Suspension state-based hill-holding parameter acquisition method and device, and storage medium

Abstract

The present application relates to the technical field of automatic operation for parking, and particularly provides a hill parking parameter acquisition method based on suspension state, a device and a storage medium, which comprises the following steps: collecting a tire parameter group and acquiring tire vertical load based on the tire parameter group; collecting a slope parameter group and acquiring slope based on the slope parameter group; and acquiring the whole vehicle mass based on the slope and the tire vertical load. The present application aims to introduce active suspension state information to correct the estimation of the whole vehicle mass and the slope, so as to optimize the performance of the hill parking auxiliary control. For the whole vehicle mass, the preset parameters are corrected according to the force analysis and calculation of the tires and the whole vehicle. For the slope, the longitudinal acceleration sensor signal is corrected according to the body posture analysis and calculation. The corrected values closer to the actual state will be used for subsequent control, avoiding the risk of hill rolling and the problem of starting drag.

Description

Technical Field

[0001] This invention belongs to the field of automatic operation technology for parking vehicles, specifically relating to a method, device and storage medium for obtaining parking slope parameters based on suspension status. Background Technology

[0002] In current practical applications, hill start assist control is implemented by ESC (or IBC). Specifically, after the driver brakes the vehicle to a stop on the slope, ESC (or IBC) maintains the hydraulic pressure in the brake lines for a certain period of time to assist the driver in temporary parking. When the driver presses the accelerator pedal to start moving, ESC (or IBC) releases the hydraulic pressure in the brake lines at a certain incline, ultimately assisting the driver in starting.

[0003] In the aforementioned control process, the ESC (or IBC) needs to use the vehicle mass and the gradient to calculate the hydraulic holding target and determine whether the drive torque meets the starting conditions. The vehicle mass is achieved through preset parameters, while the gradient is achieved by collecting signals from the longitudinal acceleration sensor.

[0004] However, in actual operation, the methods used to obtain the vehicle mass and gradient described above can lead to significant discrepancies between the calculated and actual values. For vehicle mass, the preset parameters will deviate from the actual vehicle mass as vehicle usage (e.g., the number of passengers and luggage) changes. For gradient, the longitudinal acceleration sensor signal cannot accurately reflect the actual gradient value as the vehicle's attitude (e.g., suspension pitch) changes.

[0005] When the vehicle weight and gradient are underestimated, the hydraulic holding target will be too low, and the determination of whether the drive torque meets the starting conditions will be too early, thus leading to the risk of rolling back on the slope. Conversely, when the vehicle weight and gradient are overestimated, the hydraulic holding target will be too high, and the determination of whether the drive torque meets the starting conditions will be too late, thus causing problems such as delayed entry into hydraulic holding mode and sluggish start-up, respectively. Summary of the Invention

[0006] The purpose of this invention is to provide a method, device, and storage medium for obtaining parking slope parameters based on suspension status, in order to solve the problem that existing methods for obtaining vehicle mass and slope can lead to large deviations between calculated and actual values.

[0007] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0008] In a first aspect, this application provides a method for obtaining parking slope parameters based on suspension status, comprising the following steps:

[0009] S1, Collect tire parameter sets and obtain tire vertical load based on the tire parameter sets;

[0010] S2, Collect slope parameter set and obtain slope based on the slope parameter set;

[0011] S3, obtain the vehicle mass based on the slope and the vertical load on the tires.

[0012] In conjunction with the first aspect, in some optional embodiments, the tire parameter set includes at least suspension height, suspension support force, and preset tire mass parameters, wherein the tire vertical acceleration is obtained based on the suspension height, and the tire vertical load is obtained based on the suspension support force, the preset tire mass parameters, and the tire vertical acceleration.

[0013] In conjunction with the first aspect, in some alternative implementations, the slope parameter set includes at least a longitudinal acceleration sensor signal and a suspension height.

[0014] In conjunction with the first aspect, in some alternative embodiments, the method further includes identifying the validity of the tire parameter set and the slope parameter set.

[0015] Secondly, this application provides a device for acquiring parking parameters based on suspension status, comprising:

[0016] Active suspension controller, used to collect tire parameter sets;

[0017] The motor controller is used to collect slope parameter sets;

[0018] The mass and slope estimation module obtains the vehicle mass based on the tire parameter set and the slope parameter set.

[0019] In conjunction with the second aspect, in some alternative embodiments, the device further includes a ramp parking assist control module and a stability controller, wherein the mass and slope estimation module is coupled to the ramp parking assist control module, and the ramp parking assist control module is coupled to the stability controller.

