade of vehicle software has caused a vehicle to roll out of control. Background Art

[0002] Head-on, side-on, and rear-end collisions are the most common types of vehicle accidents, with rollovers accounting for a relatively small proportion. Furthermore, rollovers are characterized by significant fatalities and injuries. Besides driver misoperation, rollovers are also largely caused by errors in the vehicle's control system, leading to loss of control. Therefore, quantitative analysis of vehicle safety status after online software upgrades (also known as "OTA upgrades"), particularly methods for determining rollover loss of control, has significant economic and social significance.

[0003] Automotive software online upgrades can add functionality and quickly fix bugs, providing users with a constantly updated experience. However, online software upgrades in the powertrain and autonomous driving domains can alter critical parameters for vehicle control safety, bringing substantial changes to automotive products. This has posed a significant challenge: assessing the impact of OTA upgrades on vehicle safety. Currently, numerous research institutions have conducted extensive studies on the standard compliance evaluation and research of automotive software OTA upgrades. However, these studies on the functionality and performance of the OTA upgrade process primarily focus on functional safety and information security, with no research examining the potential for vehicle rollovers and loss of control following OTA software upgrades in connected vehicles. Summary of the Invention

[0004] The present invention aims to provide a method for determining whether an online upgrade of automobile software causes a vehicle to roll out of control, so as to intuitively, efficiently and accurately complete a quantitative analysis of the vehicle safety status after an OTA upgrade of the intelligent connected vehicle software, and determine whether the OTA upgrade will cause the vehicle to roll out of control.

[0005] To achieve the above-mentioned object, the present invention adopts the following technical solution: a method for determining whether a vehicle rollover caused by an online software upgrade leads to an uncontrolled vehicle rollover, comprising the following steps:

[0006] Step S1, calculate the vertical load transfer ratio of the test vehicle according to the load difference in the vertical direction of the left and right wheels of the vehicle caused by the rolling motion of the vehicle, and use a x 、a y and a z Represent the acceleration of the test vehicle in the X-axis, Y-axis and Z-axis directions respectively;

[0007] Step S2, analyzing the lateral dynamics of the test vehicle using the torque balance equation and establishing a rollover analysis model to obtain the relationship between the vertical load transfer ratio and the test vehicle's acceleration, center of gravity height, and tire spacing;

[0008] Step S3, collect the three-dimensional accelerometer data and three-dimensional gyroscope data of the test vehicle before and after OTA upgrade, and calculate the a before and after OTA upgrade y and a z The ratio of the OTA upgrade is compared before and after the y and a z The change in the ratio of satisfies the judgment formula to determine whether the OTA upgrade will cause the test vehicle to roll out of control.

[0009] The principle and advantages of this solution are as follows: in actual application, the vertical load transfer ratio is first calculated based on the load difference in the vertical direction between the left and right wheels of the vehicle caused by the rolling motion of the vehicle, and the lateral dynamics of the vehicle are analyzed according to the torque balance equation to obtain the relationship between the vertical load transfer ratio and the acceleration, center of gravity height and tire spacing, and a rollover loss control analysis model is established. Finally, the relationship between whether the test vehicle will roll over after the OTA upgrade and the three-dimensional acceleration of the test vehicle is obtained, and then the acceleration a of the test vehicle before and after the OTA upgrade is collected. y and a z , and calculate whether the ratio satisfies the judgment formula to quickly and accurately determine whether the test vehicle will roll out of control due to OTA upgrade.

[0010] Compared with the existing technology, the advantage of this solution is that it can easily and efficiently complete the quantitative analysis of the vehicle safety status after the OTA upgrade of the intelligent connected vehicle software, and accurately determine whether the OTA upgrade will cause the vehicle to roll out of control. In addition, this solution does not require additional modifications to the test vehicle. It only needs to use the mobile smart terminal that comes with the vehicle to complete data collection. Then, by comparing the changes in the acceleration ratio before and after the OTA upgrade to see whether they meet the judgment formula, it is possible to quickly determine whether the test vehicle will roll out of control. This greatly improves the test efficiency of the test vehicle's rollover and effectively reduces the test cost. It can also improve the vehicle's operating safety after the OTA upgrade to a certain extent.

[0011] Preferably, as an improvement, in step S1, when calculating the vertical load transfer ratio, different turning paths of the test vehicle will result in different rolling motions, so the calculation result of the vertical load transfer ratio will also change. When the vertical load transfer ratio is within the safety threshold range, it can be determined that the test vehicle will not roll out of control.

[0012] Preferably, as an improvement, the safety threshold range is -1 to 1.

[0013] Preferably, as an improvement, the calculation formula of the vertical load transfer ratio is:

[0014] ,in, is the vertical force on the left tire, is the vertical force on the right tire.

[0015] Preferably, as an improvement, the torque balance equation includes the following formula:

[0016]

[0017] , where h is the height of the center of gravity of the test vehicle, is the tire spacing, is the roll angle.

[0018] Preferably, as an improvement, the relationship between the vertical load transfer ratio and the acceleration, the center of gravity height, and the tire spacing can be obtained through transformation of the torque balance equation, and a rollover loss of control analysis model is established:

[0019] , and then transform the expression into the acceleration ratio relationship: ,in, The static stability coefficient is used to measure the vehicle's anti-rollover stability and is related to the tire spacing and center of gravity height; is the threshold value of vehicle rollover motion.

[0020] Preferably, as an improvement, in step S3, when collecting three-dimensional accelerometer data and three-dimensional gyroscope data, a vehicle-mounted mobile terminal installed on the test vehicle is used to obtain the three-dimensional accelerometer data and three-dimensional gyroscope data of the test vehicle before and after OTA upgrade.

[0021] Preferably, as an improvement, when determining whether the OTA upgrade causes the test vehicle to roll out of control, the a before and after OTA upgrade are calculated respectively. y / a z The ratio of , if a before OTA upgrade y / a z The ratio is greater than a after OTA upgrade y / a z If the ratio does not satisfy the judgment formula, it is judged that the online upgrade of the automobile software will cause the vehicle to roll out of control. Otherwise, it is judged that the online upgrade of the automobile software will not cause the vehicle to roll out of control. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The present invention is a flowchart of a method for determining whether a vehicle rollover is caused by an online upgrade of automobile software, according to a first embodiment of the present invention.

[0023] Figure 2 A schematic diagram of a vehicle coordinate system according to a first embodiment of a method for determining whether a vehicle rollover is out of control due to an online upgrade of automobile software according to the present invention.

[0024] Figure 3 This is a schematic diagram of vehicle rolling motion according to a first embodiment of a method for determining if a vehicle rolls out of control due to an online upgrade of automobile software according to the present invention.

[0025] Figure 4 This is a schematic diagram of the coordinate system comparison relationship of Example 1 of a method for determining whether a vehicle rollover is out of control due to an online upgrade of automobile software according to the present invention. DETAILED DESCRIPTION

[0026] The following is further described in detail through specific implementation methods:

[0027] Example 1:

[0028] This embodiment is basically as shown in the attached Figure 1 A method for determining whether a vehicle rollover is caused by an online software upgrade and thus out of control is shown, comprising the following steps:

[0029] Step S1, calculate the vertical load transfer ratio of the test vehicle according to the load difference in the vertical direction of the left and right wheels of the vehicle caused by the rolling motion of the vehicle, and use a x 、a y and a z Represent the acceleration of the test vehicle in the X-axis, Y-axis and Z-axis directions respectively;

[0030] Step S2, analyzing the lateral dynamics of the test vehicle using the torque balance equation and establishing a rollover analysis model to obtain the relationship between the vertical load transfer ratio and the test vehicle's acceleration, center of gravity height, and tire spacing;

[0031] Step S3, collect the three-dimensional accelerometer data and three-dimensional gyroscope data of the test vehicle before and after OTA upgrade, and calculate the a before and after OTA upgrade y and a z The ratio of the OTA upgrade is compared before and after the y and a z The change in the ratio of satisfies the judgment formula to determine whether the OTA upgrade will cause the test vehicle to roll out of control.

[0032] As attached Figure 2 As shown, a coordinate system is established on the test vehicle, using a x 、a y and a z Represents the acceleration of the test vehicle in the X-axis, Y-axis and Z-axis directions, as shown in the attached figure. Figure 3As shown in the figure, a schematic diagram of the rolling motion of a vehicle with suspended mass is described, where h is the center of gravity height of the test vehicle, is the tire spacing, is the roll angle.