[0020] In conjunction with the second aspect, in some alternative embodiments, the device further includes a brake, and the stability controller is communicatively connected to the active suspension controller, the motor controller, and the brake, respectively.

[0021] In conjunction with the second aspect, in some optional embodiments, the device further includes a first judgment module and a second judgment module, wherein the first judgment module is coupled to the mass and slope estimation module for identifying the validity of the tire parameter set and the slope parameter set; and the second judgment module is coupled to the hill-start assist control module for identifying the validity of the active suspension controller, the motor controller and the mass and slope estimation module.

[0022] Thirdly, this application provides a computer storage medium storing a computer program that, when run on a computer, can execute the assisted slope-stabilizing method described above.

[0023] The invention employing the above technical solution has the following advantages:

[0024] This invention aims to introduce active suspension state information to correct estimates of vehicle mass and gradient, thereby optimizing the performance of hill-start assist control. For vehicle mass, preset parameters are corrected based on stress analysis and calculation of the tires and the entire vehicle. For gradient, longitudinal acceleration sensor signals are corrected based on vehicle attitude analysis and calculation. The corrected values, closer to actual conditions, will be used for subsequent control to avoid the risk of rollback and start-up lag. Attached Figure Description

[0025] The present invention can be further illustrated by the non-limiting embodiments given in the accompanying drawings;

[0026] Figure 1 This is a flowchart illustrating the slope-supporting method in the embodiments of this application;

[0027] Figure 2 This is a diagram showing the force analysis of the tire in an embodiment of this application;

[0028] Figure 3 This is a force analysis diagram of the whole vehicle in the embodiments of this application;

[0029] Figure 4 This is a schematic diagram of the slope-supporting device in the embodiments of this application;

[0030] Figure 5 This is a logic flowchart of the slope-supporting device in the embodiments of this application.

[0031] The symbols for the main components are explained below:

[0032] 10: Active suspension controller; 20: Motor controller; 30: Mass and slope estimation module; 40: Hill start assist control module; 50: Stability controller; 60: Brake; 70: First judgment module; 80: Second judgment module. Detailed Implementation

[0033] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts are referred to by the same reference numerals in the drawings or description. Implementations not shown or described in the drawings are forms known to those skilled in the art. In addition, directional terms mentioned in the embodiments, such as "up," "down," "top," "bottom," "left," "right," "front," and "back," are only for reference to the directions in the drawings and are not intended to limit the scope of protection of the present invention.

[0034] Combined with appendix Figure 1 This application discloses a method for obtaining parking slope parameters based on suspension conditions, where the parking slope parameters include vehicle mass and slope. The method includes the following steps:

[0035] S1, Collect tire parameter sets and obtain tire vertical load based on the tire parameter sets;

[0036] S2, Collect slope parameter set and obtain slope based on the slope parameter set;

[0037] S3, obtain the vehicle mass based on the slope and the vertical load on the tires.

[0038] In step S1, a set of tire parameters is acquired, and the tire vertical load is obtained based on the set of tire parameters. The set of tire parameters includes at least suspension height, suspension support force, and preset tire mass parameters. Figure 2 For tire stress analysis, firstly, the tire vertical acceleration is calculated based on the collected suspension height; then, the tire vertical load is calculated based on the collected suspension support force, preset tire mass parameters, and tire vertical acceleration. The formula is as follows:

[0039] F zwhl -F zsusp =m·a whl =m·( )

[0040] T= F xwhl ·R

[0041] in:

[0042] F zwhl : Tire vertical load;

[0043] F zsusp Suspension support force;

[0044] F xwhl : longitudinal force of the tire;

[0045] m: Tire mass;

[0046] a whl : Tire vertical acceleration;

[0047] H susp Suspension height;

[0048] T: Driving or braking torque;

[0049] R: Tire rolling radius;

[0050] In step S2, a set of slope parameters is collected, and the slope is obtained based on the set of slope parameters. (See attached diagram.) Figure 3 The slope parameter set includes at least the longitudinal acceleration sensor signal and suspension height. The slope is calculated based on the collected longitudinal acceleration sensor signal and suspension height. The formula is as follows:

[0051] a sens =-g·sin(α)+g·sin{tan -1 [(ΔH Front -ΔH Rear ) / L]}+a veh

[0052] in,

[0053] g: acceleration due to gravity;

[0054] α: Ramp angle;

[0055] a veh Longitudinal acceleration of the entire vehicle;

[0056] a sens Longitudinal acceleration sensor signal;

[0057] H Front Front suspension height;

[0058] H Rear Rear suspension height;

[0059] ΔFront: Distance between the center of mass and the front axle;

[0060] ΔRear: Distance between the center of mass and the rear axle;