[0033] The vertical load transfer ratio of the test vehicle is calculated based on the vertical load difference between the left and right wheels of the vehicle caused by the rolling motion of the vehicle:

[0034] ,in, is the vertical force on the left tire, is the vertical force on the right tire.

[0035] When the test vehicle has a positive roll angle (i.e. >0), the vertical force on the left tire increases, and the vertical force on the right tire decreases, so the right tire will leave the ground, at which point = 0. Similarly, if the roll angle of the test vehicle is negative, that is <0, the left tire will leave the ground (i.e. =0). Therefore, when =0 or =0, corresponding to LTR=1 or LTR=-1 respectively. Therefore, when LTR is in the range of -1 to 1, the test vehicle will not roll over. That is, the safety threshold range of the vertical load transfer ratio is -1 to 1.

[0036] However, considering that LTR calculation is not intuitive and the vertical forces on the left and right tires cannot be directly detected in real time, it is impossible to directly calculate the vertical load transfer ratio based on the above formula to determine whether the test vehicle will roll out of control. Since the left and right tires are the two support points of the test vehicle, it is considered possible to use the torque balance equation to analyze the vehicle's lateral dynamics.

[0037]

[0038]

[0039] Combine formulas (1), (2) and (3) to establish the rollover loss of control analysis model:

[0040]

[0041] In order to further quantitatively analyze the possible vehicle loss of control safety risk caused by OTA upgrades, formula (4) is transformed into the following judgment formula:

[0042] ,in, The static stability coefficient is used to measure the vehicle's anti-rollover stability and is related to the tire spacing and center of gravity height; is the threshold value of vehicle rollover motion.

[0043] Specifically, the static stability coefficient of a sedan is 1.1; the static stability coefficient of an SUV is 1.4; and the threshold for vehicle rollover motion is 0.6.

[0044] Therefore, when the calculated a y / a z If the ratio of satisfies the above inequality, it means that the vehicle will not roll over. The vehicle will be tested for safety performance before leaving the factory, that is, the a of the vehicle before leaving the factory y / a z The ratio of satisfies the above inequality relationship, and if the vehicle speed and steering angle increase, a y will increase, that is, a y / a z The ratio will increase. If the above inequality relationship is not satisfied, it indicates that the risk of vehicle rollover is very high. Especially after the vehicle is upgraded via OTA, it may cause the parameters of the vehicle control system to change, resulting in the subsequent calculation of a y / a z The ratio will increase, which means that OTA upgrades may cause the vehicle to roll out of control.

[0045] Furthermore, the 3D accelerometer data and 3D gyroscope data of the test vehicle before and after the OTA upgrade are obtained using the onboard mobile terminal installed on the test vehicle. Before collecting the data, the coordinate system of the vehicle and the coordinate system of the onboard mobile terminal are aligned, as shown in the attached figure. Figure 4 As shown, data is then collected to determine whether the vehicle has rolled out of control.

[0046] Before and after the online upgrade of the car software, that is, before and after the OTA upgrade, the acceleration of the test vehicle in the Y-axis and Z-axis directions is collected respectively. y and a z , and calculate a y / a z The ratio of , if a before OTA upgrade y / a z The ratio is greater than a after OTA upgrade y / a z If the ratio does not satisfy the judgment formula, it is judged that the online upgrade of the automobile software will cause the vehicle to roll out of control. Otherwise, it is judged that the online upgrade of the automobile software will not cause the vehicle to roll out of control.

[0047] Generally speaking, OTA upgrades for cars only add software-level control strategies or update control codes to the car's central control system, without making corresponding upgrades to the car's physical hardware. Therefore, there will be some special cases, such as the mismatch between the software and hardware after the OTA upgrade, resulting in the two working indicators or working performance being in different dimensions, which may cause the car to experience operational control failures and the risk of the car rolling out of control while driving. On the one hand, this may be caused by interference or mismatch problems caused by the use of the car's software and hardware. On the other hand, it may also be due to the actual objective environment in which the car is driving, causing the car's control function to have a temporary deviation, resulting in the car rolling out of control. Therefore, from the technical problem level, this solution already has unique innovations that are not easy to think of. This solution also has very outstanding and practical technical effects. It can not only quickly detect the impact of OTA upgrades on car safety, but also greatly improve the control and driving safety of the car.

[0048] At the same time, during an OTA upgrade, the importance ranking or priority classification of the control call order of each functional module will be affected to varying degrees depending on the degree or proportion of the software function upgrade. For example, some functions may have the first priority before the OTA upgrade, but after the upgrade, they will be downgraded to the second or even third priority. This will interfere with the vehicle's overall control strategy and may even cause the vehicle's control function to temporarily fail in extreme cases, causing the vehicle to roll out of control during operation. Therefore, through this solution, it is possible to intuitively and effectively test the functional differences before and after the OTA upgrade, thereby quickly detecting whether the OTA upgrade has affected the vehicle's driving or even caused the vehicle to roll out of control. In addition, before the OTA upgrade, the vehicle's default coordinate system is unchanged, but the OTA upgrade may cause its coordinate system to deviate, thereby indirectly increasing the risk of the vehicle rolling out of control. Before testing, this solution recalibrates both the vehicle coordinate system and the coordinate system of the data acquisition module to control the accuracy of the data acquisition layer, thereby improving the accuracy of the test evaluation results.

[0049] The specific implementation process of this embodiment is as follows:

[0050] A coordinate system is established on the test vehicle. The vertical load transfer ratio is calculated based on the vertical load difference between the left and right wheels caused by the vehicle's rollover motion. The torque balance equation is then used to analyze the vehicle's lateral dynamics. The relationship between the vertical load transfer ratio and acceleration, center of gravity height, and tire spacing is determined, and a rollover analysis model is established.

[0051] At the same time, in order to quantitatively analyze the possible risk of vehicle loss of control after OTA upgrade, the obtained formula is transformed again to obtain the acceleration a y and a z The relationship between the ratio of the vehicle static stability coefficient and the threshold of the rolling motion is used as a judgment formula. Finally, the coordinate system of the test vehicle is aligned with the coordinate system of the on-board mobile terminal. The on-board mobile terminal is used to obtain the three-dimensional accelerometer data and three-dimensional gyroscope data of the test vehicle before and after the OTA upgrade in real time, and the acceleration a before and after the OTA upgrade is calculated respectively. y / a z The ratio of a y / a z Whether the change in the ratio satisfies the judgment formula can be used to quickly determine whether the online upgrade of the automobile software will cause the vehicle to roll out of control.

[0052] Among the many vehicle safety accidents, rollovers are of particular concern to drivers. Although rollovers account for a small proportion of accidents, once they occur, they undoubtedly pose the greatest threat to driver safety and damage. Automotive software online upgrades, while updating vehicle system functions, can cause changes to key vehicle control safety parameters, potentially leading to uncontrolled rollovers. Current standards compliance evaluations and research for OTA (Over-the-Air) software upgrades are generally limited to functional safety and information security, and fail to address the potential for rollovers caused by online software upgrades. This leads to the continued existence of rollover safety hazards even after OTA upgrades.

[0053] Generally speaking, errors in a vehicle's control system are caused by OTA upgrades. While updating vehicle system functions, these upgrades can alter critical parameters for vehicle control safety, potentially causing the vehicle to roll over and lose control while driving. Current compliance evaluations and research for automotive software OTA upgrades are generally limited to functional safety and information security, and fail to address factors that could cause a vehicle to roll over and lose control. This, in turn, creates potential safety risks even after OTA upgrades.

[0054] To address the above issues, this solution has developed a method for determining vehicle rollover loss control caused by online software upgrades. By quantitatively testing vehicle parameters and operating indicators, the relevant variables and influencing factors of vehicle rollover loss control are analyzed and calculated. First, the vertical load transfer ratio is calculated based on the vertical load difference between the left and right wheels caused by the vehicle rollover motion, and the torque balance equation is used to analyze the lateral dynamics of the vehicle. The relationship between the vertical load transfer ratio and acceleration, center of gravity height, and tire spacing is obtained, and a rollover loss control analysis model is established. Finally, the acceleration a collected before and after the OTA upgrade is used. y and a zThe change in the ratio of and satisfies the judgment formula to quickly and accurately determine whether the test vehicle will roll out of control due to OTA upgrade.