[0061] L: Wheelbase;

[0062] In step S3, the vehicle mass is obtained based on the slope and the tire vertical load. The acquisition process is as follows:

[0063] M·g·cos(α)=F zFront +F zRear

[0064] in:

[0065] F zFront Front wheel vertical load;

[0066] FzRear Rear wheel vertical load;

[0067] F xFront Longitudinal force on the front wheel;

[0068] F xRear Rear wheel longitudinal force;

[0069] M: Vehicle weight;

[0070] α: Ramp angle;

[0071] H Front Front suspension height;

[0072] H Rear Rear suspension height;

[0073] H: Height of the center of mass;

[0074] LFront: Distance between center of gravity and front axle;

[0075] LRearg: Distance between the center of gravity and the rear axle;

[0076] The method also includes identifying the validity of the tire parameter set, the slope parameter set, and the corresponding actuators (see the device described herein). Only when both sets of parameters and the corresponding actuators are valid will the slope and vehicle mass be calculated based on the tire parameter set and the slope parameter set, and the vehicle's braking be controlled based on the slope and vehicle mass.

[0077] This application embodiment also provides a device for acquiring parking parameters based on suspension status. The device includes at least one software function module stored in a storage module or embedded in an operating system (OS) in the form of software or firmware. The stability controller 50 is used to execute executable modules stored in the storage module, such as software function modules and computer program modules included in the auxiliary parking device.

[0078] Combined with appendix Figure 4 The device includes an active suspension controller 10 (ASU), a motor controller 20 (MCU), and a mass slope estimation module 30. The mass slope estimation module 30 is electrically connected to the active suspension controller 10 and the motor controller 20, respectively.

[0079] Active suspension controller 10 is used to collect tire parameter sets;

[0080] Motor controller 20 is used to collect slope parameter sets;

[0081] The mass and slope estimation module 30 obtains the vehicle mass based on the tire parameter set and the slope parameter set.

[0082] The mass and slope estimation module 30 receives tire parameter sets and slope parameter sets collected by the active suspension controller 10 and the motor controller 20, and calculates the slope and vehicle mass. The device also includes a hill assisted parking control module 40, a stability controller 50 (ESC), and a brake 60. The mass and slope estimation module 30 is coupled to the hill assisted parking control module 40. The hill assisted parking control module 40 is coupled to the stability controller 50. The stability controller 50 is communicatively connected to the active suspension controller 10, the motor controller 20, and the brake 60. The stability controller 50 transmits signals collected by the active suspension controller 10 and the motor controller 20 to the mass and slope estimation module 30, and controls the brake 60 based on the processing results of the mass and slope estimation module 30. The processing results of the mass and slope estimation module 30 are transmitted by the hill-start assist control module 40. The stability controller 50 controls the brake 60 through the braking torque (MBrk) signal. These are standard settings and will not be elaborated further here.

[0083] The device also includes a first judgment module 70 and a second judgment module 80. The first judgment module 70 is coupled to the mass and slope estimation module 30 and is used to identify the validity of the tire parameter set and the slope parameter set; the second judgment module 80 is coupled to the hill-start assist control module 40 and is used to identify the validity of the active suspension controller 10, the motor controller 20 and the mass and slope estimation module 30.

[0084] Combined with appendix Figure 5 When this device is in use, 1.1 in the diagram indicates that the functional module has completed initialization and started operating. 1.2 involves acquiring relevant upstream and downstream signals. 1.3 involves determining the validity of the input signals and actuator status. 1.4 indicates that when the signal is valid, the functional module operates normally, calculating the tire vertical load based on the suspension support force and suspension height. 1.5 indicates that the slope is calculated based on the longitudinal acceleration sensor signal and suspension height. 1.6 indicates that the vehicle mass is calculated based on the tire vertical load and slope. 1.7 indicates that when the signal is invalid, the functional module degrades and resets its status bit. 1.8 indicates the arbitration and external transmission of the functional module status bit, vehicle mass, and slope. 1.9 indicates that the functional module terminates operation. The hill-start assist function of ESC (or IBC) can perform subsequent control based on the corrected vehicle mass and slope, improving overall performance.

[0085] In this embodiment, the storage module can be, but is not limited to, random access memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, etc. In this embodiment, the storage module can be used to store preset parameters in the active suspension controller, etc. Of course, the storage module can also be used to store programs, which the processing module executes after receiving an execution instruction.

[0086] Understandable, Figure 4 The hill-climbing assist device based on suspension status shown is only a structural schematic diagram; the control device may also include... Figure 4 More components are shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0087] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the calculation and control processes for tire vertical load, slope, and vehicle mass described above can be referred to the corresponding steps in the aforementioned method, and will not be elaborated further here.

[0088] This application also provides a computer storage medium storing a computer program. When the computer program is run on a computer, it causes the computer to execute the method for obtaining parking parameters based on suspension status as described in the above embodiments.

[0089] Based on the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by hardware or by using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This software product can be stored in a non-volatile storage medium (such as CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, control device, or network device, etc.) to execute the methods described in the various implementation scenarios of this application.

[0090] In summary, this application provides a method, apparatus, and storage medium for acquiring parking slope parameters based on suspension status. The method involves acquiring a set of tire parameters and obtaining the tire vertical load based on these parameters; acquiring a set of slope parameters and obtaining the slope based on these parameters; and obtaining the vehicle mass based on the slope and the tire vertical load. This invention aims to introduce active suspension status information to correct the estimation of vehicle mass and slope, thereby optimizing the performance of hill-start assist control. For vehicle mass, preset parameters are corrected based on the analysis and calculation of the force on the tires and the vehicle. For slope, the longitudinal acceleration sensor signal is corrected based on the analysis and calculation of the vehicle body posture. The corrected values, closer to the actual state, will be used for subsequent control to avoid the risk of rolling back and starting lag.

[0091] In the embodiments provided in this application, it should be understood that the disclosed apparatus, systems, and methods can also be implemented in other ways. The apparatus, systems, and methods embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which includes one or more executable instructions for implementing a specified logical function. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0092] The foregoing has provided a detailed description of a method, apparatus, and storage medium for obtaining slope parameters based on suspension status, as provided by the present invention. The specific embodiments described are merely for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A method for obtaining parking slope parameters based on suspension status, characterized in that, Includes the following steps: S1, Collect tire parameter sets and obtain tire vertical load based on the tire parameter sets; S2, collect a set of slope parameters and obtain the slope based on the set of slope parameters; the set of slope parameters includes at least the longitudinal acceleration sensor signal and the suspension height, and the calculation formula is: ； in, This refers to the longitudinal acceleration sensor signal; g refers to gravitational acceleration; α refers to the slope angle; H Front Refers to the height of the front suspension; H Rear Rear suspension height; L refers to wheelbase; a veh Refers to the longitudinal acceleration of the entire vehicle; S3, the vehicle mass is obtained based on the slope and the vertical load on the tires. The process is as follows: ； Where M refers to the vehicle mass; F zFront Refers to the vertical load on the front wheels; F zRear Refers to the vertical load on the rear wheels; F xFront Refers to the longitudinal force on the front wheels; F xRear This refers to the longitudinal force on the rear wheel; H refers to the height of the vehicle's center of gravity.

2. The method for obtaining slope parameters according to claim 1, characterized in that, The tire parameter set includes at least suspension height, suspension support force, and preset tire mass parameters. The tire vertical acceleration is obtained based on the suspension height, and the tire vertical load is obtained based on the suspension support force, the preset tire mass parameters, and the tire vertical acceleration.

3. The method for obtaining slope parameters according to claim 1, characterized in that, The method also includes identifying the validity of the tire parameter set and the slope parameter set.

4. A device for acquiring parking slope parameters based on suspension status, characterized in that, The apparatus employing the method of any one of claims 1 to 3 comprises: Active suspension controller (10) is used to collect tire parameter sets; The motor controller (20) is used to collect slope parameter sets; The mass and slope estimation module (30) obtains the slope and vehicle mass based on the tire parameter set and the slope parameter set.

5. The slope parameter acquisition device according to claim 4, characterized in that, The device also includes a ramp parking assist control module (40) and a stability controller (50), wherein the mass and slope estimation module (30) is coupled to the ramp parking assist control module (40) and the ramp parking assist control module (40) is coupled to the stability controller (50).

6. The slope parameter acquisition device according to claim 5, characterized in that, The device also includes a brake (60), and the stability controller (50) is communicatively connected to the active suspension controller (10), the motor controller (20) and the brake (60).

7. The slope parameter acquisition device according to claim 6, characterized in that, The device also includes a first judgment module (70) and a second judgment module (80). The first judgment module (70) is coupled to the mass and slope estimation module (30) and is used to identify the validity of the tire parameter group and the slope parameter group. The second judgment module (80) is coupled to the hill-start assist control module (40) and is used to identify the validity of the active suspension controller (10), the motor controller (20) and the mass and slope estimation module (30).

8. A computer storage medium, characterized in that, The computer storage medium stores a computer program that, when run on a computer, can execute the slope parameter acquisition method as described in any one of claims 1 to 3.

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