[0055] Through this solution, not only the modification and testing process of the test vehicle is saved, but data collection can be completed by using only the on-board mobile smart terminal, which also saves the complex analysis indicator system, greatly reduces the test cost, and greatly improves the test efficiency. In addition, this solution completes the judgment of vehicle rollover out of control based on rigorous mathematical formula derivation. The changes in the acceleration of the test vehicle in two directions before and after the OTA upgrade can complete the assessment and judgment of the risk of vehicle rollover out of control. On the one hand, it ensures the accuracy and scientificity of the test results, and on the other hand, it simplifies the test process and improves the test efficiency. More importantly, after quickly completing the judgment of vehicle rollover out of control through this solution, it can also greatly ensure the operation safety of the vehicle after the OTA upgrade.

[0056] The above is only an embodiment of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. Ordinary technicians in the field are aware of all common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the field can improve and implement this scheme in combination with their own abilities under the inspiration given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A method for determining whether a vehicle rollover caused by an online software upgrade results in an uncontrolled vehicle rollover, characterized by: The following steps are involved: Step S1, calculate the vertical load transfer ratio of the test vehicle according to the load difference in the vertical direction of the left and right wheels of the vehicle caused by the rolling motion of the vehicle, and use a x 、a y and a z Represent the acceleration of the test vehicle in the X-axis, Y-axis and Z-axis directions respectively; Step S2, analyzing the lateral dynamics of the test vehicle using the torque balance equation and establishing a rollover analysis model to obtain the relationship between the vertical load transfer ratio and the test vehicle's acceleration, center of gravity height, and tire spacing; Step S3, collect the three-dimensional accelerometer data and three-dimensional gyroscope data of the test vehicle before and after OTA upgrade, and calculate the a before and after OTA upgrade y and a z The ratio of the OTA upgrade is compared before and after the y and a z Whether the ratio change satisfies the judgment formula is used to determine whether the OTA upgrade will cause the test vehicle to roll out of control; In step S1, when calculating the vertical load transfer ratio, different turning paths of the test vehicle will result in different rolling motions, so the calculation result of the vertical load transfer ratio will also vary. When the vertical load transfer ratio is within the safety threshold range, it can be determined that the test vehicle will not roll out of control; The calculation formula of the vertical load transfer ratio is: ,in, is the vertical force on the left tire, is the vertical force on the right tire; The torque balance equation includes the following formula: , where h is the height of the center of gravity of the test vehicle, is the tire spacing, is the roll angle; is the vehicle mass; The relationship between the vertical load transfer ratio and the acceleration, center of gravity height, and tire spacing can be obtained through the transformation of the torque balance equation, and a rollover analysis model can be established: , and then transform the expression into the acceleration ratio relationship: ,in, The static stability coefficient is used to measure the vehicle's anti-rollover stability and is related to the tire spacing and center of gravity height; is the threshold value of vehicle rollover motion.

2. The method for determining whether a vehicle rollover caused by an online software upgrade is caused by a vehicle according to claim 1, characterized in that: The safety threshold range is -1 to 1.

3. The method for determining whether a vehicle rollover caused by an online automobile software upgrade is caused by claim 1, wherein: In step S3, when collecting the three-dimensional accelerometer data and the three-dimensional gyroscope data, the three-dimensional accelerometer data and the three-dimensional gyroscope data of the test vehicle before and after the OTA upgrade are obtained using the on-board mobile terminal installed on the test vehicle.

4. The method for determining whether a vehicle rollover caused by an online automobile software upgrade is caused by claim 1, wherein: When judging whether the OTA upgrade causes the test vehicle to roll out of control, calculate a before and after the OTA upgrade. y / a z The ratio of , if a before OTA upgrade y / a z The ratio is greater than a after OTA upgrade y / a z If the ratio does not satisfy the judgment formula, it is judged that the online upgrade of the automobile software will cause the vehicle to roll out of control. Otherwise, it is judged that the online upgrade of the automobile software will not cause the vehicle to roll out of control.

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